Siemens SIMATIC S7-1500T Getting Started page 32

Create program for manual mode
8.2 Move kinematics to defined position
3. In manual mode, the kinematics is positioned exclusively with a linear motion. Insert a
motion control instruction "MC_MoveLinearAbsolute".
4. To use the completed job signal to display the reached position, assign the tag
"tempDone" to the output parameter "Done".
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S7-1500T Getting Started with Kinematics
Getting Started, 12/2018, A5E46089528-AA