Siemens SIMATIC S7-1500T - Control of Gripper

Create program for manual mode
8.4 Control of gripper
S7-1500T Getting Started with Kinematics
36 Getting Started, 12/2018, A5E46089528-AA
8.4 Control of gripper
Creating blocks
1. Add the function block "CtrlGripper" (LAD).
2. Add the instance data block "InstGripper".
Parameters in the function block "CtrlGripper"
Create the following parameters in the "CtrlGripper" function block.
Name
Data type
Default
value
Comment
Input
close Bool False Control of gripper
• 0 = Opening
• 1 = Closing
time
Time
t#1000 ms
Time for the status change (open ↔ close)
Output
state Bool False Gripper status
• 0 = Open
• 1 = Closed
Static
statInstTime
TP_TIME
–
Instance of the "Create pulse" (TP_TIME) instruction
statPuls
Bool
False
Status change transfer
statClosePos
Bool
False
Edge bit memory "close" (positive signal edge)
statCloseNeg
Bool
False
Edge bit memory "close" (negative signal edge)
statPulsNeg
Bool
False
Edge bit memory "statPuls"