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Built-in Outputs Section 7-1
7-1-7 Palletize: Two-axis Multipoint Positioning
Specifications and Operation
Outline
Operation Pattern
1,2,3... 1. An origin search is performed.
2. A workpiece is grasped and moved to position A.
3. The workpiece is grasped and moved to the assembly positions.
Note The X and Y axes are moved independently, i.e., interpolation is not per-
formed.
X axis
Y axis
Cyl
Workpiece
and moved.
B
C
50000 30000
35000
25000
5000
5000
A
D
(C350 hex) (7530 hex)
(88B8 hex)
(61A8 hex)
(1388 hex)
(1388 hex)
1. Origin search
1. Move to position A.
1. Move to
other positions.
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