PLC Beginner Guide PDF

CONTENTS PAGE  +PVTQFWEVKQP            9JCVKUC%QPVTQN5[UVGO         6JG4QNGQHV...

CONTENTS PAGE  +PVTQFWEVKQP            9JCVKUC%QPVTQN5[UVGO         6JG4QNGQHVJG2TQITCOOCDNG%QPVTQNNGTU       +PRWVCPF1WVRWV&GXKEGU         9JCVKUC2TQITCOOCDNG%QPVTQNNGT        %QPXGPVKQPCN%QPVTQN2CPGNCPFKV UFKHHKEWNVKGU      &KUCFXCPVCIGUQH%QPXGPVKQPCN%QPVTQN2CPGN       2.%2CPGNCPFVJGKTCFXCPVCIGU        %QPXGTUKQPQH%QPXGPVKQPCN%QPVTQN%KTEWKVVQ2.%      #5[UVGOCVKE#RRTQCEJQHEQPVTQNU[UVGO&GUKIP      2TQITCOOCDNG%QPVTQNNGT#RRNKECVKQP        %QPUKFGT#5KORNG2TQLGEV          5[UVGO%QPHKIWTCVKQP        %2/#%27%QORQPGPVU         %2/#%27%QORQPGPVU         'ZRCPUKQP+17PKVU%QORQPGPVU        %27CPF'ZRCPUKQP+17PKV%QPHKIWTCVKQP       %2/#%QOOWPKECVKQPU  *QUV.KPM%QOOWPKECVKQP         /WNVKFTQR%QOOWPKECVKQPUVQ%QORWVGT       VQ2.%%QOOWPKECVKQP.KPMU        06.KPM%QOOWPKECVKQP         2TQITCOOKPI'ZCORNGQH2.%.KPM$GVYGGP%2/#7PKVU   %2/#%QOOWPKECVKQPU  *QUV.KPM%QOOWPKECVKQP         /WNVKFTQR%QOOWPKECVKQPUVQ%QORWVGT      0Q2TQVQEQN%QOOWPKECVKQP 45%%QOOWPKECVKQP      06.KPM%QOOWPKECVKQP        VQ2.%%QOOWPKECVKQP.KPMU        %QORQ$WU5+1.KPM%QPPGEVKQPU       2GTKRJGTCN&GXKEGU         2TQITCOOKPI%QPUQNG         5[UOCE9KPFQY$CUGF5WRRQTVUQHVYCTG      6TCKPKPI-KV%QPHKIWTCVKQP        2.%'NGEVTKECN9KTKPI+1%QPPGEVKQP        (GCVWTGUCPF(WPEVKQPU   %2/#)GPGTCN          #PCNQI5GVVKPI(WPEVKQP         +PRWV+PVGTTWRV          3WKEM4GURQPUG+PRWVU(WPEVKQP        +PVGTXCN6KOGT(WPEVKQP         *KIJ5RGGF%QWPVGT         %2/#)GPGTCN         +PVGTTWRV(WPEVKQPU           +PVGTTWRV+PRWVU        +PVGTXCN6KOGT+PVGTTWRVU        *KIJ5RGGF%QWPVGT          +PVGTTWRV+PRWVU %QWPVGT/QFG         K  CONTENTS PAGE +PVGTTWRVD[*KIJ5RGGF%QWPVGT+PRWVU  %QWPVEJGEM+PVGTTWRVU        'ZCORNGQH+PRWV+PVGTTWRVKP%QWPVGT/QFG     *KIJ5RGGF%QWPVGT           'ZCORNGQHWUKPI*KIJ5RGGF%QWPVGT     2WNUG1WVRWV(WPEVKQP        5[PEJTQPK\GF2WNUG%QPVTQN        #PCNQI%QPVTQNU         3WKEM4GURQPUG+PRWVU(WPEVKQP       /CTEQ(WPEVKQP           7PKV5RGEKHKECVKQPUCPF%QORQPGPVU  %2/#  )GPGTCN5RGEKHKECVKQPU          %JCTCEVGTKUVKEU          5VTWEVWTGQH/GOQT[#TGC         +16GTOKPCN+4$KV#NNQECVKQP       %2/#  )GPGTCN5RGEKHKECVKQPU          %JCTCEVGTKUVKEU          5VTWEVWTGQH/GOQT[#TGC         +16GTOKPCN+4$KV#NNQECVKQP       'ZRCPUKQP7PKVHQT%2/#CPF%2/#      'ZCORNGQH+1#NNQECVKQPHQT%2/#       2TQITCOOKPI%QPUQNG         2CUUYQTF+PRWV          %NGCTKPICNN2TQITCO           9KPFQY$CUGF2TQITCOOKPI5QHVYCTG5;59+0   2TQITCOOKPIQH%2/#CPF%2/#        2TQITCOOKPI7UKPI5;59+08GTUKQP  %QPPGEVKQPVQVJG2%          45%%QPPGEVQT%QPHKIWTCVKQP        +PUVCNNKPI5;59+02TQITCO         5;59+09KPFQY          5VCTV7RYKVJ5;59+0         2TQITCOOKPIYKVJ5;59+0         5CXKPIVJG2TQLGEV          6TCPUHGT2TQITCOVQ2.%          #RRNKECVKQP'ZCORNGUQH$CUKE%QOOCPFU      1XGTXKGYQH+PUVTWEVKQPU        #RRNKECVKQP 5GNH*QNFKPI%KTEWKV        #RRNKECVKQP 1P&GNC[%KTEWKV        #RRNKECVKQP %QPVTQN%KTEWKVHQT2CEMCIKPI/CEJKPG     #RRNKECVKQP &TKNNKPI%QPVTQN1RGTCVKQP       #RRNKECVKQP (KNNKPI&TCKPKPI%QPVTQN1RGTCVKQP      #RRNKECVKQP 1XGTJGCF%TCPG%QPVTQNQH&GITGCUKPI1RGTCVKQP    #RRNKECVKQP 2CTVU5QTVKPI        #RRNKECVKQP 4QDQV/QXGOGPV%QPVTQN        KK  CONTENTS PAGE  #RRNKECVKQP #5KORNG5GSWGPEG%QPVTQN%QPEGRV      #RRNKECVKQP#WVQOCVKE%QPVTQNQH9CTGJQWUG&QQT     #RRNKECVKQP#WVQOCVKE.WDTKECVKQPQH)GCT      #RRNKECVKQP%QPXG[QT$GNV/QVQT%QPVTQN      #RRNKECVKQP&KURNC['TTQT%QFGQH/CEJKPGVQ#KF       +P6JG6TCEKPI5QWTEGQH6JG2TQDNGO  #RRNKECVKQP/GCUWTKPIVJG.KHGQHC%WVVKPI-PKHG     #RRNKECVKQP%CT2CTM%QPVTQN         7UGHWN.CFFGT%KTEWKVT[ %[ENG&KHHGTGPVKCVKQP%KTEWKV        (NKEMGT%KTEWKV           5KPINGUJQV%KTEWKV        .QPIVKOG6KOGT%KTEWKV         101((&GNC[%KTEWKV         2WUJQP2WUJQHH%KTEWKV $KPCT[%KTEWKV        5ECPPKPI%QWPVGT          %QPEGRVQH+.+PUVTWEVKQPCPF,/2+PUVTWEVKQP       (KTUVKP2TKQTKV[%KTEWKV        .CUVKP+PRWV2TKQTKV[%KTEWKV           0QP.QEMKP#PPWPEKCVQT.QEMKP#PPWPEKCVQT                  +PUVCNNCVKQPCPF9KTKPI%QPUKFGTCVKQPU   2.