Bosch REXROTH IndraDrive Applications Manual page 31

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DOK-INDRV*-MLD-APPLI**-AW02-EN-P

Rexroth IndraDrive Rexroth IndraMotion MLD Application Examples

LSA Control S.L. www.lsa-control.com [email protected] (+34) 960 62 43 01

Fig.5-13:

Starting the Application "Pick und Place"

4. Setting drive enable

In the first step (step 0), the X- and Y-axes are switched to enable. When

the axes are in control, the program jumps to the next step.

Fig.5-14:

Step 0: Setting Drive Enable

5. Moving to the picking position

In the second step (step 10), it is first the X-axis and then the Y-axis which

move to the picking position. When the 1st positioning process of the axes

has been completed, the "bPickerCloseCmd" output (P‑0‑1411, bit 8,

%QX1.8) is set. The picker closes and the workpiece is taken up. When

the picker has closed, this is signaled by the feedback "bPickerClo‐

seAct" (P‑0‑1440, bit 1, %IX50.1) and the program switches to the next

step.

Bosch Rexroth AG

Double-Axis Positioning Control (Pick and Place)

29/97

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