Siemens SIMATIC S7-1500T Getting Started page 54

Create a program for automatic mode
9.5 Program section product type 2
Return to the waiting position
1. The kinematics returns to the pickup position to pick up a new product.
To calculate the auxiliary point of the circular path, add the function "DistanceXYHalf" and
assign the actual parameters for the length calculation.
2. Insert the calculation for the coordinates (x, y, z) of the auxiliary point of the circular path:
3. To move the kinematics to the waiting position, insert the instruction to the circular motion
"statInstMoveToWaitPos" and enter the following parameters:
– To start the motion job, assign the tag "statMovWait".
– Assign the previously calculated circular path auxiliary position using the tag
– Enter the waiting position as end position in OCS3.
– To output the signal when the motion instruction was executed successfully, use the
4. To finish resetting the Execute tags, assign the value "STATE_PRODUCT_WAIT" to the
tag "statStateAuto".
52
"tempAuxPosition.auxPosition".
parameter "hmi.posState.waitingPos".
S7-1500T Getting Started with Kinematics
Getting Started, 12/2018, A5E46089528-AA