Create a program for automatic mode
9.5 Program section product type 2
S7-1500T Getting Started with Kinematics
Getting Started, 12/2018, A5E46089528-AA
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5. Insert the circular motion instruction ("statInstMoveToTransitionCirc") and enter the
following parameters:
– To start the motion job, assign the tag "statMovDest2".
– Assign the previously calculated circular path auxiliary position using the tag
"tempAuxPosition.auxPosition".
– Enter the offset for product type 2 as the end position in OCS2.
– To output the signal when the motion instruction was executed successfully, use the
parameter "hmi.posState.transition2Pos".
6. Once the parking position has been reached, the product is set down by opening the
gripper.
For this purpose, assign the value "GRIPPER_OPEN" ("0") to the "hmi.gripper"
parameter.
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