%2QYGT+PVGTTWRVKQPU         +PUVCNNCVKQP5KVG%QPUKFGTCVKQPU         2CPGN%CDKPGV+PUVCNNCVKQP)WKFG        )GPGTCN2TGECWVKQPUHQT9KTKPI        2QYGT5WRRN[9KTKPI          %QWPVGTOGCUWTGU(QT+PFWEVKXG.QCF         /CKPVGPCPEGCPF6TQWDNGUJQQVKPI 6JG2.%%[ENG         5GNHFKCIPQUKU(WPEVKQPU        0QPHCVCN'TTQTU         (CVCN'TTQTU          7UGTFGHKPGF'TTQTU         2TQITCOOKPI'TTQTU         6TQWDNGUJQQVKPI(NQYEJCTVU        2TGXGPVKXG/CKPVGPCPEG           #RRGPFKEGU #'  #RRGPFKZ #        # #RRGPFKZ $        $  #RRGPFKZ %        %  #RRGPFKZ &        &  #RRGPFKZ '         '   KKK  +0641&7%6+10   Y 9JCVKUC%QPVTQN5[UVGO!  +P IGPGTCN C %QPVTQN 5[UVGO KU C EQNNGEVKQP QH GNGEVTQPKE FGXKEGU CPF GSWKROGPV YJKEJ CTG KP RNCEG VQ GPUWTG VJG UVCDKNKV[ CEEWTCE[ CPF UOQQVJ VTCPUKVKQP QH C RTQEGUU QT C OCPWHCEVWTKPI CEVKXKV[+VVCMGUCP[HQTOCPFXCTKGUKPUECNGQHKORNGOGPVCVKQPHTQOCRQYGTRNCPVVQCUGOK EQPFWEVQT OCEJKPG #U C TGUWNV QH TCRKF CFXCPEGOGPV QH VGEJPQNQI[ EQORNKECVGF EQPVTQN VCUMU CEEQORNKUJGFYKVJCJKIJN[CWVQOCVGFEQPVTQNU[UVGOYJKEJOC[DGKPVJGHQTOQH2TQITCOOCDNG %QPVTQNNGT 2.% RQUUKDN[CJQUVEQORWVGTGVE$GUKFGUUKIPCNKPVGTHCEKPIVQVJGHKGNFFGXKEGU UWEJ CU QRGTCVQT RCPGN OQVQTU UGPUQTU UYKVEJGU UQNGPQKF XCNXGU CPF GVE  ECRCDKNKVKGU KP PGVYQTM EQOOWPKECVKQP GPCDNG C DKI UECNG KORNGOGPVCVKQP CPF RTQEGUU EQQTFKPCVKQP DGUKFGU RTQXKFKPIITGCVGTHNGZKDKNKV[KPTGCNK\KPIFKUVTKDWVGFEQPVTQNU[UVGO'XGT[UKPINGEQORQPGPVKPC EQPVTQNU[UVGORNC[UCPKORQTVCPVTQNGTGICTFNGUUQHUK\G(QTKPUVCPEGCUUJQYPKP(KIVJG 2.%YQWNFPQVMPQYVJGJCRRGPKPIUCTQWPFKVYKVJQWVCP[UGPUKPIFGXKEGU#PFKHPGEGUUCT[CP CTGC JQUV EQORWVGT JCU VQ DG KP RNCEG VQ EQQTFKPCVG VJG CEVKXKVKGU KP C URGEKHKE CTGC CV VJG UJQRHNQQT   2TQEGUU%QPVTQN  %QORWVGT    #TGC*QUV  %QORWVGT   0GVYQTM   6QWEJ2CPGN  6QWEJ2CPGN                        $<  .KOKVUYKVEJ 5GPUQT /QVQT 5QNGPQKF.KIJVU $W\\GT      %QPVTQN%QORQPGPVU    (KI   +VEQWNFCNUQDGCPCRRNKECVKQPCUUOCNNCUCUKPING2.%EQPVTQNNKPICUKPINGQTUQOGQWVRWV FGXKEGU      +0641&7%6+10    4GXQNXKPI /GEJCPKECN 4QDQV#TO 2WUJDWVVQP .KIJV +PFKECVQTU UVTWEVWTG 5GNGEVQT5YKVEJ    (KI)CPVT[4QDQV%QPVTQN5[UVGO %QWTVGU[QH)KPVKE    5YKVEJGU       2.%       4GNC[U          5GPUQT /CIPGVKE 6GTOKPCN  %QPVCEVQT $NQEM      Y 6[RKECN2TQITCOOCDNG.QIKE%QPVTQNNGTDCUG%QPVTQN5[UVGO  (KIKUCV[RKECNCRRNKECVKQPQHC)CPVT[4QDQV%QPVTQN/CEJKPG+VKUWUGFKPCRKEMCPFRNCEG QRGTCVKQP6JGYJQNGRTQEGUUUGSWGPEGKUEQPVTQNNGFD[C2.%6JGXCTKQWUKPRWVFGXKEGUUWEJCU UGNGEVQTUYKVEJGURWUJDWVVQPUVQINGUYKVEJGUUGPUQTUCTGEQPPGEVGFVQVJGKPRWVQHVJG2.%XKC VJG KPRWV VGTOKPCN DNQEM 6JG QWVRWV FGXKEGU UWEJ CU VJG TGXQNXKPI NKIJV KPFKECVQTU TGNC[U EQPVCEVQTU CPF UQNGPQKF XCNXGU CTG EQPPGEVGF VQ VJG QWVRWV VGTOKPCNU QH VJG 2.% 6JG YJQNG RTQEGUUKUEQPVTQNNGFD[CNCFFGTRTQITCONQCFGFKPVQVJG2.%%27OGOQT[6JGRTQITCOYKNN GZGEWVG C UGSWGPEG CWVQOCVKECNN[ CEEQTFKPI VQ VJG RTGFGHKPGF UGSWGPEG QH QRGTCVKQPU /CPWCN QRGTCVKQPCTGCNUQRTQXKFGFVQCNNQYQRGTCVQTVQCEVKXCVGVJGOCEJKPGOCPWCNN[D[VJGUYKVEJGU GOGTIGPE[RWUJDWVVQPHQTVJGRWTRQUGQHUCHGV[KPECUG[QWPGGFVQUVQRVJGQRGTCVKQPCDTWRVN[ +PVJKUCRRNKECVKQPVJGEQPVTQNU[UVGOQRGTCVGUCUCUVCPFCNQPGQRGTCVKQP       +0641&7%6+10  Y 6JG4QNGQHVJG2TQITCOOCDNG%QPVTQNNGTU 2.%   +PCPCWVQOCVGFU[UVGOVJG2.%KUEQOOQPN[TGICTFGFCUVJGJGCTVQHVJGEQPVTQNU[UVGO9KVJC EQPVTQN CRRNKECVKQP RTQITCO UVQTGF YKVJKP VJG 2.% OGOQT[  KP GZGEWVKQP VJG 2.% EQPUVCPVN[ OQPKVQTUVJGUVCVGQHVJGU[UVGOVJTQWIJVJGHKGNFKPRWVFGXKEGU1HGGFDCEMUKIPCN+VYKNNVJGPDCUGF QP VJG RTQITCO NQIKE VQ FGVGTOKPG VJG EQWTUG QH CEVKQP VQ DG ECTTKGF QWV CV VJG HKGNF QWVRWV FGXKEGU  6JG 2.% OC[ DG WUGF VQ EQPVTQN C UKORNG CPF TGRGVKVKXG VCUM QT C HGY QH VJGO OC[ DG KPVGTEQPPGEVGF VQIGVJGT YKVJ QVJGT JQUV EQPVTQNNGTU QT JQUV EQORWVGTU VJTQWIJ C UQTV QH EQOOWPKECVKQPPGVYQTMKPQTFGTVQKPVGITCVGVJGEQPVTQNQHCEQORNGZRTQEGUU   +PRWV&GXKEGU +PVGNNKIGPEG QH CP CWVQOCVGF U[UVGO KU ITGCVN[ FGRGPFKPI QP VJG CDKNKV[ QH C 2.