306
Pulse Outputs Section 5-3
Palletize: Two-axis Multipoint Positioning
Specifications and
Operation
â– Outline
â– 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 at one position and moved back and forth to sev-
eral assembly positions.
Note The X and Y axes are moved independently, i.e., interpolation is not per-
formed.
X axis
Y axis
Cylinder
Workpieces grasped
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
2. Move to
position A.
3. Move back and
forth to several
positions.
Origin
1. Origin search
X axis
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