Table Of Contents - Siemens SIMOTION Function Manual

Table of Contents

Preface ...................................................................................................................................................... 3
1 Overview of Path Interpolation................................................................................................................. 11
1.1 Overview of Functions .................................................................................................................11
1.2 Terminology .................................................................................................................................12
2 Basics of Path Interpolation ..................................................................................................................... 15
2.1 Path interpolation .........................................................................................................................15
2.2 Coordinate system .......................................................................................................................17
2.3 Modulo properties ........................................................................................................................17
2.4 Units .............................................................................................................................................18
2.5 Path interpolation types ...............................................................................................................18
2.5.1 Path interpolation types ...............................................................................................................18
2.5.2 Structure of commands for path interpolation..............................................................................19
2.5.3 Linear paths .................................................................................................................................21
2.5.4 Circular paths ...............................................................................................................................22
2.5.4.1 Circular paths ...............................................................................................................................22
2.5.4.2 Circular path in a main plane with radius, end point, and orientation ..........................................22
2.5.4.3 Circle using center and angle ......................................................................................................23
2.5.4.4 Circular path using intermediate point and end point ..................................................................25
2.5.5 Polynomial paths..........................................................................................................................26
2.5.5.1 Polynomial paths..........................................................................................................................26
2.5.5.2 Polynomial path - direct specification of the polynomial coefficients ...........................................28
2.5.5.3 Polynomial paths - explicit specification of the starting point data...............................................28
2.5.5.4 Polynomial paths - attach continuously .......................................................................................30
2.6 Path dynamics..............................................................................................................................31
2.6.1 Path dynamics..............................................................................................................................31
2.6.2 Preset path dynamics ..................................................................................................................32
2.6.3 Limiting the path dynamics ..........................................................................................................32
2.7 Stopping and resuming path motion ............................................................................................35
2.8 Path behavior at motion end ........................................................................................................36
2.8.1 Path behavior at motion end ........................................................................................................36
2.8.2 Stopping at motion end ................................................................................................................37
2.8.3 Blending with dynamic adaptation ...............................................................................................37
2.8.4 Blending without dynamic adaptation ..........................................................................................38
2.9 Display and monitoring options on the axis .................................................................................38
2.10 Allowance for axis-specific traversing range limits ......................................................................39
2.11 Behavior of path motion when an error occurs on a participating path axis or positioning
axis...............................................................................................................................................39
2.12 Functionality of path-synchronous motion ...................................................................................40
2.12.1 Functionality of path-synchronous motion ...................................................................................40
2.12.2 Specification of path-synchronous motion ...................................................................................40
2.12.3 Dynamics of path-synchronous motion........................................................................................41
TO Path Interpolation
Function Manual, 11/2010
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