% VQ TGCF KP VJG UKIPCNHTQOXCTKQWUV[RGUQHCWVQOCVKEUGPUKPICPFOCPWCNKPRWVHKGNFFGXKEGU  2WUJDWVVQPUMG[RCFCPFVQIINGUYKVEJGUYJKEJHQTOVJGDCUKEOCPOCEJKPGKPVGTHCEGCTGV[RGU QH OCPWCN KPRWV FGXKEG 1P VJG QVJGT JCPF HQT FGVGEVKQP QH YQTMRKGEG OQPKVQTKPI QH OQXKPI OGEJCPKUOEJGEMKPIQPRTGUUWTGCPFQTNKSWKFNGXGNCPFOCP[QVJGTUVJG2.%YKNNJCXGVQVCR VJG UKIPCN HTQO VJG URGEKHKE CWVQOCVKE UGPUKPI FGXKEGU NKMG RTQZKOKV[ UYKVEJ NKOKV UYKVEJ RJQVQGNGEVTKE UGPUQT NGXGN UGPUQT CPF UQ QP 6[RGU QH KPRWV UKIPCN VQ VJG 2.% YQWNF DG QH 101(( NQIKE QT CPCNQIWG 6JGUG KPRWV UKIPCNU CTG KPVGTHCEGF VQ 2.% VJTQWIJ XCTKQWU V[RGU QH 2.%KPRWVOQFWNG        +0276      .KOKV5YKVEJ 2JQVQGNGEVTKE 6KOGT  5YKVEJ      4QVCT['PEQFGT 2TQZKOKV[5YKVEJ              +0641&7%6+10  1WVRWV&GXKEGU #P CWVQOCVKE U[UVGO KU KPEQORNGVG CPF VJG 2.% U[UVGO KU XKTVWCNN[ RCTCN[UGF YKVJQWV OGCPU QH KPVGTHCEGVQVJGHKGNFQWVRWVFGXKEGU5QOGQHVJGOQUVEQOOQPN[EQPVTQNNGFFGXKEGUCTGOQVQTU UQNGPQKFUTGNC[UKPFKECVQTUDW\\GTUCPFGVE6JTQWIJCEVKXCVKQPQHOQVQTUCPFUQNGPQKFUVJG2.% ECP EQPVTQN HTQO C UKORNG RKEM CPF RNCEG U[UVGO VQ C OWEJ EQORNGZ UGTXQ RQUKVKQPKPI U[UVGO 6JGUGV[RGQHQWVRWVFGXKEGUCTGVJGOGEJCPKUOQHCPCWVQOCVGFU[UVGOCPFUQKVUFKTGEVGHHGEVQP VJGU[UVGORGTHQTOCPEG  *QYGXGTQVJGTQWVRWVFGXKEGUUWEJCUVJGRKNQVNCORDW\\GTUCPFCNCTOUCTGOGTGN[OGCPVHQT PQVKH[KPIRWTRQUG.KMGKPRWVUKIPCNKPVGTHCEKPIUKIPCNHTQOQWVRWVFGXKEGUCTGKPVGTHCEGFVQVJG 2.%VJTQWIJVJGYKFGTCPIGQH2.%QWVRWVOQFWNG                            +0641&7%6+10  Y 9JCVKUC2TQITCOOCDNG%QPVTQNNGT!  #2.%EQPUKUVUQHC%GPVTCN2TQEGUUKPI7PKV %27 EQPVCKPKPICPCRRNKECVKQPRTQITCOCPF+PRWV CPF1WVRWV+PVGTHCEGOQFWNGUYJKEJKUFKTGEVN[EQPPGEVGFVQVJGHKGNF+1FGXKEGU6JGRTQITCO EQPVTQNU VJG 2.% UQ VJCV YJGP CP KPRWV UKIPCN HTQO CP KPRWV FGXKEG VWTPU 10 VJG CRRTQRTKCVG TGURQPUG KU OCFG 6JG TGURQPUG PQTOCNN[ KPXQNXGU VWTPKPI 10 CP QWVRWV UKIPCN VQ UQOG UQTV QH QWVRWVFGXKEGU        2QYGT5WRRN[       5KIPCNU   %GPVTCN 5KIPCNU HTQO +PRWV 2TQEGUUKPI 1WVRWV VQ  5YKVEJGU  5QNGPQKFU  +PVGTHCEG 7PKV %27  +PVGTHCEG 5GPUQT /QVQTU  GVE GVE /GOQT[    (KI$NQEM&KCITCOQH2.%   %GPVTCN2TQEGUUKPI7PKV 6JG%GPVTCN2TQEGUUKPI7PKV %27 KUCOKETQRTQEGUUQTVJCVEQQTFKPCVGUVJGCEVKXKVKGUQHVJG2.% U[UVGO+VGZGEWVGUVJGRTQITCORTQEGUUGU+1UKIPCNUEQOOWPKECVGUYKVJGZVGTPCNFGXKEGU  /GOQT[ 6JGTG CTG XCTKQWU V[RGU QH OGOQT[ WPKV +V KU VJG CTGC VJCV JQNF VJG QRGTCVKPI U[UVGO CPF WUGT OGOQT[ 6JG QRGTCVKPI U[UVGO KU CEVWCNN[ C U[UVGO UQHVYCTG VJCV EQQTFKPCVGU VJG2.%.CFFGT RTQITCO6KOGTCPF%QWPVGT8CNWGUCTGUVQTGFKPVJGWUGTOGOQT[&GRGPFKPIQPWUGT1UPGGF XCTKQWUV[RGUQHOGOQT[CTGCXCKNCDNGHQTEJQKEG  C  4GCF.1PN[/GOQT[ 41/  41/KUCPQPXQNCVKNGOGOQT[VJCVECPDGRTQITCOOGFQPN[QPEG+VKUVJGTGHQTGWPUWKVCDNG+VKU NGCUVRQRWNCTCUEQORCTGFYKVJQVJGTUOGOQT[V[RG  D 4CPFQO#EEGUU/GOQT[ 4#/  4#/ KU EQOOQPN[ WUGF OGOQT[ V[RG HQT UVQTKPI VJG WUGT RTQITCO CPF FCVC 6JG FCVC KP VJG XQNCVKNG4#/YQWNFPQTOCNN[DGNQUVKHVJGRQYGTUQWTEGKUTGOQXGF*QYGXGTVJKURTQDNGOKU UQNXGFD[DCEMKPIWRVJG4#/YKVJCDCVVGT[         +0641&7%6+10  E  'TCUCDNG2TQITCOOCDNG4GCF1PN[/GOQT[ '241/  '241/JQNFUFCVCRGTOCPGPVN[LWUVNKMG41/+VFQUGPQVTGSWKTGDCVVGT[DCEMWR*QYGXGTKVU EQPVGPVECPDGGTCUGFD[GZRQUKPIKVVQWNVTCXKQNGVNKIJV#RTQOYTKVGTKUTGSWKTGFVQTGRTQITCO VJGOGOQT[  F 'NGEVTKECNN['TCUCDNG2TQITCOOCDNG4GCF1PN[/GOQT[ ''241/  ''241/ EQODKPGU VJG CEEGUU HNGZKDKNKV[ QH 4#/ CPF VJG PQPXQNCVKNKV[ QH '241/ KP QPG+VU EQPVGPVUECPDGGTCUGFCPFTGRTQITCOOGFGNGEVTKECNN[JQYGXGTVQCNKOKVPWODGTQHVKOGU                                                 +0641&7%6+10   5%#06+/' 6JG RTQEGUU QH TGCFKPI VJG KPRWVU GZGEWVKPI VJG RTQITCO CPF WRFCVKPI VJG QWVRWVU KU MPQYP CU UECP 6JG UECP VKOG KU PQTOCNN[ C EQPVKPWQWU CPF UGSWGPVKCN RTQEGUU QH TGCFKPI VJG UVCVWU QH KPRWVU GXCNWCVKPI VJG EQPVTQN NQIKE CPF WRFCVKPI QWVRWVU 5ECP VKOG URGEKHKECVKQP KPFKECVGU JQY HCUVVJGEQPVTQNNGTECPTGCEVVQVJGHKGNFKPRWVUCPFEQTTGEVN[UQNXGVJGEQPVTQNNQIKE       241)4#/                +17RFCVG                          241)4#/5%#0 6+/                   (CEVQTUKPHNWGPEKPI5ECP6KOG 6JGVKOGTGSWKTGFVQOCMGCUKPINGUECP UECPVKOG XCTKGUHTQOOUVQVGPUQHOUFGRGPFKPI QP KVU %27 RTQEGUUKPI URGGF CPF