TO Path Interpolation
Function Manual, 11/2010
7
Table of Contents
Preface ...................................................................................................................................................... 3
1
Overview
of Path Interpolation................................................................................................................. 11
1.1 Overview of
Functions .................................................................................................................11
1.2
Terminology .................................................................................................................................12
2
Basics
of Path Interpolation ..................................................................................................................... 15
2.1
Path interpolation .........................................................................................................................15
2.2 Coordinate sy
stem .........................................................................................................
..............17
2.3
Modulo properties ........................................................................................................................17
2.4
Units.............................................................................................................................................18
2.5
Path interpolation types ..................................................................................................
.............18
2.5.1
Path inter
polation types ................................................................................................
...............18
2.5.2 Structure of commands for
path interpolation..............................................................................19
2.5.3 Linear paths .................................................................................................................................21
2.5.4 Circ
ular paths...............................................................................................................................22
2.5.4.1
Circular paths...............................................................................................................................22
2.5.4.2
Circular path in a main plane with radius, end point, and orientation
..........................................22
2.5.4.3 Circle using center and angle .........................................................................................
.............23
2.5.4.4 Circular path usin
g intermediate point and end point ..................................................................25
2.5.5 Polynomial paths..........................................................................................................................26
2.5.5.1
Polynomial paths..........................................................................................................................26
2.5.5.2
Polynomial path - direct spe
cification of the polynomial coefficients...........................................28
2.5.5.3 Polynomial paths - expli
cit specification of the starting point data...............................................28
2.5.5.4 Polynomial paths - attach
continuously .......................................................................................30
2.6 Path dynamics..............................................................................................................................31
2.6.1
Path dy
namics..............................................................................................................................31
2.6.2
Preset path dynamics ..................................................................................................................32
2.6.3
Limiting the path dynamics ..............................................................................................
............32
2.7 Stopping and resuming path motion ............................................................................................35
2.8 Path behavior at motion end
........................................................................................................36
2.8.1
Path behavior at motion end........................................................................................................36
2.8.2
Stopping at motion end
................................................................................................................37
2.8.3 Blending
with dynamic adaptation
...............................................................................................37
2.8.4 Blending without dynamic adaptation .....................................................................................
.....38
2.9 Display and monitoring options on the axis .................................................................................38
2.10
Allowance for ax
is-spec
ific traversing range limits ......................................................................39
2.11
Behavio
r of path motion when an error occurs on a participating path axis or positioning
axis...............................................................................................................................................39
2.12
Functionality
of path-synchronous motion ...................................................................................40
2.12.1
Functionality of path-s
ynchronous motion ...................................................................................40
2.12.2 Specification of path-sy
nchronous motion ...................................................................................40
2.12.3 Dynamics of
path-synchronous motion........................................................................................41
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