Transformation Of The Dynamic Values; Differentiation Of Link Constellations; Information Commands For The Kinematic Transformation - Siemens SIMOTION Function Manual

System variables
override.acceleration
override.velocity
Path command statuses
System variables
linearPathCommand.state
circularPathCommand.state
polynomialPathCommand.state
2.13.2.4

Transformation of the dynamic values

The kinematicsData.transformationOfDynamics system variable indicates whether a
kinematic transformation supports the dynamics transformation functionality.
2.13.2.5

Differentiation of link constellations

If Cartesian kinematics end points can be reached via various articulation positions,
articulation positioning spaces are defined for the corresponding kinematics.
All path motions take place in the same link constellation. For this reason, a change to
another link constellation is not possible when a path is being executed. A change to another
link constellation is possible through individual axis motions but not via a motion on the path
object.
The current transformation-specific link constellation is indicated on the setpoint side in the
bcs.linkConstellation variable and on the actual value side in the bcs.linkConstellationActual
variable.
The link constellation is defined specifically for each transformation. See Supported
kinematics (Page 48).
2.13.2.6

Information commands for the kinematic transformation

In addition to the implicit conversion in the system, the transformation calculations can also
be accessed directly via user commands.
● The _getPathCartesianPosition() command is used to calculate the Cartesian positions
● The _getPathAxesPosition() command is used to calculate the axis positions from the
● The _getPathCartesianData() command is used to calculate the Cartesian data for the
● The _getPathAxesData() command is used to calculate the axis positions, axis velocities,
TO Path Interpolation
Function Manual, 11/2010
for the axis positions specified in the command.
Cartesian positions.
position, velocity, and acceleration from the axis positions, axis velocities, and axis
accelerations specified in the command.
and axis accelerations from the Cartesian data for the position, velocity, and acceleration
specified in the command.
Basics of Path Interpolation
2.13 Kinematic adaptation
Description
Acceleration override
Velocity override
Description
Status of linear interpolation
Status of circular interpolation
Status of polynomial interpolation
45