Motion Sequence On The Path Object; Object Coordinate System (Ocs) On The Path Object - Siemens SIMOTION Function Manual

2.14

Motion sequence on the path object

2.14.1

Object coordinate system (OCS) on the path object

As of SIMOTION V4.1.2, position details in the motion commands can be related optionally
to the basic coordinate system (BCS, previously present functionality) or to an object
coordinate system (OCS).
The motion sequence is still being prepared and is not currently available.
An OCS can be permanent (static OCS) or coupled with a motion value supplied to the
trackingIn interface of the path object.
A technology object that provides motion information with a position (the motion sequence
reference value) can use the TrackingIn interface to interconnect with the path object. This
can be, for example, an external encoder or a positioning axis.
If path motions relate to an OCS, then, for example, products can be taken from a moving
belt or placed there.
The path object provides three programmable OCS.
Note
For an active motion sequence, a blending with dynamic adaptation (blendingMode:=
ACTIVE_WITH_DYNAMIC_ADAPTION) is not supported. Motions programmed with
blending will then be performed without blending.
Coupled OCS
A coupled OCS is an OCS coupled with a motion value of a technology object
interconnected to the trackingIn interface.
Static OCS
A static OCS is an OCS not coupled with a motion value. The position of a static OCS is
always the OCS reference position.
A static OCS can be used to perform motions in a coordinate system displaced relative to
the BCS and has been rotated.
Motion sequence
The motion sequence functionality permits the synchronous coupling of a kinematic end
point with a coupled OCS. It contains the functions for the synchronization and coupling with
a moving product on a conveyor.
TO Path Interpolation
Function Manual, 11/2010
Basics of Path Interpolation
2.14 Motion sequence on the path object
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