VJG NGPIVJ QH VJG WUGT RTQITCO 6JG WUGT QH TGOQVG +1 UWDU[UVGOU KPETGCUGU VJG UECP VKOG CU C TGUWNV QH JCXKPI VQ VTCPUOKV VJG +1 WRFCVGU VQ TGOQVG UWDU[UVGO /QPKVQTKPI QH VJG EQPVTQN RTQITCO CNUQ CFFU QXGTJGCF VKOG VQ VJG UECP DGECWUG VJG EQPVTQNNGT1U %27 JCU VQ UGPF VJG UVCVWU QH EQKNU CPF EQPVCEVU VQ VJG %46 QT QVJGT OQPKVQTKPI FGXKEG                         +0641&7%6+10   Y %QPXGPVKQPCN%QPVTQN2CPGNCPF+VU&KHHKEWNVKGU  +PVJGDGIKPPKPIQHVJG+PFWUVTKCNTGXQNWVKQPGURGEKCNN[KPVJGCWVQOCVGFOCEJKPGU YGTGEQPVTQNNGFD[GNGEVTQOGEJCPKECNTGNC[U6JGUGTGNC[UYGTGCNNJCTFYKTGFVQIGVJGTKPUKFGVJG EQPVTQN RCPGN +P UQOG ECUGU VJG EQPVTQN RCPGN YCU UQ JWIG VJCV KV EQWNF EQXGT VJG GPVKTG YCNN 'XGT[EQPPGEVKQPUKPVJGTGNC[NQIKEOWUVDGEQPPGEVGF9KTKPIKUPQVCNYC[URGTHGEVKVVCMGUVKOG VQVTQWDNGUJQQVVJGU[UVGO6JKUKUCXGT[VKOGEQPUWOKPICHHCKT1PVQRQHVJCVVJGTGNC[UJCXG NKOKVGF EQPVCEVU +H OQFKHKECVKQP KU TGSWKTGF VJG OCEJKPG JCU VQ DG UVQRRGF URCEG OC[ PQV CXCKNCDNGCPFYKTKPIJCUVQDGVTCEGFVQCEEQOOQFCVGEJCPIGU6JGEQPVTQNRCPGNECPQPN[DGWUGF HQTVJCVRCTVKEWNCTRTQEGUU+VECPPQVDGEJCPIGFKOOGFKCVGN[VQCPGYU[UVGO+VJCUVQDGTGFQPG +P VGTOU QH OCKPVGPCPEG CP GNGEVTKEKCP OWUV DG YGNN VTCKPGF CPF UMKNNHWN KP VTQWDNGUJQQVKPI VJG EQPVTQNU[UVGO+PUJQTVEQPXGPVKQPCNTGNC[EQPVTQNRCPGNCTGXGT[KPHNGZKDNG  #V[RKECNGZCORNGQHVJGEQPXGPVKQPCNEQPVTQNRCPGNKUUJQYPKP(KI                     (KI6[RKECN%QPXGPVKQPCN%QPVTQN2CPGN    Y &KUCFXCPVCIGQH%QPXGPVKQPCN%QPVTQN2CPGN  +PVJKURCPGNYGECPQDUGTXGVJGHQNNQYKPIRQKPVU 6JGTGCTGVQQOCP[YKTKPIYQTMKPVJGRCPGN /QFKHKECVKQPECPDGSWKVGFKHHKEWNV 6TQWDNGUJQQVKPIECPDGSWKVGVTQWDNGUQOGCU[QWOC[TGSWKTGCUMKNNHWNRGTUQP 2QYGTEQPUWORVKQPECPDGSWKVGJKIJCUVJGEQKNEQPUWOGURQYGT /CEJKPGFQYPVKOGKUWUWCNN[NQPIYJGPRTQDNGOUQEEWTCUKVVCMGUCNQPIGTVKOGVQVTQWDNGUJQQV VJGEQPVTQNRCPGN &TCYKPIUCTGPQVWRFCVGFQXGTVJG[GCTUFWGVQEJCPIGU+VECWUGUNQPIGTFQYPVKOGKP OCKPVGPCPEGCPFOQFKHKECVKQP        +0641&7%6+10   Y 2TQITCOOCDNG%QPVTQNNGT%QPVTQN2CPGNCPF6JGKT#FXCPVCIGU  9KVJ VJG CTTKXCN QH RTQITCOOCDNG EQPVTQNNGTU VJG EQPVTQN FGUKIP CPF EQPEGRV KORTQXG VTGOGPFQWUN[6JGTGCTGOCP[CFXCPVCIGUKPWUKPIVJGRTQITCOOCDNGEQPVTQNNGTU  #V[RKECNGZCORNGQHVJG2.%EQPVTQNRCPGNKUUJQYPKP(KI (KI6[RKECN2.%%QPVTQN2CPGN   Y #FXCPVCIGUQH2.%%QPVTQN2CPGN  *GTGCTGVJGOCLQTCFXCPVCIGUVJCVECPDGFKUVKPIWKUJCDN[TGCNK\GF 6JG YKTKPI QH VJG U[UVGO WUWCNN[ TGFWEGU D[  EQORCTGF VQ EQPXGPVKQPCN TGNC[ EQPVTQN U[UVGO 6JGRQYGTEQPUWORVKQPKUITGCVN[TGFWEGFCU2.%EQPUWOGOWEJNGUURQYGT 6JG2.%UGNHFKCIPQUVKEHWPEVKQPUGPCDNGGCU[CPFHCUVVTQWDNGUJQQVKPIQHVJGU[UVGO /QFKHKECVKQPQHEQPVTQNUGSWGPEGQTCRRNKECVKQPECPGCUKN[DGFQPGD[RTQITCOOKPIVJTQWIJ VJG EQPUQNG QT EQORWVGT UQHVYCTG YKVJQWV EJCPIKPI QH +1 YKTKPI KH PQ CFFKVKQPCN +PRWV QT 1WVRWVFGXKEGUCTGTGSWKTGF +P2.%5[UVGOURCTGRCTVUHQTTGNC[UCPFJCTFYCTGVKOGTUCTGITGCVN[TGFWEGFCUEQORCTGFVQ EQPXGPVKQPCNEQPVTQNRCPGN 6JG OCEJKPG E[ENG VKOG KU KORTQXGF VTGOGPFQWUN[ FWG VQ VJG URGGF QH 2.% QRGTCVKQP KU C OCVVGTQHOKNNKUGEQPFU6JWURTQFWEVKXKV[KPETGCUGU +V EQUV OWEJ NGUU EQORCTGF VQ EQPXGPVKQPCN U[UVGO KP UKVWCVKQP YJGPVJGPWODGTQH +1UKU XGT[NCTIGCPFEQPVTQNHWPEVKQPUCTGEQORNGZ 6JGTGNKCDKNKV[QHVJG2.%KUJKIJGTVJCPVJGOGEJCPKECNTGNC[UCPFVKOGTU #PKOOGFKCVGRTKPVQWVQHVJG2.%RTQITCOECPDGFQPGKPOKPWVGU6JGTGHQTGJCTFEQR[QH FQEWOGPVCVKQPECPDGGCUKN[OCKPVCKPGF     +0641&7%6+10   Y %QPXGTUKQPQH%QPXGPVKQPCN%QPVTQN%KTEWKVVQ2.%   'ZCORNG5VCTVKPICPF5VQRRKPIQHCRJCUGOQVQT    6J 7  4 /QVQT MY    ; 8   9  $  %KTEWKV /I  $TGCMGT    0          2$          2$ ' /I        6* 5VCTV      5VCTV2WUJDWVVQP  2WUJDWVVQP     +                     /I             (KI          9JGP VJG RWUJDWVVQP 2$ KU RTGUUGF EWTTGPV + YKNN HNQY VJTQWIJ VJG EKTEWKV CPF GPGTIK\G OCIPGVKE EQPVCEV /I YJKEJ KP VWTP ENQUGU VJG /I EQPVCEVU 6JG EQPVCEV /I RCTCNNGN VJG RWUJ DWVVQP2$KUHQTUGNHJQNFKPIUQVJCV2$ECPDGTGNGCUGF6JGQVJGT/IEQPVCEVUENQUGUVQUYKVEJ QPVJGRDCUGOQVQT  6QEQPPGEVVJGCDQXGEKTEWKVKPC2.%U[UVGOVQ2.