Siemens SIMATIC S7-1500T Getting Started page 65

Move kinematics in automatic mode
1. You have already performed the described steps 1 to 6 to prepare the kinematics in
manual mode.
2. Select automatic mode by modifying the tag "HMI.operatingMode" with the value "3".
3. Enter one of the two product types with "HMI".productType".
4. Check whether the following status tags are output correctly:
– Display of the current positions
– The gripper is closed after reaching a pickup position.
– The gripper is opened after reaching a parking position.
5. Change the product type specification with "HMI".productType".
6. Check whether all status tags from step 4 are output correctly.
7. Test the interruption and continuation of a motion using the tags "HMI.interruptMove" and
"HMI.continueMove".
Changing dynamic values
1. Change the velocity defaults for the path:
– Enter the velocity of the path using the "DynamicDefaults.Path.Velocity" parameter.
– Enter a dynamic limitation for the maximum velocity of the path using the
– Check whether the path velocity output via the tag "StatusPath.Velocity" corresponds
2. Use the dynamic adaptation:
– At the Kinematics technology object, enter a velocity that lies above the specified
– You can observe the behavior through dynamic adaptation in the trace.
3. Deactivate dynamic adaptation with the parameter "DynamicDefaults.DynamicAdaption"
(="0").
4. Dynamic limitation for the maximum velocity of the path
– Use the parameter "DynamicLimits.Path.Velocity" at the kinematics technology object
– Check the limitation of the current path velocity with the tag "StatusPath.Velocity".
– Enter a percentage correction of the velocity specification using the tag
– Check the limitation of the current path velocity with the tag "StatusPath.Velocity".
S7-1500T Getting Started with Kinematics
Getting Started, 12/2018, A5E46089528-AA
Due to the activated dynamic adaptation, first enter a velocity that is below the preset
dynamic limits at the interconnected axes.
"DynamicLimits.Path.Velocity" parameter. First enter a limit that is above the specified
velocity.
to the specified velocity.
dynamic limits at the interconnected axes.
to enter a dynamic limit that is below the specified velocity of the path.
"Override.Velocity".
Testing the user program
11.2 Perform test
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