Omron SYSMAC CP2E-E D Series User Manual

12-53
12 Pulse Outputs
CP2E CPU Unit Software User’s Manual(W614)
12-9 Application Examples
12
12-9-3 Palletize: Two-axis Multipoint Positioning
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 using
linear interpolation operation.
12-9-3 Palletize: Two-axis Multipoint Positioning
Specifications and Operation
Y axis
Pulse output 1
X axis
Pulse output 0
Origin Search Start Switch (CIO 0.00)
Immediate Stop Switch (CIO 0.01)
Limit input
Pulse output 0 CW (CIO 1.00)
Pulse output 0 CCW (CIO 1.01)
Pulse output 1 CW (CIO 1.02)
Pulse output 1 CCW (CIO 1.03)
G5-series Servo Drive
X axis
Y axis
Cylinder
Workpiece is
grasped and moved.
B
C
A
D
X axis (CW)
Pulse output 0
35000
25000
5000
Origin
50000
(C350 hex)
30000
(7530 hex)
5000
(1388 hex)
Y axis (CW)
Pulse output 1
3. Move to other positions.
2. Move to position A.
Speed 50 KHz
Speed 80 KHz
Speed 80 KHz
Speed 80 KHz
(88B8 hex)
(61A8 hex)
(1388 hex)
1. Origin search
1. Origin search

Omron SYSMAC CP2E-E D Series Specifications

General

Brand	Omron
Model	SYSMAC CP2E-E D Series
Category	Computer Hardware
Language	English