%YKTKPIEKTEWKVYGPGGFVQKFGPVKH[VJGKPRWV CPFQWVRWVFGXKEGU6JGKPRWVFGXKEGUCTGUVCTVRWUJDWVVQP 2$ CPFUVQRRWUJDWVVQP 2$ CPF VJGQWVRWVFGXKEGKPVJKUECUGKUQPN[QPGOCIPGVKEEQPVCEVQTVJCVEQPVTQNUVJGRJCUGOQVQT6JG YKTKPIEKTEWKVKUUJQYPKP(KI          +0641&7%6+10          %KTEWKV     $TGCMGT 6J       7   4     /QVQT MY           ;    8                 9 $         /I (KI/QVQT%KTEWKV    0          5VCTV2WUJDWVVQP '    2$   5VQR2WUJDWVVQP #UUKIPOGPV   2$   − &%8 +PRWV%JCPPGN  1WVRWV%JCPPGN   (75' %1/ +0276 176276 /I     6J   /CIPGVKE%QPVCEVQT (KI*CTF9KTG%KTEWKVHQT2.%%QPPGEVKQP     2$   2$      5VCTV2WUJDWVVQP 5VQR2WUJDWVVQP %QPVTQN  /I       '0&    (KI.CFFGTFKCITCO  (KIUJQYUVJGYKTKPIEKTEWKVQHVJG+1FGXKEGU (KIKUVJGNCFFGTFKCITCOHQTVJGEQPXGTUKQP+VOWUVDGRTQITCOOGFKPVQVJG2.%    +0641&7%6+10  'ZCORNG5QTVKPI/CEJKPG            5VCTV   . 0   2$ 5VQR       2$ %64      %4 $GIKP%[ENG      %4         %4   %4 %QPXG[QT # /QVQT     4WP.KIJV      .5 .KOKV 5YKVEJ   %4 5QTVKPI         %4  %[NKPFGT      .5.KOKV 5YKVEJ  %64 %QWPVGT       2$        %46   'PF%[ENG$GNN        (KI%QPXGPVKQPCN%KTEWKVHQT5QTVKPI/CEJKPG     +PVJKUGZCORNG[QWJCXGVQFGVGTOKPGCICKPVJGPWODGTQHKPRWVCPFQWVRWVFGXKEGUWUGFHQTVJG EQPVTQNEKTEWKV#UUKIPVJG+1HQTVJG2.%CPFVJGPYKTGKVCEEQTFKPIVQVJGCEVWCN+1FGXKEGU 6JGYKTKPIEKTEWKVKUUJQYPKP(KI6JGKPRWVFGXKEGUUWEJCU2$KUCUUKIPVQVJGKPRWV.5CUKPRWV.5CUKPRWVCPF2$CUKPRWV6JGQWVRWVFGXKEGUUWEJCUEQPXG[QTOQVQTKU CUUKIPGFVQQWVRWVE[NKPFGTUQNGPQKFCUQWVRWVCPF'PF%[ENG$GNNCUQWVRWV             +0641&7%6+10    &%8 . 0.5.5  2$ 2$   +0276 176276        %QPXG[QT /64    /QVQT 'PF%[ENG$GNN       4WP.KIJV 6J %[NKPFGT    5QNGPQKF     (KI9KTKPI%KTEWKVQH2.%HQT5QTVKPI/CEJKPG           2$ 2$ %06      $GIKP%[ENG   5VQR       %QPXG[QT/QVQT  #PF470.KIJV .5.KOKV5YKVEJ          %[NKPFGT 5QNGPQKF .5.KOKV5YKVEJ  %  %06   2$ 4UV      %06      'PF%[ENG$GNN   '0&    (KI.CFFGT&KCITCOQH2.%   (KIUJQYUVJGYKTKPIEKTEWKVQHVJG+1FGXKEGU    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+0641&7%6+10   #5;56'/#6+%#2241#%*61241)4#//#$.'%10641..'4&'5+)0                   7PFGTUVCPFVJGFGUKTGF     TGSWKTGOGPVQHVJG   %QPVTQN5[UVGO %QPPGEVCNN+PRWVCPF   1WVRWVFGXKEGUVQ2%       &TCYCIGPGTCNHNQYEJCTV   QHVJG%QPVTQN5[UVGO %JGEMCNN+PRWVCPF   1WVRWVEQPPGEVKQPU    .KUVCNNKPRWVCPFQWVRWV   RQKPVUVQVJGTGURGEVKXG   6GUV4WP +1RQKPVUQHVJG2.%         6TCPUNCVGVJGHNQYEJCTV   VQ 'FKVKPI5QHVYCTG        2TQITCOOGFVJG   FGUKIPGF   0Q +U2TQITCO   1-!    ;GU  #NVGTVJGRTQITCO  CEEQTFKPIN[ 5VQTGRTQITCOKP  '241/GVE   5KOWNCVGVJG   RTQITCOCPFFGDWI   VJGUQHVYCTG 5[UVGOCVKECNN[   FQEWOGPVCNNFTCYKPI       0Q ;GU 'PF   +U2TQITCO   1-!             +0641&7%6+10   Y 2TQITCOOCDNG%QPVTQNNGT#RRNKECVKQPU  6JGTGCTGUQOCP[CRRNKECVKQPUVJCV[QWECPHKPF2.%UCTGWUGKPVJGXCTKQWUKPFWUVTKGU*GTGCTG VJGNKUVQHCRRNKECVKQPU     /CVGTKCN*CPFNKPI 2QYGT5VCVKQP2NCPV    %QPXG[QT5[UVGO  2TQEGUU/QPKVQTKPI%QPVTQN  2CEMCIKPI/CEJKPG  'NGEVTKECN'NGEVTQPKE#RRNKCPEG  2KEMCPF2NCEG4QDQV%QPVTQN  /CPWHCEVWTKPI  2WOR%QPVTQN  &KUM&TKXG/CPWHCEVWTKPI  5YKOOKPI2QQN  2GVTQN%JGOKECN2NCPV  9CVGT6TGCVOGPV  6TCHHKE.KIJV5[UVGO  %JGOKECN2TQEGUUKPI2NCPV  6TCKP%QPVTQN5VCVKQPU[UVGO  2CRGTCPF2WNR+PFWUVTKGU  2NCUVKE/CPWHCEVWTKPI+PFWUVTKGU  )NCUU/CPWHCEVWTKPI  %CT/CPWHCEVWTKPI2NCPV  2TGECUV%QPETGVG+PFWUVTKGU  +TQPCPF5VGGN/KNN  %GOGPV/CPWHCEVWTKPI  &KCT[2TQFWEV/CPWHCEVWTKPI2NCPV  2TKPVKPI+PFWUVTKGU  $WKNFKPI#WVQOCVKQP  'NGEVTQRNCVKPI2NCPVU  6[TG/CPWHCEVWTKPI  (QQF2TQEGUUKPI  +PVGITCVGF%KTEWKV%JKR/CPWHCEVWTKPI  /CEJKPG6QQNU  5GYCIG6TGCVOGPV2NCPV  6QDCEEQ+PFWUVTKGU  5GEWTKV[%QPVTQN5[UVGO  2NCUVKE/QWNFKPIOCEJKPG .KHV%QPVTQN5[UVGO  5GOKEQPFWEVQT/CPWHCEVWTKPI  )GPGTCVQT%QPVTQN5[UVGO   /CEJKPG #OWUGOGPV2CTM%QPVTQN  5WICT/CPWHCEVWTKPI2NCPV   2CNO1KN/CPWHCEVWTKPI2NCPV   #KT%QPFKVKQP%QPVTQN                             +0641&7%6+10   Y %QPUKFGT#5KORNG2TQLGEV  5WRRQUG[QWYKUJVQEQPVTQNVJGHQNNQYKPITQDQVIUOQXGOGPV     (Start button) PB1 (0) (Detect workpiece)  PH1 (4)      (clockwise (counterclockwise      (check grasp work) rotation) rotation) (3) LS3 LS1 (1) LS2 (2)           SOL2 (1001) conveyor B   conveyor A (1003) (1000) SOL1 (clockwise  (counterclockwise