Create a program for automatic mode
9.4 Program section product type 1
S7-1500T Getting Started with Kinematics
Getting Started, 12/2018, A5E46089528-AA
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5. Insert the calculation for the coordinates (x, y, z) of the auxiliary point of the circular path:
6. Insert the circular motion instruction ("statInstMoveToTransitionCirc") and enter the
following parameters:
– To start the motion job, assign the tag "statMovDest1".
– Assign the previously calculated circular path auxiliary position using the tag
"tempAuxPosition.auxPosition".
– Enter transition position 1 as the end position in the WCS.
– To output the signal when the motion instruction was executed successfully, use the
parameter "hmi.posState.transition1Pos".
7. To move the kinematics to transition position 2, insert the linear motion instruction
("statInstMoveToTransitionLin") and enter the following parameters:
– To start the motion job, assign the tag "statMovDest1".
– Enter transition position 2 as the end position in the WCS.
– Set the motion transition parameter to "2". When the blending distance is reached, the
current motion is blended with the motion of this job. The lower velocity of both jobs is
then used.
– To output the signal when the motion instruction was executed successfully, use the
parameter "hmi.posState.transition2Pos".
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