Siemens SIMOTION Function Manual page 113

Figure 4-23
Figure 4-24
Now add a travel polynomial path command to the While loop and define the polynomial path
as follows:
TO Path Interpolation
Function Manual, 11/2010
Calculating the derivatives at the start point of the first polynomial path
Calculating the derivatives at the end point of the first polynomial path
Sample Project for the Path Interpolation
4.8 Programming the path interpolation in MCC
113