rotation)  rotation)      6JKUMKPFQHTQDQVKUUGGPKPOCP[CWVQOCVGFHCEVQTKGU#UKUCRRCTGPVHTQOVJGHKIWTGVJKUTQDQV RKEMUWRCYQTMDGKPIECTTKGFQPEQPXG[QT#CPFRNCEGUKVQPEQPXG[QT$  #NVJQWIJUGGOKPIN[UKORNGGZGEWVKPIVJKUUGTKGUQHQRGTCVKQPUYKVJGNGEVTKEFGXKEGUCPFEKTEWKVT[ KUJCTFGTVJCPTGCNK\GF .QQMKPICVVJGCDQXGHKIWTGENQUGN[YKNNFKUENQUGVJCVVJGTQDQVRGTHQTOUQPGQRGTCVKQPCVCVKOG YJGPCIKXGPEQPFKVKQPKUOGV.GVIUCPCN[\GVJGUGQRGTCVKQPUCPFEQPFKVKQPU   9JGPVJGUVCTVDWVVQPKURTGUUGFVJGTQDQVTQVCVGUKVUCTOENQEMYKUG   9JGPVJGTQDQVCTOJCUOQXGFVQVJGRQUKVKQPQHVJGYQTMKPEQPXG[QT#VJGCTOITCURUVJG YQTM   9JGPVJGCTOJCUITCURGFVJGYQTMKVTQVCVGUEQWPVGTENQEMYKUG   9JGPVJGCTOJCUTQVCVGFVQVJGRQUKVKQPQHEQPXG[QT$KVTGNGCUGUVJGYQTM             +0641&7%6+10    &GVGTOKPGVJG5GSWGPEGQH1RGTCVKQPD[&TCYKPIVJG(NQYEJCTV     5VCTV  $WVVQP 0Q  2TGUUGF   5612%10&+6+10    #TOTQVCVGU%NQEMYKUG 51. #VCPVVKOG  ;GU 5612$76610KU  RTGUUGFVJG#4/UVQR  #TO 0Q YJGTGKVKU  #V  .5 7RQPRTGUUKPIUVCTV  $WVVQPVJGCTOEQPVKPWGU   %QPXG[QT#10   ;GU   2JQVQ'[G5GPUG 0Q  9QTMRKGEG    %QPXG[QT#1((  #TO)TCUR9QTM  ;GU   +U .5 0Q  10    #TO4QVCVGU%QWPVGTENQEMYKUG 51.  ;GU   #TO  #V 0Q .5    4GNGCUG9QTMRKGEG  ;GU   +U .5  1((   ;GU    +0641&7%6+10    #UUKIPOGPVQH+1  +0276 &'5%4+26+10 176276 &'5%4+26+10  UVCTVRWUJDWVVQP  51. .5  51. .5  51. .5  %QPXG[QT#  2*    UVQRDWVVQP    TGUGVDWVVQP      9TKVKPIVJG2TQITCO .CFFGT&KCITCO/CKP0GVYQTM /CKPF4QDQVEQPVTQN 6JKURTQITCOFGOQPUVTCVGUVJCVVJGTQDQVRKEMUWRCYQTMRKGEGHTQOEQPXG[QT#CP FRNCEGUKVQPEQPXG[QT$ 0GVYQTMF5VCTVEQPFKVKQP       5VCTV     5VCTV 0GVYQTMF#TOENQEMYKUG       .5 #TOCPVKENMYKUG #TOENMYKUG 0GVYQTMF%QPXG[QT#       .5 )TCUR %QPXG[QT # 0GVYQTMF)TCUR        %QPXG[QTA# 2* )TCUR     )TCUR 0GVYQTMF#TOCPVKENQEMYKUG         )TCUR.5     #TOCPVKENMYKUG      #TOCPVKENMYKUG    +0641&7%6+10    0GVYQTMF4GNGCUGRCTV       #TOVKENMYKUG.5 0GVYQTMF4GNGCUG%;%.'      .5 0GVYQTMF5VQREQPFKVKQP       5VQR     0GVYQTMF4GUGVEQPFKVKQP 4GUGVCHVGTUVQR       4GUGV 0GVYQTMF'PF  'PF                                  +0641&7%6+10     +PKVKCN5[UVGO%JGEMU  %JGEMVJGHQNNQYKPIKVGOUCHVGTUGVVKPIWRCPFYKTKPIVJG2.%$GUWTGVQEJGEMVJGYKTKPICPF EQPPGEVKQPUDGHQTGRGTHQTOKPICVGUVTWP  +VGO 2QKPVUVQ%JGEM 2QYGTUWRRN[CPF +UVJGYKTKPIEQTTGEV! +1EQPPGEVKQPU #TGVJGVGTOKPCNUUGEWTGN[VKIJVGPGF! #TGVJGTGCP[UJQTVUDGVYGGPETKOREQPPGEVQTUQTYKTGU! %QPPGEVKPIECDNGU #TGVJGECDNGUCNNEQPPGEVGFEQTTGEVN[CPFNQEMGF!   6GUVTWP2TQEGFWTG   2QYGT5WRRN[#RRNKECVKQP C  %JGEMVJG2.%IURQYGTUWRRN[XQNVCIGCPFVGTOKPCNUEQPPGEVKQPU D  %JGEMVJG+1FGXKEGUIRQYGTUWRRN[XQNVCIGCPFVGTOKPCNEQPPGEVKQPU E  6WTPQPVJGRQYGTUWRRN[CPFEJGEMVJCVVJGK219'4LKPFKECVQTKNNWOKPCVGU F  7UGC2GTKRJGTCN&GXKEGQT5[UYKPVQUGVVJG%2/#VQ241)4#/OQFG   +19KTKPI%JGEMU C  9KVJVJG%2/#KP241)4#/OQFGEJGEMVJGQWVRWVYKTKPID[VWTPKPIQPVJGQWVRWV DKVUYKVJVJGHQTEGUGVCPFHQTEGTGUGVQRGTCVKQPU D  %JGEMVJGKPRWVYKTKPIYKVJVJG2.%IUKPRWVKPFKECVQTUQTC2GTKRJGTCN&GXKEGIUOQPKVQT QRGTCVKQPU   6GUV4WP C  7UGC2GTKRJGTCN&GXKEGVQUGVVJG2.%VQ470QT/10+614OQFGCPFEJGEMVJCVVJG K470LKPFKECVQTNKIJVUWR D  %JGEMVJGUGSWGPEGQHQRGTCVKQPYKVJVJGHQTEGUGVTGUGVQRGTCVKQPUGVE   &GDWIIKPI %QTTGEVCP[RTQITCOOKPIGTTQTUVJCVCTGFGVGEVGF   5CXKPIVJG2TQITCO C  7UG5[UYKPVQUCXGVJGRTQITCOVQFKUM D  2TKPVQWVCJCTFEQR[QHVJGRTQITCOYKVJCRTKPVGT               5;56'/%10(+)74#6+10 Y %27%QORQPGPVU   %2/#%&4    %2/#%&4    %2/#%&4  'ZRCPUKQP+1WPKV %QPPGEVQT   %2/#%&4  'ZRCPUKQP+1WPKV %QPPGEVQT      5;56'/%10(+)74#6+10 2.%5VCVWU+PFKECVQTU   +PFKECVQT 5VCVWU /GCPKPI 294 ITGGP  10 2QYGTKUDGKPIUWRRNKGFVQVJG2.% 1(( 2QYGTKUPIVDGKPIUWRRNKGFVQVJG2.% 470 ITGGP  10 6JG2.%KUQRGTCVKPIKP470QT/10+624OQFG  1(( 6JG 2.% KU KP 241)4#/ OQFG QT C HCVCN GTTQT JCUQEEWTTGF '44#./ TGF  10 #HCVCNGTTQTJCUQEEWTTGF 2.%QRGTCVKQPUVQRU  (NCUJKPI #PQPHCVCNGTTQTJCUQEEWTTGF 2.