Basics of Path Interpolation
2.13 Kinematic adaptation
TO Path Interpolation
44 Function Manual, 11/2010
System variables Description
path.motionState Motion status of path motion
path.position Path position (within the path length)
path.velocity Path velocity
Cartesian specifications in the basic coordinate system / path-synchronous motion
System variables Description
bcs.x/y/z/w.position Set positions
bcs.x/y/z/w.velocity Set velocities
bcs.x/y/z/w.acceleration Set accelerations
bcs.linkConstellation Set link constellation
Cartesian actual values
System variables Description
bcs.x/y/zActual.position Actual value of the Cartesian positions of the
path axes
bcs.linkConstellationActual Current link constellation
Defaults on path axes from path motion
System variables Description
mcs.a1/a2/a3.acceleration Accelerations of the path axes
mcs.a1/a2/a3.position Positions of path axes in the axis coordinates
mcs.a1/a2/a3.velocity Velocities of the path axes
Object coordinate system
System variables Description
ocs[1..3].trackingIn Interface for motion sequence reference
value with which the OCS is to be coupled
(e.g. TO external encoder)
ocs[1..3].trackingInPosition Current value of the motion sequence
ocs[1..3].trackingPosition Position of the OCS relative to the reference
position
ocs[1..3].trackingState Synchronization status
ocs[1..3].x/y/z.accelaration Acceleration
ocs[1..3].x/y/z.position Item
ocs[1..3].x/y/z.velocity Velocity
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