Siemens SINUMERIK 840D sl Programming Manual page 246

Special motion commands
4.5 Polynomial interpolation (POLY, POLYPATH, PO, PL)
POLYPATH subprogram
Using
groups:
The axes that are not released are linearly moved.
Polynomial interpolation is enabled as standard for both axis groups.
Polynomial interpolation is deactivated for all axes by programming without the
parameter.
Example
Program code
N10 G1 X... Y... Z... F600
N11 POLY PO[X]=(1,2.5,0.7) PO[Y]=(0.3,1,3.2) PL=1.5
N12 PO[X]=(0,2.5,1.7) PO[Y]=(2.3,1.7) PL=3
...
N20 M8 H126 ...
N25 X70 PO[Y]=(9.3,1,7.67) PL=5
N27 PO[X]=(10,2.5) PO[Y]=(2.3)
N30 G1 X... Y... Z.
...
Example: New polynomial syntax
Polynomial syntax that is still valid
PO[axis identifier]=(.. , ..)
PO[PHI]=(.. , ..)
PO[PSI]=(.. , ..)
PO[THT]=(.. , ..)
PO[]=(.. , ..)
PO[variable]=IC(.. , ..)
246
... , the polynomial interpolation can be selectively released for certain axis
POLYPATH( )
Only path axes and supplementary axes:
Only orientation axes:
(when moving with orientation transformation)
POLYPATH("AXES")
POLYPATH("VECT")
Comment
; Polynomial interpolation on
; Mixed data for the axes
; No PL programmed; PL=1 applies
; Polynomial interpolation off
New polynomial syntax
Axis identifier=PO(.. , ..)
PHI=PO(.. , ..)
PSI=PO(.. , ..)
THT=PO(.. , ..)
PO(.. , ..)
variable=PO IC(.. , ..)
Programming Manual, 03/2013, 6FC5398-2BP40-3BA1
POLYPATH( )
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