Siemens SIMATIC S7-1500T - 9 Create a Program for Automatic Mode; Prepare Function Block

S7-1500T Getting Started with Kinematics
38 Getting Started, 12/2018, A5E46089528-AA
Create a program for automatic mode
9
9.1 Prepare function block
Adding blocks
1. Add a new function block with the name "ModeAutomatic" (SCL).
2. Add a new instance data block with the name "InstAutomatic".
Parameters in the function block "ModeAutomatic"
Create the following parameters in the "ModeAutomatic" function block.
Name
Data type
Default
value
Comment
Output
errorID
Int
0
Error ID (0 = no error, < 0 see constants)
InOut
axesGroup
TO_Kinematics
–
Reference to the technology object
hmi
typeUserInterface
–
Static
statStateAuto Int #STATE_-
CHECK
Program status in automatic mode (see constants)
statMovPickup
Bool
False
Motion to pickup position
Tags for starting the motion
instructions to the defined
positions
statMovDest1
Bool
False
Motion to parking position 1
statMovDest2
Bool
False
Motion to parking position 2
statMovWait
Bool
False
Motion to waiting position
statInstMov-
eToPickupPos
MC_MOVELINEARAB
SOLUTE
– Move linear motion to
pickup position
Instances of the individual
motion control instructions
(see data type) for the kin-
ematics process
statInstMoveToTransi-
tionCirc
MC_MOVECIRCULAR
ABSOLUTE
– Circular motion to the tran-
sition position
statInstMoveToTransi-
tionLin
MC_MOVELINEARAB
SOLUTE
– Linear motion to the transi-
tion position
statInstMoveToDesti-
nation1
MC_MOVECIRCULAR
ABSOLUTE
– Circular motion to the park-
ing position 1
statInstMoveToDesti-
nation2
MC_MOVECIRCULAR
ABSOLUTE
– Circular motion to the park-
ing position 2
statInstMov-
eToWaitPos
MC_MOVECIRCULAR
ABSOLUTE
– Circular motion to the wait-
ing position
staInstGroupInterrupt MC_GROUPINTERRU
PT
– Stopping motion execution
statInstGroupContinue MC_GROUPCONTIN
UE
– Continue motion execution