Siemens SIMATIC S7-1500T Getting Started page 46

Create a program for automatic mode
9.4 Program section product type 1
Pick up the product and transport it to the pallet
1. The kinematics moves to the pickup position to pick up the product.
Insert the linear motion instruction ("statInstMoveToPickupPos") and enter the following
parameters:
– To start the motion job, assign the tag "statMovPickUp".
– Enter the position offset for product type 1 as the end position in OCS3.
– To output the signal when the motion instruction has been successfully executed,
2. Once the pickup position has been reached, the product is picked up by closing the
gripper.
For this purpose, assign the value "GRIPPER_CLOSE" ("1") to the "hmi.gripper"
parameter.
3. After the product has been picked up, the kinematics moves with a circular motion to the
transition position 1.
The function "DistanceXYHalf" is used to calculate the respective z position of an
auxiliary point of the circular path with a Pythagorean length calculation.
For the length calculation, create a new function (FC) named "DistanceXYHalf".
4. Assign the actual parameters for the length calculation in the function block
"ModeAutomatic".
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assign the "hmi.posState.pickUpPos" parameter.
S7-1500T Getting Started with Kinematics
Getting Started, 12/2018, A5E46089528-AA