Siemens SIMOTION D4x5-2 DP/PN Operating Instructions Manual page 215

A Starting position
B Blocked regions
C Target position
D Trajectory actually travelled
E Connecting line between starting position - interpolation points - target position
①②③④
Interpolation points
Figure 6-36 A trajectory and interpolation points as represented by SIMOCRANE CeCOMM
The following data must be known before travel in SAM mode can commence:
● Blocked regions
● Starting position
● Target position
● Immersion point
The interpolation points are calculated on the basis of this data.
The interpolation point calculations provide the basis for the trajectory.
SC integrated STS, GSU
Operating Instructions, 07/2019, A5E48271265B AA
6.15 Calculation of 2D trajectory in semi-automatic mode (SAM)
Sway Control function description
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