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Pick and place operation in MCD

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I would like to create a simple MCD model where I have one component clamped on a griper. When the griper reaches the lower position, it releases the component. When it returns to the starting position, a new component is generated.
Although it's a simple model, I can`t do it. My approach is as follows:
- FixedJoint (gripper_component_FixedJoint (1) is created between the griper and the component.
- When the griper reaches the end of the path, this constraint will turn off and the component will drop out.
- The griper returns to the starting position
- A new component is generated

I can only achieve the following states
1) If I choose "Rigid Body" for operation "ObjectSource", ObjectSource is able to generate new components, but FixedJoint does not work
2) When I select "Component" for "ObjectSource", FixedJoint works, but no new components are generated

Does anyone know how to deal with such operations?
I`m sending video and simplified MCD model

NX12.0.1 mp1


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