Siemens SIMATIC S7-1500T Getting Started page 15

Motion instructions used
The following instructions are used for the respective moves:
Motion
Start
Waiting position
Pickup position with offset
for product type 1
Pickup position with offset
for product type 2
Parking position on pallet 1
Parking position on pallet 2
Definition of the circular path ("CircMode") for the instructions "MC_MoveCircularAbsolute"
With the "CircMode" parameter, you specify the definition of the circular path. In the example
project, the default setting "CircMode" = "0" is used for all circular motions and the circular
path is calculated using the start, intermediate and end points. With the auxiliary point of the
circular path ("AuxPoint"), you specify a point on the circular path via which the end point is
to be approached.
The function block "ModeAutomatic" shows an option for calculating the auxiliary points of
the circular path. The auxiliary points of the circular path are determined from the distance
between the start and end position and are thus in the middle of the distance. The
intermediate point is therefore consistent in each case with the specified start and end
points.
S7-1500T Getting Started with Kinematics
Getting Started, 12/2018, A5E46089528-AA
Destination
Pickup position prod-
uct type 1 / product type 2
Parking position on pallet 1
Parking position on pallet 2
Waiting position
Waiting position
3.4 User program
Instructions
"MC_MoveLinearAbsolute" to pickup
position Product type 1 / Product type 2
1. "MC_MoveCircularAbsolute" to the
transition position 1
2. "MC_MoveLinearAbsolute" to the
transition position 2
3. "MC_MoveCircularAbsolute" to the
OCS1
"MC_MoveCircularAbsolute" to the
OCS2
1. "MC_MoveCircularAbsolute" to the
transition position 2
2. "MC_MoveLinearAbsolute" to the
transition position 1
3. "MC_MoveCircularAbsolute" to the
waiting position
"MC_MoveCircularAbsolute" to the
waiting position
Description
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