Eaton ELC-PB, Programming Manual

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3 . I n s t r u c t i o n S e t
M N050 03003E F or mo re infor ma tio n vi sit:
w w w. e a t o n . c o m
3-173
initiates “auto operation”. Thus, there should be three circuits of these three initial state step
points written first in the program.
3. When switching to S1 (zero point return mode), zero point return won’t take any action once
any of S10~S19 = ON.
4. When switching to S2 (auto operation mode), auto operation won’t take any action when S is
between
D
1
to
D
2
or if M1043=ON
Program Example 2:
The Robot arm control (using the IST instruction):
1. Control purpose: Select the big balls and small balls and move them to corresponding boxes.
Configure the control panel for each operation.
2. Motion of the Robot arm: lower robot arm, collect balls, raise robot arm, shift to right, lower
robot arm, release balls, raise robot arm, shift to left to finish motion in order.
3. I/O Device
Y0
Y1
Y2 Y3
Left-limit X1
Upper-limit X4
Upper-limit X5
Right-limit X2
(big balls)
Right-limit X3
(small balls)
Big
Small
Big/small
sensor X0
4. Control panel
X35
X36
X37
X20
X21
X22
X23
X24
X25
Step X32
One cycle
operation X33
Continuous
operation X34
Manual
operation X30
Zero return X31
Power start
Power stop
Zero return
Auto start
Auto stop
Shift
to right
Shift
to left
Release
balls
Collect
balls
Lower
robot arm
Raise
robot arm
a) Big/small sensor X0.
b) The left-limit of the robot arm X1, the right-limit X2 (big balls), the right-limit X3 (small balls),
the upper-limit X4, and the lower-limit X5.
c) Raise robot arm Y0, lower robot arm Y1, shift to right Y2, shift to left Y3, and collect balls Y4.
5. START circuit:
M1000
IST X30 S20 S80
X0
M1044
X1 Y4