%QRGTCVKQP EQPVKPWGU  1(( +PFKECVGUPQTOCNQRGTCVKQP %1// QTCPIG  10 &CVCKUDGKPIVTCPUHGTTGFXKCVJG2GTKRJGTCN2QTV  1(( &CVCKUPIVDGKPIVTCPUHGTTGFXKCVJG2GTKRJGTCN2QTV   +PRWV+PFKECVQTU  6JGUGKPFKECVQTUCTGNKVYJGPVJGEQTTGURQPFKPIKPRWVVGTOKPCNKU10 9JGPCHCVCNGTTQTQEEWTUVJGKPRWVKPFKECVQTUEJCPIGCUHQNNQYU %27GTTQTQT+1DWUGTTQT 6JGKPRWVKPFKECVQTUVWTP1(( /GOQT[GTTQTQTU[UVGOGTTQT 6JG KPRWV KPFKECVQTU OCKPVCKP VJGKT UVCVWU DGHQTG VJG GTTQT QEEWTTGFGXGPKHVJGKPRWVUVCVWUKUEJCPIGF  1WVRWV+PFKECVQTU  6JGUGKPFKECVQTUCTGNKVYJGPVJGQWVRWVTGNC[UCTGVWTPGFQP                            5;56'/%10(+)74#6+10 Y %2/#%27%QORQPGPVU  %2/#%&=?=?                  %2/#%&=?=?        'ZRCPUKQP+1  7PKV%QPPGEVQT        %2/#%&=?=?        'ZRCPUKQP+1  7PKV%QPPGEVQT            5;56'/%10(+)74#6+10 2.%5VCVWU+PFKECVQTU  +PFKECVQT 5VCVWU /GCPKPI 294 ITGGP  10 2QYGTKUDGKPIUWRRNKGFVQVJG2.%  1(( 2QYGTKUPIVDGKPIUWRRNKGFVQVJG2.% 470 ITGGP  10 6JG2.%KUQRGTCVKPIKP470QT/10+614OQFG  1(( 6JG 2.% KU KP 241)4#/ OQFG QT C HCVCN GTTQT JCUQEEWTTGF '44#./ TGF  10 #HCVCNGTTQTJCUQEEWTTGF 2.%QRGTCVKQPUVQRU   (NCUJKPI # PQPHCVCN GTTQT JCU QEEWTTGF 2.% QRGTCVKQP EQPVKPWGU  %1// QTCPIG  10 &CVCKUDGKPIVTCPUHGTTGFXKCVJG2GTKRJGTCN2QTVQT 45%RQTV  1(( &CVCKUPIVDGKPIVTCPUHGTTGFXKCVJG2GTKRJGTCN2QTV QT45%RQTV   +PRWV+PFKECVQTU  6JGUGKPFKECVQTUCTGNKVYJGPVJGEQTTGURQPFKPIKPRWVVGTOKPCNKU10 9JGPCHCVCNGTTQTQEEWTUVJGKPRWVKPFKECVQTUEJCPIGCUHQNNQYU %27GTTQTQT+1DWUGTTQT6JGKPRWVKPFKECVQTUVWTP1(( /GOQT[GTTQTQTU[UVGOGTTQT 6JG KPRWV KPFKECVQTU YKNN EJCPIG YKVJ VJG UVCVWU QH VJG KPRWV UKIPCNDWVKPRWVUYKNNPQVDGWRFCVGFKPOGOQT[   1WVRWV+PFKECVQTU  6JGUG KPFKECVQTU CTG NKV YJGP VJG QWVRWV TGNC[U CTG VWTPGF QP 6JG KPFKECVQTU CTG NKV FWTKPI +1 TGHTGUJKPI9JGPRWNUGQWVRWVUCTGDGKPIWUGFVJGKPFKECVQTYKNNTGOCKPNKVEQPVKPWQWUN[YJKNGVJG RWNUGUCTGDGKPIQWVRWV   #PCNQI%QPVTQN  6WTPVJGUGEQPVTQNUVQEJCPIGVJGCPCNQIUGVVKPI VQ KP+4CPF+4   2GTKRJGTCN2QTV  %QPPGEVUVJG2.%VQC2TQITCOOKPI&GXKEG KPENWFKPI2TQITCOOKPI%QPUQNGU JQUVEQORWVGT QTUVCPFCTFGZVGTPCNFGXKEG              5;56'/%10(+)74#6+10 45%2QTV  %QPPGEVUVJG2.%VQCRTQITCOOKPI&GXKEG GZENWFKPI2TQITCOOKPI%QPUQNGU JQUVEQORWVGTU 2TQITCOOCDNG6GTOKPCNQTUVCPFCTFGZVGTPCNFGXKEG   %QOOWPKECVKQP5GVVKPI  6JKU UYKVEJ UGNGEVU YJGVJGT VJG 2GTKRJGTCN RQTV CPF 45% RQTV YKNN WUG VJG EQOOWPKECVKQPU UGVVKPIKPVJG2%5GVWRQTVJGUVCPFCTFUGVVKPIU 1(( 6JG2GTKRJGTCN2QTVCPF 45% RQTVQRGTCVG CEEQTFKPIVQVJGEQOOWPKECVKQP UGVVKPI KP VJGUGVWRGZEGRVHQTC2TQITCOOKPI%QPUQNGEQPPGEVGFVQVJG2GTKRJGTCNRQTV 10 6JG 2GTKRJGTCN 2QTV CPF 45% RQTV QRGTCVG CEEQTFKPI VQ VJG UVCPFCTFEQOOWPKECVKQPU UGVVKPIUGZEGRVHQTC2TQITCOOKPI%QPUQNGEQPPGEVGFVQVJG2GTKRJGTCNRQTV   $CVVGT[  6JKUDCVVGT[DCEMUWRVJGOGOQT[KPVJG%277PKVCPFKUEQPPGEVGFYJGPVJG7PKVKUUJKRRGF   'ZRCPUKQP%QPPGEVQT  %QPPGEVUVJG2.%IU%27WPKVVQVJG'ZRCPUKQP7PKV 'ZRCPUKQP+1WPKV#PCNQI+1WPKVQTVJG %QORQ$WU5+1.KPM7PKV 7RVQ'ZRCPUKQP7PKVUECPDGEQPPGEVGFVQC%27WPKV                                5;56'/%10(+)74#6+10 'ZRCPUKQP+17PKV%QORQPGPVU  6JGGZRCPUKQPWPKVUCTGUJCTGFDGVYGGP%2/#CPF%2/# 'ZRCPUKQP+1YKVJ+16GTOKPCNU %2/#'&4 %2/#'&6 %2/#'&6                      'ZRCPUKQP+1YKVJ+PRWV6GTOKPCNU %2/#'&             5;56'/%10(+)74#6+10 'ZRCPUKQP+1YKVJ1WVRWV6GTOKPCNU %2/#'4 %2/#'6 %2/#'6                   +PRWV6GTOKPCNU %QPPGEVVQVJGKPRWVEKTEWKVU   1WVRWV6GTOKPCNU %QPPGEVVQVJGQWVRWVEKTEWKVU   +PRWV+PFKECVQTU 6JGUGKPFKECVQTUCTGNKVYJGPVJGEQTTGURQPFKPIKPRWVVGTOKPCNKU10   1WVRWV+PFKECVQTU 6JGUGKPFKECVQTUCTGNKVYJGPVJGEQTTGURQPFKPIQWVRWVVGTOKPCNKU10   'ZRCPUKQP+17PKV%QPPGEVKPI%CDNG %QPPGEVU VJG 'ZRCPUKQP +1 7PKV VQ VJG 'ZRCPUKQP %QPPGEVQT QP VJG 2.%IU %27 7PKV QT CPQVJGT'ZRCPUKQP+17PKV   'ZRCPUKQP%QPPGEVQT %QPPGEVUVQCPQVJGT'ZRCPUKQPWPKV 'ZRCPUKQP+17PKV#PCNQI+17PKVQT%QORQ$WU5 +1.KPM7PKV 7RVQVJTGG'ZRCPUKQP7PKVUECPDGEQPPGEVGFVQC%277PKV                 5;56'/%10(+)74#6+10 #PCNQI+17PKV%QORQPGPVU %2/#/#&                  #PCNQI6GTOKPCNU %QPPGEVUVJGWPKVVQCPCNQIKPRWVFGXKEGUCPFCPCNQIQWVRWVFGXKEGU   'ZRCPUKQP+1WPKV%QPPGEVKPI%CDNG %QPPGEVUVJG#PCNQI+1WPKVVQVJG'ZRCPUKQP%QPPGEVQTQPVJG2.%IU%277PKVQTCPQVJGT 'ZRCPUKQP7PKV   'ZRCPUKQP%QPPGEVQT %QPPGEVUVQCPQVJGT'ZRCPUKQP7PKV 'ZRCPUKQP+17PKV#PCNQI7PKVQT%QORQ$WU5+1.KPM7PKV 7RVQ'ZRCPUKQP7PKVECPDGEQPPGEVGFVQC%27WPKV    %QORQ$WU56GTOKPCNU %2/#546                        5;56'/%10(+)74#6+10   %QORQ$WU56GTOKPCNU   &KR5YKVEJ 6JG &+2 UYKVEJ UGVU VJG 7PKVIU PQFG PWODGT QH %QORQ$WU5 TGOQVG +1 PGVYQTM CPF FGVGTOKPGUYJGVJGTQTPQVVJGQWVRWVUYKNNDGENGCTGFKPVJGGXGPVQHCEQOOWPKECVKQPUGTTQT  .'