Basics of Path Interpolation
2.14 Motion sequence on the path object
TO Path Interpolation
74 Function Manual, 11/2010
In the simplest case, after the synchronization, the kinematic end point moves with a defined
point in the OCS and so with a point located on the conveyor. Furthermore, after the
synchronization in the coupled OCS, linear, circular or polynomial paths can also be
followed.
The _enablePathObjectTrackingSuperimposed() command is used to synchronize the
kinematic end point with an OCS coupled with the motion sequence reference value (e.g.
position of a conveyor). Some of the arguments specified with the command:
● Synchronization mode (synchronizingMode)
The following synchronization modes are available:
– Other coupling with the position in the OCS specified in the command
(setting: synchronizingMode:=IMMEDIATELY)
Synchronization is executed immediately and coupled with the OCS.
– Synchronization and coupling in the OCS at the position of the OCS specified in the
command, i.e. as soon as the ocsTrackingPosition (e.g. of a conveyor belt) has
reached a specified value (the synchronization position) (setting:
synchronizingMode:=ON_POSITION).
For this synchronization mode, a preliminary synchronization is made to the specified
synchronization position in the OCS.
● The synchronization position (position)
The specification of a motion sequence value, above which travel synchronous with the
OCS is to take place. This value is used only for synchronizingMode:=ON_POSITION.
The following applies for both synchronization modes:
● The synchronization on the conveyor belt occurs where necessary superjacent to a
motion that is still active in the BCS.
● No further motion commands are possible in the BCS during synchronization.
● Motion commands in the OCS are only possible once the status SYNCHRONIZED has
been reached.
The desired position of the product in the OCS can be approached after the synchronization
via a path command in the OCS.
The following applies for the synchronization mode ON_POSITION:
The synchronization process will be aborted when the direction of the encoder value
reverses during the synchronization.
This can occur when the external encoder of a conveyor belt delivers a fluctuating position
value during standstill due to missing filters or an insufficient tolerance window (with
Extrapolation) which results in a direction reversal of the acutal position.
Synchronization status
The synchronization status of the kinematic end poi
nt to a coupled OCS is indicated in the
ocs[i].trackingState system variables on the OCS.
The synchronization status is SYNCHRONIZED when
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