Task - Siemens SIMATIC S7-1500T Getting Started

3.3

Task

Different products are transported on a conveyor belt and are to be distributed onto two
different product pallets by a cylindrical robot.
The products first reach the pickup position over a chute at the end of the conveyor belt. At
the pickup position, the products are picked up by the robot and transported to the respective
pallet.
The transport routes should be as follows, depending on the product type:
● Products of product type 1 are stored on pallet 1. On its way to the parking position,
pallet 2 is bypassed with the help of additional intermediate destinations.
● Products of product type 2 are stored on pallet 2. The parking position is approached
directly and without intermediate destinations.
Layout of the work area
①
②
③
④
The different objects and their position in the workspace (WCS) are to be defined by means
of different coordinate systems and frames.
The kinematics coordinate system (KCS) is connected to the kinematics. The position of the
KCS within the kinematics is fixed.
The product pallets and their position, as well as the pickup position are to be defined with
the user-defined object coordinate systems OCS1, OCS2 and OCS3. This means that the
reference for the target position and the target orientation of the kinematics motions to one of
the product pallets or the pickup position is directly specified on the respective OCS.
S7-1500T Getting Started with Kinematics
Getting Started, 12/2018, A5E46089528-AA
Pallet 1 (OCS1, for product type 1)
Pallet 2 (OCS2, for product type 2)
Pickup position (OCS3)
Cylindrical robot 3D (KCS)
Description
3.3 Task
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