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Siemens SIMOTION Function Manual
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Preface
TO Path Interpolation
6
Function Manual, 11/2010
5
7
Table of Contents
Default Chapter
3
Preface
3
Table of Contents
7
1 Overview of Path Interpolation
11
Overview of Functions
11
Terminology
12
2 Basics of Path Interpolation
15
Path Interpolation
15
Coordinate System
17
Modulo Properties
17
Units
18
Path Interpolation Types
18
Structure of Commands for Path Interpolation
19
Linear Paths
21
Circular Paths
22
Circular Path in a Main Plane with Radius, End Point, and Orientation
22
Circle Using Center and Angle
23
Circular Path Using Intermediate Point and End Point
25
Polynomial Paths
26
Polynomial Path - Direct Specification of the Polynomial Coefficients
28
Polynomial Paths - Explicit Specification of the Starting Point Data
28
Polynomial Paths - Attach Continuously
30
Path Dynamics
31
Preset Path Dynamics
32
Limiting the Path Dynamics
32
Stopping and Resuming Path Motion
35
Path Behavior at Motion End
36
Stopping at Motion End
37
Blending with Dynamic Adaptation
37
Blending Without Dynamic Adaptation
38
Display and Monitoring Options on the Axis
38
Allowance for Axis-Specific Traversing Range Limits
39
Behavior of Path Motion When an Error Occurs on a Participating Path Axis or Positioning Axis
39
Functionality of Path-Synchronous Motion
40
Specification of Path-Synchronous Motion
40
Dynamics of Path-Synchronous Motion
41
Path Blending with a Path-Synchronous Motion
41
Output of the Path Distance to the Positioning Axis
42
Output of Cartesian Coordinates Using the Motionout Interface
42
Kinematic Adaptation
42
Kinematic Adaptation - Fundamentals
42
Scope of the Transformation Functionality
42
Reference Points
43
System Variables for Path Interpolation and Transformation on the Path Object
43
Transformation of the Dynamic Values
45
Differentiation of Link Constellations
45
Information Commands for the Kinematic Transformation
45
Axis-Specific Zero Point Offset in the Transformation
46
Offset of the Kinematic Zero Point Relative to the Cartesian Zero Point
47
Supported Kinematics
48
Supported Kinematics and Their Assignment
48
Configuration Screens
49
Cartesian 2D/3D Gantries
51
Roller Picker
52
Delta 2D Picker
54
Delta 3D Picker
55
SCARA Kinematics
58
Articulated Arm Kinematics
61
2Axis Articulated Arm Kinematics
64
Swivel Arm Kinematics
65
Use of Virtual Axes
67
Specific Kinematics
68
Motion Sequence on the Path Object
69
Object Coordinate System (OCS) on the Path Object
69
Motion Sequence - Fundamentals
70
Defining an OCS Reference Position
70
Assigning an OCS to a Motion Sequence Reference Value
71
Defining the Translation of the Position of the Coupled OCS
72
Synchronizing Motion on the Path Object to the Coupled OCS
73
Performing Path Motions in the Coupled OCS
75
Terminate the Coupling of the Kinematic End Point to a Controlled OCS ('Desynchronize')
75
Stopping in the OCS
76
Motion Sequence - Sample Application
76
Sample Application of an OCS
76
Defining the Reference Position of the OCS
76
Determining the Motion Sequence Reference Value of the OCS
77
Defining the Position of the OCS Relative to the Motion Sequence Reference Value
78
Synchronizing Motion on the Path Object to the Coupled OCS
78
Performing Path Motions in the Coupled OCS
79
Interconnection, Interconnection Rules
80
Simulation Operation
81
3 Configuring the Path Object
83
Selecting the Path Interpolation Technology Package
83
Creating Axes with Path Interpolation
84
Creating a Path Object
84
Representation in the Project Navigator
86
Assigning Path Object Parameters/Default Values
86
Configuring a Path Object
90
Defining Limits
91
Interconnecting a Path Object
92
Configuring Kinematic Adaptation in the Expert List
93
Configuring Path Monitoring
93
Path Interpolation - Context Menu
94
4 Sample Project for the Path Interpolation
97
Overview of the Example
97
Select Technology Package
98
Create Axes
98
Creating a Path Object
101
Defining the Kinematics
101
Interconnecting a Path Object
103
Setting the Default Settings of the Path Object
104
Programming the Path Interpolation in MCC
106
Programming the Travel Commands in MCC
106
Creating the Program
106
Programming a Travel Loop
109
Creating a WHILE Loop
110
Programming the a - B Linear Path
110
Programming the B-C Polynomial Path
112
Programming the C-D Linear Path
115
Programming the D-E Polynomial Path
116
Programming the E-F Linear Path
118
Programming the F-A Return Travel
118
Activating the Axis Enables and Homing the Axes
120
MCC Diagram
121
Assigning MCC Chart in the Execution System
121
Checking a Motion with Trace
123
Creating a Synchronous Axis
124
5 Programming/Homing Path Interpolation
129
Programming
129
Programming: Overview
129
Overview of Commands
129
Information and Conversion
129
Conversion Commands
130
Command Tracking
130
Motion
130
Object and Alarm Handling
131
Object Coordinates
132
Command Execution
132
Command Buffer
132
Override Behavior
134
Interactions between the Path Object and the Axis
134
Sequence of Effectiveness
135
Interaction with the Axis
135
Interactions with Other Path Motions
135
Local Alarm Response
136
A Appendix A
137
Specific Kinematics with Trafoid 1001
137
Index
143
Other manuals for Siemens SIMOTION
Operating Instructions
184 pages
Equipment Manual
116 pages
4
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Siemens SIMOTION Specifications
General
Power Supply
24 V DC
Interfaces
PROFIBUS, PROFINET, Ethernet
Product type
Control Unit
Series
SIMOTION D
Display Output
VGA
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