Siemens SIMOTION Function Manual

Basics of Path Interpolation
2.14 Motion sequence on the path object
TO Path Interpolation
72 Function Manual, 11/2010
If the kinematic end point is synchronized to a coupled OCS or is already synchronous with it
(trackingIn <> TO#NIL and trackingState <> INACTIVE), the _setPathObjectOCS()
command is not performed on this OCS and an error message issued. Before executing the
command, the synchronized state ('SYNCHRONIZED' status) on this OCS must be ended.
See Terminate the coupling of the kinematic end point to a controlled OCS ('desynchro
nize')
(Page 75) for further information.
2.14.2.3 Defining the translation of the position of the coupled OCS
Because normally a product-based programming is performed, the position of the OCS on
the conveyor must be modified appropriately for the product position, i.e. translated.
The _redefinePathObjectOCS() command is used to translate the position of the OCS in the
X-direction and so in the direction of the value on the motion sequence input.
If the kinematic end point is synchronized to a coupled OCS or is already synchronous with it
(trackingIn <> TO#NIL and trackingState <> INACTIVE), the _redefinePathObjectOCS()
command is not performed on this OCS and the 30002 error message issued. Before
executing the command, the synchronized state (SYNCHRONIZED status) on this OCS
must be ended.
The current position values of the coupled OCS and the motion sequence input will be
displayed in the following system variables:
● Motion sequence reference value
The trackingInPosition system variable contains the position value present at the motion
sequence input of the OCS, the motion sequence reference value (the conveyor
position).
● Motion sequence value
The trackingPosition system variable contains the position of the coupled OCS, the
motion sequence value.
trackingPosition = trackingInPosition + translation
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Figure 2-61 Current position of the OCS
Behavior of the OCS for modulo encoders
The motion sequence value indicates the continuing value on the motion sequence input
without considering the modulo properties, i.e. the motion sequence value will not be reset
when the motion sequence reference value on the modulo range end is reset, refer to the
following figure.

Siemens SIMOTION Specifications

General

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