1 Warranty and liability ............................................................................................................................... 5
1.1 Security information .................................................................................................................. 6
2 Preface ................................................................................................................................................... 7
3 Description .............................................................................................................................................. 8
3.1 Requirements ............................................................................................................................ 8
3.2 Function scope .......................................................................................................................... 8
3.3 Task .......................................................................................................................................... 9
3.4 User program .......................................................................................................................... 10
3.5 Coordinate systems and positions .......................................................................................... 14
3.6 Program blocks ....................................................................................................................... 15
3.7 PLC tags ................................................................................................................................. 16
3.8 PLC data types ....................................................................................................................... 16
4 Preparing the project ............................................................................................................................. 20
5 Adding and configuring technology objects ............................................................................................ 21
5.1 Adding a kinematics technology object ................................................................................... 21
5.2 Configuring the kinematics technology object ........................................................................ 23
6 Adding PLC tags and data types ........................................................................................................... 25
7 Add a global data block for HMI tags ..................................................................................................... 26
8 Create program for manual mode .......................................................................................................... 27
8.1 Prepare function block ............................................................................................................ 27
8.2 Move kinematics to defined position ....................................................................................... 28
8.3 Controlling the axes ................................................................................................................ 34
8.4 Control of gripper .................................................................................................................... 36
9 Create a program for automatic mode ................................................................................................... 38
9.1 Prepare function block ............................................................................................................ 38
9.2 Querying preconditions ........................................................................................................... 40
9.3 Product type query .................................................................................................................. 43
9.4 Program section product type 1 .............................................................................................. 43
9.5 Program section product type 2 .............................................................................................. 49
9.6 Error handling in automatic mode ........................................................................................... 53
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