Sequence Of Motion - Bosch REXROTH IndraDrive Applications Manual
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- Project planning manual (128 pages) ,
- Troubleshooting manual (437 pages) ,
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Bosch Rexroth AG
Double-Axis Positioning Control (Pick and Place)
5.1.3
Sequence of Motion
LSA Control S.L. www.lsa-control.com [email protected] (+34) 960 62 43 01
Rexroth IndraDrive Rexroth IndraMotion MLD Application Examples
The chronological diagram below illustrates the sequence of motion of the dou‐
ble-axis positioning control "Pick and Place".
1
Pick up product
2
Transport to placing position
3
Return to start position
Fig.5-2:
Sequence of Motion of the Application "Pick and Place"
Step 1:
Upon a positive edge at the "bStartAutomatic" input (P‑0‑1390, bit 0, %IX0.0),
the X- and Y-axes are switched to enable. The X-axis first and then the Y-axis
move to the picking position. When the 1st positioning process of both axes has
been completed, the "bPickerCloseCmd" output (P‑0‑1411, bit 8, %QX1.8) is
set whereby the picker closes and takes up the workpiece.
Step 2:
When the picker has closed, this is signaled by the feedback "bPickerClo‐
seAct" (P‑0‑1440, bit 1, %IX50.1) and the movement to the placing position is
carried out. In this case, it is first the Y-axis and then the X-axis which is moved.
When the placing position has been reached, the "bPickerOpenCmd" output
(P‑0‑1411, bit 9, %QX1.9) is set upon which the picker opens and places the
workpiece.
Step 3:
The 0-signal of the "bPickerCloseAct" input (P‑0‑1440, bit 1, %IX50.1) signals
that the picker has opened and this triggers the movement to the start position.
For this purpose, it is first the Y-axis and then the X-axis which positions. When
the travel process has been completed, the enable signal is removed at the
axes.
Starting from the basic parameters, you have to make some fundamental set‐
tings for the example of application "Pick and Place". The following paragraphs
will explain these settings in short form.
DOK-INDRV*-MLD-APPLI**-AW02-EN-P
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