&+PFKECVQTU 6JGUGKPFKECVQTUUJQYVJGUVCVWUQHVJG%QORQ$WU5EQOOWPKECVKQPU   'ZRCPUKQP+17PKV%QPPGEVKPIECDNG %QPPGEVUVJG%QORQ$WUU+1.KPM7PKVVQVJG'ZRCPUKQPEQPPGEVQTQPVJG2.%IU%277PKV QTCPQVJGT'ZRCPUKQPWPKV   'ZRCPUKQP%QPPGEVQT %QPPGEVUVQCPQVJGT'ZRCPUKQP7PKV 'ZRCPUKQP+17PKV#PCNQI+17PKVQT%QORQ$WU5 +1.KPM7PKV 7RVQVJTGG'ZRCPUKQP7PKVUECPDGEQPPGEVGFVQC%277PKV    %27CPF'ZRCPUKQP+17PKV%QPHKIWTCVKQP 6JGHQNNQYKPIVCDNGFGUETKDGUVJG%2/#%27U#NNQWVRWVUCTGTGNC[QWVRWVU  6JGHQNNQYKPIVCDNGFGUETKDGUVJGUKZ%2/#%27U#NNQWVRWVUCTGTGNC[QWVRWVU  0WODGTQH+1 +PRWVU 1WVRWVU 2QYGT /QFGNPWODGT VGTOKPCNU UWRRN[  RQKPVU RQKPVU #% %2/#%&4# &% %2/#%&4&  RQKPVU RQKPVU #% %2/#%&4# &% %2/#%&4&  RQKPVU RQKPVU #% %2/#%&4# &% %2/#%&4&  RQKPVU RQKPVU #% %2/#%&4# &% %2/#%&4&                      5;56'/%10(+)74#6+10   6JGHQNNQYKPIVCDNGFGUETKDGUVJG%2/#%27U  0WODGTQH+1 +PRWVU 1WVRWVU 2QYGT /QFGNPWODGT VGTOKPCNU UWRRN[  RQKPVU RQKPVU #% %2/#%&4# &% %2/#%&4& &% %2/#%&6& &% %2/#%&6&  RQKPVU RQKPVU #% %2/#%&4# &% %2/#%&4& &% %2/#%&6& &% %2/#%&6&  RQKPVU RQKPVU #% %2/#%&4#  &% %2/#%&4& &% %2/#%&6& &% %2/#%&6&    6JGHQNNQYKPIVCDNGFGUETKDGUVJGGZRCPUKQPWPKVUJCTGFD[%2/#CPF%2/#  0WODGTQH+1 +PRWVU 1WVRWVU 2QYGT /QFGNPWODGT VGTOKPCNU UWRRN[  RQKPVU RQKPVU &% %2/#'&4 %2/#'&6 %2/#'&6  RQKPVU RQKPVU &% %2/#'&  RQKPV RQKPVU &% %2/#'4 %2/#'6 %2/#'6  #PCNQI #PCNQI &% %2/#/#&  RQKPVU RQKPVU &% %2/#546                     5;56'/%10(+)74#6+10   Y *QUV.KPM%QOOWPKECVKQPU %2/#   *QUV.KPM EQOOWPKECVKQPU CNNQYU WR VQ  1/410 2%U VQ DG EQPVTQNNGF HTQO C UKPING JQUV EQORWVGT 6JG EQORWVGT VQ 2% EQPPGEVKQPU ECPDGGUVCDNKUJGFWUKPIGKVJGT 45% QT 45 #FCRVGTU  %QOOWPKECVKQPUVQ%QORWVGT 6JGHQNNQYKPIFKCITCOUJQYUVVJGRQUUKDNGOGVJQFUHQTCVQEQPPGEVKQPDGVYGGPC%2/# 1/410 2TQITCOOCDNG 6GTOKPCN CP QRGTCVQT KPVGTHCEG FGXKEG  CPF CP +$/ 2%#6 QT EQORCVKDNGEQORWVGT       %QOOWPKECVKQPU#FCRVGT%QORQPGPVU 45%#FCRVGT   /QFG5GVVKPI5YKVEJ 5GVVJKUUYKVEJVQK*156LYJGPWUKPIC*QUV.KPMU[UVGOVQEQPPGEVVQCRGTUQPCNEQORWVGT 5GVVJKUUYKVEJVQK06LYJGPEQPPGEVKPIVQCRTQITCOOCDNG6GTOKPCNXKCC06NKPM    %QPPGEVQT %QPPGEVQTVQVJG%27IU2GTKRJGTCN2QTV   45%2QTV %QPPGEVU VQ VJG 45% ECDNG HTQO VJG QVJGT FGXKEGU UWEJ CU C RGTUQPCN EQORWVGT 2GTKRJGTCN&GXKEGQT2TQITCOOCDNG6GTOKPCN    5;56'/%10(+)74#6+10   /WNVKFTQR%QOOWPKECVKQPUVQ%QORWVGT 6JG HQNNQYKPI FKCITCO UJQYU JQY VQ EQPPGEV WR VQ  %27U %2/# QPN[  VQ CP +$/ 2%#6QTEQORCVKDNGEQORWVGT  6JGOCZKOWOECDNGNGPIVJQH45UJQWNFDGO    #FCRVGTUCPF%CDNGU 6JGHQNNQYKPIVCDNGNKUVUUQOGQHVJG#FCRVGTUCPF%CDNGUWUGFKP*QUV.KPMEQOOWPKECVKQPU  0COG 7UCIG /QFGNPWODGT 45%#FCRVGT %QPXGTVUVQRGTKRJGTCNRQTVNGXGNEQOOWPKECVKQPU %2/%+( 45#FCRVGT %2/%+( %QPPGEVKPI%CDNGU 7UGFVQEQPPGEV+$/2%#6QTEQORCVKDNG %3/%+( EQORWVGTU %CDNGNGPIVJO .KPM#FCRVGT %QPXGTVUDGVYGGPVJG45%CPF45 $#.    5;56'/%10(+)74#6+10 HQTOCVU  45#FCRVGT     6GTOKPCVKQP4GUKUVCPEG5YKVEJ 5GVVJG.KPM#FCRVGTCPF45#FCRVGTCVGCEJGPFQHVJGOCKPNKPGVQK10LYJGPWUKPI VJGVGTOKPCVKQPTGUKUVCPEGUYKVEJ   %QPPGEVQT %QPPGEVUVQVJG%27IU2GTKRJGTCN2QTV   452QTV %QPPGEVUVQVJG*QUV.KPMPGVYQTM                             5;56'/%10(+)74#6+10   VQ2%%QOOWPKECVKQP.KPMU  #FCVCNKPMECPDGETGCVGFYKVJVJG.4FCVCCTGCKPCPQVJGT%2/#%2/%3/54/QT %*5 2% QT %*:*'*) 2% #P 45% #FCRVGT KU WUGF VQ OCMG VJG VQ EQPPGEVKQP   0COG 7UCIG /QFGNPWODGT 45%#FCRVGT %QPXGTVUVQRGTKRJGTCNRQTVHQTOCV %2/%+(        5;56'/%10(+)74#6+10   06.KPM%QOOWPKECVKQP  06.KPM KU C JKIJ URGGF KPVGTHCEG DGVYGGP VJG %2/# CPF C 2TQITCOOCDNG 6GTOKPCN 6JG 45%CFCRVGTPGGFUVQDGWUGFHQTVJKUEQPPGEVKQPYKVJVJGOQFGUYKVEJQPVJGCFCRVGTUGVVQ K06.KPML  %2/#%27 1/4102TQITCOOCDNG6GTOKPCN 45% #FCRVGT 45%%CDNG 0COG 7UCIG /QFGNPWODGT 45%#FCRVGT %QPXGTVUVQRGTKRJGTCNRQTVHQTOCV %2/%+(   2TQITCOOKPI'ZCORNGQH2.%.KPM$GVYGGP%2/#7PKVU  45%%CDNG 45% %2/#%27 45% %2/# %27 #FCRVGT #FCRVGT     /#56'4241)4#/ 5.#8'241)4#/