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State Machine Based PLC Logic Design

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Dear, Folks Greetings of the day

                                    I am got very confused in "State Machine" Based Logic design, now am doing Index table based vision inspection system it having 6axis servo, now the major issue is I need to do the better logic with easy error traceability technique. So am chose state machine based system design but the error handling of system is very difficult for me. Any Process automation experts give me the proper solution for this issue or suggest any good book for this state machine error handling concept. Am tried it in web search but I can't get suitable answer

< Thanks in advance > 


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