Siemens SIMATIC S7-1500T Getting Started page 13

Manual mode
Before you start automatic mode, make all the necessary settings in manual mode.
● Enable connected axes
● Define home position and home interconnected axes
● Define the coordinates of the defined positions
● Move the kinematics to the waiting position (= start position for automatic mode).
In manual mode, you can also move the kinematics to the defined positions using individual
motion instructions or change the coordinates.
You can test the gripper function by individually opening or closing the gripper (simulation).
The dynamic parameters allow you to observe the behavior of the kinematics motion when
dynamic adaptation is activated and deactivated.
Automatic mode
When automatic mode is called, the following prerequisites for further processing of the
program are first queried.
● Cyclic queries in automatic mode:
– Is the communication to the drive system available?
– Is the drive switched on?
– Are all axes homed?
● Queries during start of automatic mode:
– Is the kinematics in the waiting position?
– Is the job sequence empty?
– Is the size of the job sequence set sufficiently?
When all starting conditions are fulfilled, the program checks whether a new product is
available and what type of product it is. With the information about the product type, the
kinematics moves to the pickup position and picks up the product.
The subsequent motions between the pickup position and one of the two parking positions
are defined as follows, depending on the product type:
● Product type 1
Two transition positions are defined for the distance between the pickup position and
parking position. Three motion instructions are used to move the kinematics between the
pickup position and the parking position. The three motion instructions are executed via
the job sequence both for moving to the parking position and for returning to the waiting
position.
● Product type 2
The kinematics moves with a motion between the pickup and the parking position.
S7-1500T Getting Started with Kinematics
Getting Started, 12/2018, A5E46089528-AA
Description
3.4 User program
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