Siemens SIMOTION Function Manual

Basics of Path Interpolation
2.12 Functionality of path-synchronous motion
TO Path Interpolation
Function Manual, 11/2010
41
2.12.3 Dynamics of path-synchronous motion
The path object does not keep its own dynamic response parameters for path-synchronous
motion.
The following applies when calculating the path velocity profile for simultaneous traversing of
a path-synchronous motion:
● Calculation of the path velocity profile without dynamic adaptation:
– The velocity profile for the path is determined from the dynamic response parameters
of the path, see Path dynamics (Page 31).
– The set
points of the path interpolator for
the path-synchronous motion are limited to
the maximum dynamic values on the positioning axis.
– The dynamic values (velocity, acceleration, and jerk) are adapted to the ratio of the
path axis distance to the path-synchronous motion distance.
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Use of this formula assumes that the unit settings for the path object and the participating
axes are the same.
● Calculation of the path velocity profile with dynamic adaptation:
The dynamics of the path-synchronous motion are incorporated into the path plan the
same as an additional orthogonal coordinate, and, if necessary, the path velocity profile is
adapted in such a way that the dynamic limits of the positioning axis are not violated by
the path velocity profile.
2.12.4 Path blending with a path-synchronous motion
● Path blending with dynamic adaptation
The dynamics of the path-synchronous motion are incorporated into the motion plan the
same as an additional orthogonal coordinate, and, if necessary, the velocity profile in the
blending range is adapted accordingly.
● Path blending without dynamic adaptation
If the quotient of the distance length (path motion) / distance length (path-synchronous
motion) is not equal over the individual path segments, the path segment transitions will
be discontinuous with regard to the velocity setpoints of the path object for the path-
synchronous motion.
The setpoints resulting from the path interpolation for the path-synchronous motion are
limited on the positioning axis using the axis-specific dynamic limits of that axis.
For example, if the path object is limited over the path using just the dynamic limits available
on the path object, this can result in a setpoint error on the positioning axis relative to the
calculated setpoint on the path object for the path-synchronous motion. See Display and
monitoring options on the axis
(Page 38).

Siemens SIMOTION Specifications

General

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