Object Coordinates; Command Execution; Command Buffer - Siemens SIMOTION Function Manual

Programming/homing path interpolation
5.1 Programming
5.1.2.6

Object coordinates

● _enablePathObjectTrackingSuperimposed()
● _getPathObjectBCSFromOCSData()
● _getPathObjectOCSFromBCSData()
● _redefinePathObjectOCS()
● _setPathObjectOCS()
5.1.3

Command execution

5.1.3.1

Command buffer

The path object has three command buffers for every command.
● One buffer for motion commands has an immediate (IMMEDIATELY) and sequential
● A separate buffer for stopping path motion (_stopPath() ) and continuing path motion
● A buffer for other (i.e. superimposed) instructions
Command
_movePathLinear()
_movePathCircular()
_movePathPolynomial()
_stopPath()
_continuePath()
_getLinearPathData()
_getCircularPathData()
_getPolynomialPathData()
_getPathCartesianPosition()
_getPathAxesPosition()
_getPathCartesianData()
132
Starts the synchronization action of a path object on an OCS.
Calculates a position (x, y, z) in the base coordinate system of the path object using the
position in the object coordinate system.
Calculates a position (x, y, z) in the object coordinate system using the position in the
base coordinate system of the path object.
Displaces the object coordinate system along the X-axis (travel direction).
Defines the translational and rotatory displacement of the object coordinate system
compared with the base coordinate system of the path object.
(SEQUENTIAL) effect
(_continuePath() )
Function
Starts linear path motion
Starts circular path motion
Starts polynomial path motion
Stops motion
Resume motion
Linear path length
Circular path length
Polynomial path length
Axis to path
Path to axis
Axis to path with dynamic response data
Position*)
4
4
4
1 for stop without
command abort
4 for stop with
command abort
1
5
5
5
5
5
5
TO Path Interpolation
Function Manual, 11/2010