This section, placed at the start of the task is used to initialize the chart:

! (*Chart initialization*)

IF NOT Start_cycle OR %S1 THEN SET %S21; END_IF;

! (*Initialization of movement values*)

%MF50 := %MF52 := 1000.0; (*Ready position*)

%MF54 := 2000.0; (*Move to belt B axis X*)

%MF56 := 1500.0; (*Move to belt B axis Y*)

%MF58 := 2000.0; (*Move to belt C axis X*)

%MF60 := 500.0; (*Move to belt C axis Y*)

%MF102 := 10000.0; (*Auto speed*)

%MF104 := 2000.0; (*Manual speed*)

%MF106:= 1000.0; (*Reference point speed*)

(*Initialization of channel 0*)

%Q1.2.26 := NOT %S0;

%L10: