Siemens SIMOTION

Basics of Path Interpolation
2.5 Path interpolation types
TO Path Interpolation
20 Function Manual, 11/2010
● Specification of the command transition in nextCommand
● Specification of the command ID in
commandId
Specifications for the linear path only ( _movePathLinear() ):
(see Linear paths (Page 21) )
● Non
e
Specifications for the circu
lar path only (_movePathCircular() )
(see Circular paths (Page 22) )
● Specification
of the circle type in
circularType
● Specification of the circle direction in
circleDirection
● Specification of the intermediate point mode in
ijkMode
● Specification of the intermediate point mode in
i, j, k
● Specification of the arc angle in
arc
● Specification of the circle radius in
radius
Specifications for the polynomial path only (_movePathPolynomial() )
(see Polynomial paths (Page 26) )
● Specification
of polynomial mode in
polynomialMode
● Specification of the vector components in
vector1x to vector4z
Specifications for the dynamics
(see Path dynamics (Page 31) )
● Velocity profile in
velocityprofile
● Velocity in
velocity
● Acceleration in
positiveAccel
● Deceleration in
negativeAccel
● Jerk on start of acceleration in
positiveAccelStartJerk
● Jerk at acceleration end in
positiveAccelEndJerk
● Jerk on start of deceleration in
negativeAccelStartJerk
● Jerk at deceleration end in
negativeAccelEndJerk
● Selection of specific profile in
specificVelocityProfile
● Specifies the velocity profile with a cam in
profileReference
● Start point for specific profile in
profileStartPosition
● End point for specific profile in
profileEndPosition
● Adaptation to the axis dynamics in
dynamicAdaption
Specifications for path-synchronous motion
(see Functionality of path-synchronous m
otion (Page 40) )