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12-53
12 Pulse Outputs
CP2E CPU Unit Software User’s Manual(W614)
12-9 Ap
plic
ation
Exam
ples
12
12
-9-
3
P
alle
tiz
e: T
w
o-axis
Multipoint P
ositioning
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
a
xi
s
P
u
l
s
e o
u
tp
u
t 1
X
a
xi
s
P
u
l
s
e o
u
tp
u
t 0
Origin
S
e
a
rch
S
t
a
rt
S
witch (CIO 0.00)
Immedi
a
te
S
top
S
witch (CIO 0.01)
Limit inp
u
t
P
u
l
s
e o
u
tp
u
t 0 CW (CIO 1.00)
P
u
l
s
e o
u
tp
u
t 0 CCW (CIO 1.01)
P
u
l
s
e o
u
tp
u
t 1 CW (CIO 1.02)
P
u
l
s
e o
u
tp
u
t 1 CCW (CIO 1.03)
G5-
s
erie
s
S
ervo Drive
X axis
Y axis
Cylinder
Workpiece is
grasped and moved.
B
C
A
D
X
a
xi
s
(CW)
P
u
l
s
e o
u
tp
u
t 0
35000
25000
5000
Origin
50000
(C350 hex)
30000
(7530 hex)
5000
(1388 hex)
Y
a
xi
s
(CW)
P
u
l
s
e o
u
tp
u
t 1
3. Move to other po
s
ition
s
.
2. Move to po
s
ition A.
S
peed 50 KHz
S
peed 80 KHz
S
peed 80 KHz
S
peed 80 KHz
(88B8 hex)
(61A8 hex)
(1388 hex)
1. Origin
s
e
a
rch
1.
Or
igin
s
e
a
rch
Содержание SYSMAC CP Series
Страница 1: ...USER S MANUAL Cat No W614 E1 01 SYSMAC CP Series CP2E E D CP2E S D CP2E N D CP2E CPU Unit Software ...
Страница 3: ......
Страница 32: ...1 Overview 1 4 CP2E CPU Unit Software User s Manual W614 ...
Страница 44: ...3 CPU Unit Operation 3 8 CP2E CPU Unit Software User s Manual W614 ...
Страница 116: ...6 I O Allocation 6 8 CP2E CPU Unit Software User s Manual W614 ...
Страница 144: ...7 PLC Setup 7 28 CP2E CPU Unit Software User s Manual W614 ...
Страница 170: ...10 Interrupts 10 14 CP2E CPU Unit Software User s Manual W614 ...
Страница 200: ...11 High speed Counters 11 30 CP2E CPU Unit Software User s Manual W614 ...
Страница 272: ...12 Pulse Outputs 12 72 CP2E CPU Unit Software User s Manual W614 ...
Страница 278: ...13 PWM Outputs 13 6 CP2E CPU Unit Software User s Manual W614 ...
Страница 460: ...18 Programming Device Operations 18 28 CP2E CPU Unit Software User s Manual W614 ...
Страница 576: ...Revision 2 CP2E CPU Unit Software User s Manual W614 ...
Страница 577: ......