Siemens SIMATIC S7-1500T - 8 Create Program for Manual Mode; Prepare Function Block

S7-1500T Getting Started with Kinematics
27 Getting Started, 12/2018, A5E46089528-AA
Create program for manual mode
8
8.1 Prepare function block
Prepare program block
1. Add the function block "ModeManual" (LAD).
2. Add the instance data block "InstManual".
Parameters in the function block "ModeManual"
Create the following parameters in the "ModeManual" function block.
Name
Data type
Default value
Description
InOut
axesGroup
TO_Kinematics
–
Reference to the technology object
hmi
"typeUserInterface"
–
User interface parameters (control, status query)
Static
statInstMoveLinAbs MC_MOVELINEARAB
SOLUTE
– Instances of the individual motion control instruc-
tions (see data type) for the kinematics process
statInstReset
MC_RESET
–
statInstGroupInterrupt MC_GROUPINTERRU
PT
–
statInstGroupContinue MC_GROUPCONTIN
UE
–
Temp
tempTargetPos typePosition – Absolute target coordi-
nate from the executed
motion instruction
Using this temporary
local data, pass the
values from the respec-
tive instruction to the
motion instruction.
tempCoordSystem DInt – Reference system of the
specified target position
and target orientation
tempDone Bool – The value for the completed motion control instruc-
tion "MC_MoveLinearAbsolute" is passed via this
tag to the query of the position reached.