Siemens SINUMERIK 840D sl Function Manual page 793

11.3 Motion behavior and interpolation functions
11.3.1 Path interpolator and axis interpolator
Path interpolator
Every channel has a path interpolator for a wide range of interpolation modes such as linear
interpolation (G1), circular interpolation (G2/G3), spline interpolation etc.
Axis interpolator
Each channel has axis interpolators in addition to path interpolators. The maximum number
corresponds to the maximum number of existing channel axes.
If a positioning axis is programmed, an axis interpolator starts in the control with straight line
interpolation G1. This axis interpolator runs independently of the path interpolator until the
programmed end position of the positioning axis has been reached.
There is no time relationship between the path interpolator and the axis interpolator, nor
between the axis interpolators.
Path control mode (G64) is not possible with positioning axes.
The programmed end position of a positioning axis has been reached when the end-of-
motion criterion FINEA, COARSA or IPOENDA is fulfilled.
11.3.2 Interpolation response of path axis in G0
Path axes can be traversed in linear or non-linear interpolation mode in rapid traverse
movement (G0).
Linear interpolation
Features:
● The path axes are interpolated together.
● The tool movement programmed with G0 is executed at the highest possible speed (rapid
● The rapid traverse velocity is defined separately for each axis in the following machine
● If the rapid traverse movement is executed simultaneously on several axes, the rapid
Extended Functions
Function Manual, 03/2009, 6FC5397-1BP10-4BA0
traverse).
data:
MD32000 $MA_MAX_AX_VELO
traverse speed is determined by the axis which requires the most time for its section of
the path.
Positioning Axes (P2)
Motion behavior and interpolation functions
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