Siemens SIMOTION Function Manual

Basics of Path Interpolation
2.13 Kinematic adaptation
TO Path Interpolation
Function Manual, 11/2010
43
2.13.2.2 Reference points
The following reference points are used in path interpolation:
● Cartesian zero point
● Kinematic zero point
● Kinematic end point
(because a tool is not taken into account, this is equal to the path point)
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Figure 2-27 Reference points of the coordinate systems in path interpolation
The path object calculates the position on the path. This is also the kinematic end point.
2.13.2.3 System variables for path interpolation and transformation on the path object
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Figure 2-28 Overview of system variables of the path object
The position values and dynamic values can be accessed via a system variable:
Path data
System variables Description
path.acceleration Path acceleration
path.command Status of a motion command
path.dynamicAdaption Indicator that maximum dynamic values of
path axes are being taken into account
path.length Length of the current path

Siemens SIMOTION Specifications

General

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