Bosch REXROTH IndraDrive Applications Manual page 32

30/97 Bosch Rexroth AG
Double-Axis Positioning Control (Pick and Place)
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Rexroth IndraDrive Rexroth IndraMotion MLD Application Examples
Fig.5-15: Step 10: Moving to the Picking Position
6. Moving to the placing position
In the third step (step 20), 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" out‐
put (P‑0‑1411, bit 9, %QX1.9) is set. The picker opens and the workpiece
is placed. The "bPickerCloseAct" input (P‑0‑1440, bit 1, %IX50.1) signals
that the picker has opened and the program switches to the next step.
DOK-INDRV*-MLD-APPLI**-AW02-EN-P