Bosch REXROTH IndraDrive Applications Manual page 70

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Synchronous Multi-Axis Motion With Virtual Master Axis
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Rexroth IndraDrive Rexroth IndraMotion MLD Application Examples
Fig.7-16: Code Section 2.1.1
Step 2 (iPowerStep): AH (drive)
In step 2, drive enable is set for both real axes. This is done for each axis via
the function block "MC_Power". Both axes then are in the drive state "Drive
Halt" (AH). When both axes are in the state "AH", switching to step 3 takes
place. The state is determined by evaluating the status output of the corre‐
sponding function block "MC_Power".
Fig.7-17: Code Section 2.1.2
Step 3 (iToJoggle): Aligning the installation automatically
Fig.7-18: Code Section 2.1.3
To avoid collision of punching machine and material when the operation modes
are activated, the two axes are aligned with one another. For this purpose, the
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