Siemens SIMOTION Function Manual page 114

Sample Project for the Path Interpolation
4.8 Programming the path interpolation in MCC
Figure 4-25
The previously calculated derivatives are specified as follows in the command:
● First derivative at the start point: startpoly.firstGeometricDerivative.x / .y / .z
● Second derivative at the starting point: startpoly.secondGeometricDerivative.x / .y / .z
● First derivative at the end point: endpoly.firstGeometricDerivative.x / .y / .z
● Second derivative at the starting point: endpoly.secondGeometricDerivative.x / .y / .z
Note
An alternative polynomial assignment is described for the programming of the D-E
polynomial path.
114
Programming the B-C polynomial path
TO Path Interpolation
Function Manual, 11/2010