Siemens SIMOTION

Basics of Path Interpolation
2.16 Simulation operation
TO Path Interpolation
Function Manual, 11/2010
81
Notes:
● The path interfaces cannot be distributed, i.e. all objects involved in the path group (path
object, path axes, and positioning axes) must be on the same device.
● The objects involved in a path interpolation group (path object, path axes and, if
applicable, a positioning axis) must be assigned to the same IPO or IPO_2 execution
level. The SERVO setting is not possible.
2.16 Simulation operation
A path interpolation can be switched to simulation, i.e. values are calculated on the path
object but are not output to the slave axes/positioning axis.
It is possible to enable and disable the path simulation at any time, including while the
relevant axes are in motion, provided there is no error response.
The simulation [ACTIVE/INACTIVE] system variable provides information about the
simulation status of the path object.
Commands for the simulation operation
● The _enablePathObjectSimulation() command sets the path interpolation to simulation
mode.
Values are calculated but are not output to the path axes/positioning axis. This can be
done at any time.
● The _disablePathObjectSimulation() command resets the path interpolation from
simulation mode.
Values are output to the path axes/positioning axis again.
If there is a discrepancy between the axis setpoint calculated from the path interpolation
and the current setpoint on the axis, the change in the axis setpoint on the axis is limited
due to the maximum dynamic limits of the axis.
Maintaining the setpoint calculation on the path object even when the axis enables are
canceled
The configuration data decodingConfig.disablePathOperation can be used to specify
whether the setpoints on the path object will continue to be calculated even when the axis
enables are canceled.
● If NO (default), the path interpolation is also canceled in simulation mode if the enables
on the path axis/positioning axis have been canceled.
● If YES, the path interpolation is not canceled in simulation mode if the enables on the
path axis/positioning axis have been canceled while the path object is in simulation mode.
Any path commands that are undergoing execution are retained.