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1. Identify sequence
of movement 2. Group the sequence : 1 group contains 1 relay 3. Identify limit switch status A+ B+ B- A- k1 k2 Start a1 b1 b0 a0
4.
4. Identify relation k1
start.a0 A+ k1 B+ k1.a1 k2 k1.b1 B- k2 A- k2.b0 Turn of k2
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