Siemens SIMOTION

Basics of Path Interpolation
2.6 Path dynamics
TO Path Interpolation
Function Manual, 11/2010
31
pathObject:=pathIPO,
pathPlane:=X_Y,
pathMode:=ABSOLUTE,
xStart:=30.0,
yStart:=15.0,
xEnd:=50.0,
yEnd:=5.0,
pathPointType:=START_POINT
);
myRetDINT :=
_movePathPolynomial(
pathObject:=pathIPO,
pathPlane:=X_Y,
pathMode:=ABSOLUTE,
polynomialMode:=ATTACHED_STEADILY,
x:=30.0,
y:=15.0,
vector1x:=EndPoly.firstGeometricDerivative.x,
vector1y:=EndPoly.firstGeometricDerivative.y,
vector2x:=EndPoly.secondGeometricDerivative.x,
vector2y:=EndPoly.secondGeometricDerivative.y
);
2.6 Path dynamics
2.6.1 Path dynamics
The path dynamics can be specified through preset dynamic values or a dynamic response
profile.
The dynamic limits of the individual axes for motion along the path can also be taken into
consideration.
An error message is output if the dynamic values are exceeded.
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Figure 2-21 Path dynamics during path interpolation and dynamic limiting on the axis