Siemens SIMOTION Function Manual page 9

3.5 Assigning path object parameters/default values ........................................................................86
3.6 Configuring a path object .............................................................................................................90
3.7 Defining limits...............................................................................................................................91
3.8 Interconnecting a path object.......................................................................................................92
3.9 Configuring kinematic adaptation in the expert list ......................................................................93
3.10 Configuring path monitoring.........................................................................................................93
3.11 Path interpolation - context menu ................................................................................................94
4 Sample Project for the Path Interpolation ................................................................................................ 97
4.1 Overview of the example .............................................................................................................97
4.2 Select technology package ..........................................................................................................98
4.3 Create axes..................................................................................................................................98
4.4 Creating a path object................................................................................................................101
4.5 Defining the kinematics .............................................................................................................101
4.6 Interconnecting a path object.....................................................................................................103
4.7 Setting the default settings of the path object............................................................................104
4.8 Programming the path interpolation in MCC .............................................................................106
4.8.1 Programming the travel commands in MCC .............................................................................106
4.8.2 Creating the program .................................................................................................................106
4.8.3 Programming a travel loop.........................................................................................................109
4.8.3.1 Programming a travel loop.........................................................................................................109
4.8.3.2 Creating a WHILE loop ..............................................................................................................110
4.8.3.3 Programming the A - B linear path.............................................................................................110
4.8.3.4 Programming the B-C polynomial path......................................................................................112
4.8.3.5 Programming the C-D linear path ..............................................................................................115
4.8.3.6 Programming the D-E polynomial path......................................................................................116
4.8.3.7 Programming the E-F linear path...............................................................................................118
4.8.3.8 Programming the F-A return travel ............................................................................................118
4.8.4 Activating the axis enables and homing the axes......................................................................120
4.8.5 MCC diagram .............................................................................................................................121
4.8.6 Assigning MCC chart in the execution system ..........................................................................121
4.8.7 Checking a motion with trace ....................................................................................................123
4.9 Creating a synchronous axis .....................................................................................................124
5 Programming/homing path interpolation ................................................................................................ 129
5.1 Programming..............................................................................................................................129
5.1.1 Programming: Overview ............................................................................................................129
5.1.2 Overview of commands .............................................................................................................129
5.1.2.1 Information and conversion........................................................................................................129
5.1.2.2 Conversion commands ..............................................................................................................130
5.1.2.3 Command tracking.....................................................................................................................130
5.1.2.4 Motion ........................................................................................................................................130
5.1.2.5 Object and Alarm Handling ........................................................................................................131
5.1.2.6 Object coordinates .....................................................................................................................132
5.1.3 Command execution ..................................................................................................................132
5.1.3.1 Command buffer ........................................................................................................................132
5.1.3.2 Override behavior ......................................................................................................................134
5.1.4 Interactions between the path object and the axis.....................................................................134
TO Path Interpolation
Function Manual, 11/2010
Table of Contents
9