Table of contents
1
Warranty and liability ............................................................................................................................... 5
1.1
Security information .................................................................................................................. 6
2
Preface ................................................................................................................................................... 7
3
Description .............................................................................................................................................. 8
3.1
Requirements ............................................................................................................................ 8
3.2
Function scope .......................................................................................................................... 8
3.3
Task .......................................................................................................................................... 9
3.4
User program .......................................................................................................................... 10
3.5
3.6
Program blocks ....................................................................................................................... 15
3.7
PLC tags ................................................................................................................................. 16
3.8
PLC data types ....................................................................................................................... 16
4
Preparing the project ............................................................................................................................. 20
5
5.1
5.2
6
7
8
8.1
Prepare function block ............................................................................................................ 27
8.2
8.3
Controlling the axes ................................................................................................................ 34
8.4
Control of gripper .................................................................................................................... 36
9
9.1
Prepare function block ............................................................................................................ 38
9.2
Querying preconditions ........................................................................................................... 40
9.3
Product type query .................................................................................................................. 43
9.4
9.5
9.6
S7-1500T Getting Started with Kinematics
Getting Started, 12/2018, A5E46089528-AA
3