Siemens SIMATIC S7-1500T Getting Started page 48

Create a program for automatic mode
9.4 Program section product type 1
8. The kinematics moves with a circular motion to the parking position on pallet 1.
To calculate the auxiliary point of the circular path, add the function "DistanceXYHalf" and
assign the actual parameters for the length calculation.
Insert the calculation for the coordinates (x, y, z) of the auxiliary point of the circular path:
9. Insert the circular motion instruction ("statInstMoveToDestination1") 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
– Enter the offset for product type 1 as end position in OCS1.
– Set the motion transition parameter to "2".
– To output the signal when the motion instruction was executed successfully, use the
10.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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"tempAuxPosition.auxPosition".
parameter "hmi.posState.destination1Pos".
S7-1500T Getting Started with Kinematics
Getting Started, 12/2018, A5E46089528-AA