Omron CP1L Operation Manual page 300

Pulse Outputs
Palletize: Two-axis Multipoint Positioning
Specifications and
Operation
266
■ Outline
X axis
■ 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.
50000
Y axis (CW)
Note The X and Y axes are moved independently, i.e., interpolation is not per-
formed.
Y axis
Cylinder
Workpieces grasped
and moved.
1. Origin search
30000
(C350 hex) (7530 hex)
D
B
C
5000
(1388 hex)
2. Move to
position A.
A
3. Move back and
forth to several
positions.
X axis (CW)
Section 5-2
Origin
5000
(1388 hex)
25000
(61A8 hex)
35000
(88B8 hex)