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TO Path Interpolation

Function Manual, 11/2010

Overview of Path Interpolation

1.1 Overview of Functions

As of Version V4.1, SIMOTION provides path interpolation functionality. This functionality

enables up to three path axes to travel along paths. In addition, a positioning axis can be

traversed synchronously with the path.

Paths can be combined from segments with linear, circular, and polynomial interpolation in

2D and 3D.

The path interpolation technology is provided by the path object, which represents an

independent functionality.

The Path Object technology object (TO Path Object) is interconnected with path axes, and

can also be interconnected with a positioning axis.

The dynamic response parameters are predefined on the path motion.

The path motions of individual path commands can be blended together to form a complete

path with no intermediate stop.

The machine kinematics are adapted to the Cartesian axes of the path coordinate system via

the kinematic transformation.

As of V4.1.2, the functionality is available for the synchronization of the path motions with an

externally specified position value, e.g. with the motion of a conveyor. This supports the

system handling for the moved conveyor.

The path interpolation technology contains transformations for the following orthogonal

kinematics:

● Cartesian linear aches

● SCARA

● Roller picker

● Delta 2D picker

● Delta 3D picker

● Articulated arm

During a path motion, a positioning axis can be traversed synchronously with the path. The

axis can approach a programmed, axis-specific target position synchronously or it can

execute a motion according to the path length, thus enabling implementation of path-length-

based output cams and measuring inputs.

Path interpolation functions are required for such applications as feeding or withdrawal of

materials to or from a machine.

The application of commands for individual path segments requires a total path plan in the

user program or application.

DIN 66025 programming is not supported by SIMOTION.

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