Create program for manual mode
8.4 Control of gripper
S7-1500T Getting Started with Kinematics
Getting Started, 12/2018, A5E46089528-AA
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Procedure
1. For edge detection of the signal at the "close" input, add the following instructions in
network 1:
– Query positive signal edge with edge bit memory "statClosePos"
– Query negative signal edge with edge bit memory "statCloseNeg"
2. To open or close the gripper, the signal at the "close" input should remain unchanged for
a specified time. For this purpose, add a "Generate a pulse" (TP_TIME) instruction.
When an edge change occurs at the "close" input, the specified time period PT expires. If
the specified period has expired and no new edge change has been detected at the
"close" input, the "statPuls" output is set.
3. Create a new network 2 for the "Close gripper" operation.
4. To scan the signals at the "close" input and at the "statPuls" output, use an NO contact
for each.
5. For output of the "state" parameter with a "1", insert the "Set output" instruction.
6. Create a new network 3 for the "Open gripper" operation.
7. Use an NC contact to query the signal at the "close" input.
8. Insert an NO contact for the signal at the "statPuls" output.
9. For output of the "state" parameter with a "0", insert the "Reset output" instruction.
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