Siemens SIMATIC S7-1500T Getting Started page 43

Kinematics starting position
The kinematics starting position at the beginning of the automatic mode is the defined
waiting position ("hmi.waitingPosOffset"). Therefore, the program must check at the start of
automatic mode whether the position of the kinematics corresponds to the default waiting
position.
Add a new function (FC) with the name "Compare3D". In the function "Compare3D" the
program compares positions.
You assign the actual parameters of the positions to be compared in the function block
"ModeAutomatic".
If the condition for the start position is not fulfilled, the corresponding error ("errorID" =
"ERR_STARTPOS") is output and the automatic mode program is no longer processed. In
manual mode, the pending error must be acknowledged and the kinematics moved to the
waiting position. Automatic mode can then be called again.
If the kinematics is in the waiting position, the status display for the waiting position is set to
"True" and the program is processed further.
S7-1500T Getting Started with Kinematics
Getting Started, 12/2018, A5E46089528-AA
Create a program for automatic mode
9.2 Querying preconditions
41