Siemens SIMOTION Function Manual page 20

Basics of Path Interpolation
2.5 Path interpolation types
● Specification of the command transition in
● Specification of the command ID in
Specifications for the linear path only ( _movePathLinear() ):
(see Linear paths (Page 21) )
● None
Specifications for the circular path only (_movePathCircular() )
(see Circular paths (Page 22) )
● Specification of the circle type in
● Specification of the circle direction in
● Specification of the intermediate point mode in
● Specification of the intermediate point mode in
● Specification of the arc angle in
● Specification of the circle radius in
Specifications for the polynomial path only (_movePathPolynomial() )
(see Polynomial paths (Page 26) )
● Specification of polynomial mode in
● Specification of the vector components in
Specifications for the dynamics
(see Path dynamics (Page 31) )
● Velocity profile in
● Velocity in
● Acceleration in
● Deceleration in
● Jerk on start of acceleration in
● Jerk at acceleration end in
● Jerk on start of deceleration in
● Jerk at deceleration end in
● Selection of specific profile in
● Specifies the velocity profile with a cam in
● Start point for specific profile in
● End point for specific profile in
● Adaptation to the axis dynamics in
Specifications for path-synchronous motion
(see Functionality of path-synchronous motion (Page 40) )
20
circularType
arc
velocityprofile
velocity
positiveAccel
negativeAccel
positiveAccelStartJerk
positiveAccelEndJerk
negativeAccelStartJerk
negativeAccelEndJerk
specificVelocityProfile
profileStartPosition
profileEndPosition
nextCommand
commandId
circleDirection
ijkMode
i, j, k
radius
polynomialMode
to
vector1x vector4z
profileReference
dynamicAdaption
TO Path Interpolation
Function Manual, 11/2010