Assigning An Ocs To A Motion Sequence Reference Value - Siemens SIMOTION Function Manual

Definition of the terminology
Figure 2-60
OCS
BCS
Frame
Reference position
Motion sequence reference valueFor example, actual value of an external encoder
Motion sequence value
X
OCS
2.14.2.2

Assigning an OCS to a motion sequence reference value

The trackingIn input interconnection interface of the path object can be interconnected with
another TO that provides an output interface with motion information. This can be, for
example, the motion setpoint or actual value of an axis or the actual value of an external
encoder.
The motion sequence value and the motion sequence reference value are assigned to the X-
direction of the OCS. The OCS is coupled to the motion sequence reference value, the OCS
coupling position is translated by the motion sequence value with regard to the OCS
reference position in the X-direction of the OCS.
If the OCS is not interconnected or no TO is specified in the _setPathObjectOcs() command
(trackingIn:=TO#NIL), the OCS then acts in its reference position.
TO Path Interpolation
Function Manual, 11/2010
Schematic drawing of the motion sequence
,Y
OCS
2.14 Motion sequence on the path object
Object coordinate system
Basic coordinate system
Translation and rotation of the OCS for the BCS
Position of the OCS after translation/rotation in accordance
with the basic frame
Current position of the coupled OCS relative to the OCS
reference position
Translation of the kinematic end point to the position of the
coupled OCS
Basics of Path Interpolation
71