Siemens SIMOTION

Basics of Path Interpolation
2.5 Path interpolation types
TO Path Interpolation
Function Manual, 11/2010
29
The two derivatives of the polynomial end point are then determined. The
_getCircularPathGeometricData() command used for the calculation uses the starting point
of the arc (end point of the polynomial) as basis.
// StartPoly must be defined as
// StructRetGetLinearPathGeometricData
// EndPoly must be defined as
// StructRetGetCircularPathGeometricData
StartPoly :=
_getLinearPathGeometricData(
pathObject:=pathIPO,
pathPlane:=X_Y,
pathMode:=ABSOLUTE,
xStart:=10.0,
yStart:=10.0,
xEnd:=20.0,
yEnd:=20.0,
pathPointType:=END_POINT
);
EndPoly :=
_getCircularPathGeometricData(
pathObject:=pathIPO,
pathPlane:=X_Y,
circularType:=WITH_RADIUS_AND_ENDPOSITION,
circleDirection:=NEGATIVE,
pathMode:=ABSOLUTE,
xStart:=40.0,
yStart:=20.0,
xEnd:=50.0,
yEnd:=10.0,
radius:=10.0,
pathPointType:=START_POINT
);
myRetDINT :=
_movePathPolynomial(
pathObject:=pathIPO,
pathPlane:=X_Y,
pathMode:=ABSOLUTE,
polynomialMode:=SPECIFIC_START_DATA,
x:=40.0,
y:=20.0,
vector1x:=StartPoly.firstGeometricDerivative.x,
vector1y:=StartPoly.firstGeometricDerivative.y,
vector2x:=StartPoly.secondGeometricDerivative.x,
vector2y:=StartPoly.secondGeometricDerivative.y
vector3x:=EndPoly.firstGeometricDerivative.x,
vector3y:=EndPoly.firstGeometricDerivative.y,
vector4x:=EndPoly.secondGeometricDerivative.x,
vector4y:=EndPoly.secondGeometricDerivative.y
);