Siemens SIMOTION D4x5-2 DP/PN Operating Instructions Manual page 214

Sway Control function description
6.15 Calculation of 2D trajectory in semi-automatic mode (SAM)
Trajectory
The trajectory is the calculated optimum travel curve. It is based on the interpolation points.
Figure 6-35 Sequence for determining the optimum trajectory
You can find information about forming blocked regions in Chapter Blocked regions (Page 170).
You can find information about forming the immersion point in Chapter Immersion point
(Page 166).
The target position can be specified externally by the crane control system or the target
generator. You can find information about using the target generator in Chapter Target
generator (Page 195).
The relationship between interpolation points and trajectory based on real travel in SAM is
illustrated in the figure below.
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SC integrated STS, GSU
Operating Instructions, 07/2019, A5E48271265B AA