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Basics of Path Interpolation

2.14 Motion sequence on the path object

TO Path Interpolation

Function Manual, 11/2010

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Figure 2-62 Behavior of trackingPosition for modulo-assigned value in trackingInPosition

Resetting trackingPosition

The _redefinePathObjectOCS() function can be used to set or translate trackingPosition only

when the kinematic end point is not synchronous to this OCS or currently being

synchronized (indicated using the trackingState:=INACTIVE variable).

There are 2 modes for translating the trackingPosition with the function

_redefinePathObjectOcs() - absolute or relative.

For the respective mode the value for trackingPosition can be calculated as follows:

● For mode:= RELATIVE

trackingPosition:=trackingPosition + value

● For mode:= ABSOLUTE

trackingPosition:=trackingPosition + value

The use of mode:=ABSOLUTE has the advantage that translating always refers to

trackingInPosition, which means that previous translations do not have to be buffered in the

application. For mode:= RELATIVE it is necessary to buffer the translation in the application.

The _redefinePathObjectOCS() and _setPathObjectOCS() functions are not executed for the

associated OCS when it is in the 'SYNCHRONIZED' status.

See

Terminate the coupling of the kinematic end poi

nt to a controlled OCS ('desynchro

nize')

(Page 75) for further information.

2.14.2.4 Synchronizing motion on the path object to the coupled OCS

A handling application for which, for example, a product is to be fetched from a moving

conveyor, is realized with an OCS coupled with the conveyor. The motion commands are

configured here so they act directly in the OCS.

This requires the motion calculated for the path object for the kinematic end point to be

synchronized to the coupled OCS.

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