Programming/homing path interpolation
5.1 Programming
TO Path Interpolation
130 Function Manual, 11/2010
With SIMOTION V4.2 and higher, the calculated geometry is stored in a geometry cache and
a cacheID is provided as the return value. If the path segment is queried several times and
only the queried point changes, this cacheID can be used to access the data already
calculated. This can greatly improve the performance of the information functions.
5.1.2.2 Conversion commands
● _getPathCartesianPosition()
Calculates the Cartesian positions from the axis positions.
● _getPathAxesPosition()
Calculates the axis positions from the Cartesian positions.
● _getPathCartesianData()
Calculates the Cartesian data for position, velocity, and acceleration from the axis
positions, axis velocities, and axis accelerations.
● _getPathAxesData()
Calculates the axis positions, axis velocity, and axis accelerations from the Cartesian
data for position, velocity, and acceleration.
5.1.2.3 Command tracking
The current processing and motion status of motion commands can be tracked using the
following commands. Permanent storage of the states associated with a CommandId makes
it possible to evaluate them beyond the lifetime of the motion command.
● _getStateOfPathObjectCommand()
● _getMotionStateOfPathObjectCommand()
● _bufferPathObjectCommandId()
● _removeBufferedPathObjectCommandId()
5.1.2.4 Motion
● _movePathLinear()
Interpolation of linear paths (Page 21)
– 2D in a main plane
– 3D
● _movePathCircula
r()
Interpolation of circular paths (Page 22)
– 2D in a main plane with radius, end point, and orient
ation
– 2D in a main plane with center point and angle
– 2D with intermediate and end points
– 3D with intermediate and end points
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