Siemens SIMATIC S7-1500 Manual De Funciones página 296

Instrucciones MCL (S7-1500T)
6.6 Otras instrucciones (S7-1500T)
MCL
VAR
pWait : TO_Struct_Ipr_Position := ( x := 10.0, y := 0.0, z := 10.0 );
pPick : TO_Struct_Ipr_Position := ( x := 10.0, y := 0.0, z := 0.0 );
pPlace : TO_Struct_Ipr_Position := ( x := 110.0, y := 0.0, z := 0.0 );
p1 : TO_Struct_Ipr_Position := ( x := 10.0, y := 0.0, z := 50.0 );
p2 : TO_Struct_Ipr_Position := ( x := 110.0, y := 0.0, z := 50.0 );
END_VAR
...
setBlend( 2 ); // set modal values
setBlendDist( 30.0 );
setTrans( 0 );
setCs( 0 ); // set wcs modally
...
linAbs( pWait );
writeVar( plcOpenGripper, TRUE );
waitEvent( plcIsGripperOpened ); // wait for gripper opened
linAbs( pPick );
writeVar( plcOpenGripper, FALSE );
writeVar( plcCloseGripper, TRUE );
waitEvent( plcIsGripperClosed ); // wait for gripper closed
linAbs( p1, trans := 1, blend := 2 );
linAbs( p2, trans := 1, blend := 2 );
linAbs( pPlace );
writeVar( plcOpenGripper, TRUE );
waitEvent( plcIsGripperOpened ); // wait for gripper opened
...
296
S7-1500T Funciones de intérprete V8.0 a partir de STEP 7 V19
Manual de funciones, 11/2023, A5E53131983-AA