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207
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
Cyli
Workpieces
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.
Summary of Contents for CJ1M-CPU21
Page 1: ...Cat No W395 E1 03 CJ series Built in I O CJ1M CPU21 22 23 CJ1M CPU Units...
Page 2: ...CJ series Built in I O CJ1M CPU21 22 23 CPU Units Operation Manual Revised August 2004...
Page 3: ...iv...
Page 19: ...xx...
Page 79: ...50 Wiring Examples Section 3 3...
Page 217: ...188 Origin Search and Origin Return Functions Section 6 3...
Page 220: ...191 Built in Outputs Section 7 1...
Page 247: ...218 Built in Outputs Section 7 1...
Page 251: ...222 Combinations of Pulse Control Instructions Appendix A...
Page 255: ...226 Using Pulse Instructions in other CPU Units Appendix B...
Page 263: ...234 Index...
Page 265: ...236 Revision History...