Terminology - Siemens SIMOTION Function Manual

Overview of Path Interpolation

1.2 Terminology

1.2 Terminology
Axis coordinates
Coordinates of the path axes or the positioning axis with path-synchronous motion
Path interpolation
Motion along a path with an assignable dynamic response.
Path interpolation generates the traversing profile for the path, calculates the path
interpolation points in the interpolation cycle, and uses the kinematic transformation to derive
the axis setpoints for the interpolation cycle points.
Continuous-path control
Motion along a path at a definable velocity.
This can include a velocity-based smoothing of the segment transitions by insertion of
rounded transition segments.
The path interpolation function of SIMOTION Version 4.1 only covers the continuous-path
control functionality to a limited extent. Therefore, this term is not used.
Path object
The path object provides the functionality for the path interpolation and for other tasks
connected with the path interpolation. It also contains the kinematics transformations
implemented in the system.
Path axis
Axis that can execute a path motion along with other path axes via a path object.
Path-axis interface
Interfaces for bidirectional data exchange between the path object and interconnected path
axes.
Path motion
Motion resulting from the interpolation of a path motion command; output on path axes
Path interpolation grouping
Several path and positioning axes connected by a path object or interpolation
Basic coordinate system (BCS)
Coordinate system of path interpolation. A right-handed, rectangular coordinate system in
accordance with DIN 66217 is used.
Motion sequence
Permits the coupling of the kinematic end point with a coupled OCS and so, for example, the
coupling with the actual value of a conveyor. This means, for example, a product can be
taken from a running conveyor or placed there.
As of SIMOTION V4.1.2, position details in the motion commands can be related optionally
to the basic coordinate system or to an object coordinate system (OCS).
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TO Path Interpolation
Function Manual, 11/2010