7-8
Examples
Rexroth IndraMotion MLD
DOK-IM*MLD-F*STEP**V**-KB01-EN-P
Sequence of motion:
step 1:
pick up product
step 2:
transport to place position
step 3:
return to start position
Fig. 7-12:
Sequence of motion – Pick and Place
Step 1:
Upon a positive edge at input "bStartAutomatic" (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 position to pick position. When the 1st
positioning process of both axes has been completed, the output
"bPickerCloseCmd" (P-0-1411, bit 8, %QX1.8) is set whereby the
picker closes and takes up the product.
Step 2:
When the picker has closed, this is signaled by the feedback
"bPickerCloseAct" (P-0-1440, bit 1, %IX50.1) and positioning to
the place position is carried out. In this case, it is first the Y-axis
and then the X-axis which is moved. When the place position has
been reached, the output "bPickerOpenCmd" (P-0-1411, bit 9,
%QX1.9) is set upon which the picker opens and places the
product.
Step 3:
The 0-signal of input "bPickerCloseAct" (P-0-1440, bit 1,
%IX50.1) signals that the picker has opened and this triggers
positioning to 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.
