8 Pulse Outputs
8-66
CJ2M CPU Unit Pulse I/O Module User’s Manual
z Overview
z Operation Pattern
1. Perform origin search.
2. A workpiece is grasped and moved to position A.
3. The workpiece is repeatedly moved between the grasp position and the assembly positions.
Note The X and Y axes are moved independently, i.e., interpolation is not performed.
8-9-2 Palletize: Two-axis Multipoint Positioning
Specifications and Operation
X axis
Y axis
Cylinder
Workpiece is
grasped and moved.
B
C
A
D
X axis (CW)
35000
25000
5000
Origin
50000
(C350 hex)
30000
(7530 hex)
5000
(1388 hex)
Y axis (CW)
3. Move to other positions.
(88B8 hex)
(61A8 hex)
(1388 hex)
1. Origin search
2. Move to position A.
1. Origin search
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