Siemens SIMOTION Function Manual

Programming/homing path interpolation
5.1 Programming
TO Path Interpolation
Function Manual, 11/2010
131
● _movePathPolynomial()
Interpolation of polynomial paths (Page 26)
– 2D in a main plane
– 3D
● _stopPath()
Stops
the current motion without terminating.
● _continuePath()
Continues a stopped motion.
With V4.2 and higher, the motion properties can be stated to continue the movement.
5.1.2.5 Object and Alarm Handling
● _cancelPathObjectCommand()
Cancels a command that is waiting or active in the Ipo. The command to be canceled is
specified by the indication of its CommandId in the commandToBeCancelled parameter.
● _enablePathObjectSimulation()
Places a path object in simulation mode, path values are calculated, but are not output on
the axes.
● _disablePathObjectSimulation()
Ends simulation mode.
● _resetPathObject()
This command resets the path interpolator to its initial state. Active commands are
stopped, commands are aborted, and errors are reset. If required, system variables can
be reset to their default values or configuration data can be read in again.
● _resetPathObjectError()
This command resets all errors or a specific error on the path object.
● _getPathObjectErrorNumberState()
Reads out the status of a specific error.
● _getPathObjectErrorState()
This command provides information on whether alarms are pending on the path object
and if so, how many. It also outputs information about these errors.
● _resetPathObjectConfigDataBuffer()
Resets the configuration data buffer.
● _getStateOfPathObjectMotionBuffer()
Returns the status of the command queue of the path object.
● _resetPathObjectMotionBuffer()
Clears all pending commands from the command queue.
The 030002 Command aborted alarm is issued for each of the deleted commands.

Siemens SIMOTION Specifications

General

Power Supply	24 V DC
Interfaces	PROFIBUS, PROFINET, Ethernet
Product type	Control Unit
Series	SIMOTION D
Display Output	VGA