Siemens SIMOTION Function Manual

Basics of Path Interpolation
2.14 Motion sequence on the path object
TO Path Interpolation
Function Manual, 11/2010
75
● there is no motion active in the BCS, the speed of the kinematic end point is equal to the
speed of the conveyor belt and the position misalignment of the synchronization motion
resulting from the synchronization has been rectified.
● a motion is active in the BCS, the speed of the overlying synchronization motion is equal
to the speed of the conveyor belt and the position misalignment of the synchronization
motion resulting from the synchronization has been rectified.
A static OCS interconnected with TO#NIL always has the SYNCHRONIZED status. In
addition to the static OCS, not more than one coupled OCS can have the SYNCHRONIZED
status.
Dynamic values for the synchronization action
Dynamic values for the synchronization action can be specified in the
_enablePathObjectTrackingSuperimposed () command.
The default dynamic values of the path object can be used or the values specified explicitly.
The overall dynamics during the synchronization process result from the active path motion
in the BCS (where necessary) and the overlying synchronization motion. This must be taken
into consideration when specifying the dynamics, as otherwise this can cause the
programmed or maximum dynamic values on the path object to be exceeded.
2.14.2.5 Performing path motions in the coupled OCS
Path motions can be related using the csType command parameter optionally to the BCS or
an OCS.
Prerequisite for path commands in the OCS acting is that the OCS has the
SYNCHRONIZED status. Otherwise the path motion command for the OCS will not be
performed. Path motion commands for the OCS can only be issued after synchronization.
● csType
This parameter specifies whether the coordinates apply to the OCS or the BCS.
● csNumber
This parameter is the index of the OCS (1...3).
2.14.2.6 Terminate the coupling of the kinematic end point to a controlled OCS
('desynchronize')
The coupling of the kinematic end point to a controlled OCS is terminated by the coming into
force of a path motion command related to the BCS or a static OCS.
Any existing path motion commands are discarded; the new path motion command will be
executed immediately.
The system variables for PATH on the path object indicate the state of the path in the BCS
or OCS coordinates system selected.
When revoking a synchronous motion sequence (conveyor synchronization) using _stopPath
in the BCS, no path active and/or zero values are displayed for removal of the motion from
the motion sequence.

Siemens SIMOTION Specifications

General

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