Siemens SIMATIC S7-1500T Getting Started page 64

Testing the user program
11.2 Perform test
Prepare kinematics in manual mode
1. Select manual mode by controlling the tag "HMI.operatingMode" with the value "2".
2. Enable the axes using the tag "HMI.enableAxes".
3. Enter the home position (Page 14) for the interconnected axes.
4. Home the axes using "HMI.setReferenceAxisA1", "HMI.setReferenceAxisA2" and
"HMI.setReferenceAxisA3".
5. Enter the control values for the defined positions.
A list of the positions and offsets can be found in the section Coordinate systems and
positions (Page 14).
6. Now you can test the functionalities described below or call automatic mode.
However, before leaving the manual mode, move the kinematics to the waiting position.
This ensures that the condition for positioning the kinematics for starting automatic mode
is fulfilled.
Move kinematics to defined position
1. Move the kinematics to one of the defined positions by controlling one of the
"HMI.executeMoveTo" tags.
2. Check whether the position was reached and whether it is output by the corresponding
status tag.
3. Modify the tag from step 1 back to "0".
Changing position values
1. Change the default position values.
2. Move the kinematics to the new position by controlling the corresponding
"HMI.executeMoveTo" tag.
3. In the kinematics trace, check whether the kinematics moves to the newly configured
position.
4. Check whether the position was reached and whether it is output by the corresponding
status tag.
Opening/closing the gripper
1. Open and close the gripper using the tag "HMI.gripper".
2. Observe whether the state is output via the status tag "HMI".gripperState".
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S7-1500T Getting Started with Kinematics
Getting Started, 12/2018, A5E46089528-AA