Siemens SIMOTION Function Manual

Table of Contents
TO Path Interpolation
Function Manual, 11/2010
9
3.5 Assigning path object parameters/default values ........................................................................86
3.6 Configuring a path object.............................................................................................................90
3.7
Defining limits...............................................................................................................................91
3.8
Interconnect
ing a path objec
t.......................................................................................................92
3.9 Configuring kinematic adaptation in the expert lis
t ......................................................................93
3.10
Configuring path monitoring.........................................................................................................93
3.11
P
ath interpolation - context menu
................................................................................................94
4
Sample P
roject for the Path Interpolation ................................................................................................ 97
4.1
Overview of t
he example .............................................................................................................97
4.2
Select technology
package..........................................................................................................98
4.3
Create axes..................................................................................................................................98
4.4
Creating a path objec
t................................................................................................................101
4.5
Defining the kinematics ..................................................................................................
...........101
4.6
Interconnecting a path objec
t.....................................................................................................103
4.7
Setting the default settings of the path objec
t............................................................................104
4.8 Programming the path interpolation in MCC .............................................................................106
4.8.1
Programming the travel
commands
in MCC .............................................................................106
4.8.2 Creating the program.................................................................................................................106
4.8.3
Programming a travel loop.........................................................................................................109
4.8.3.1
Programming a travel loop.........................................................................................................109
4.8.3.2
Creating a WHILE loop ..............................................................................................................110
4.8.3.3 Programming the A - B linear path.....................................................................................
........110
4.8.3.4 Programming the B-C polynomial path....................
..................................................................112
4.8.3.5
Programming the C-D linear path ..............................................................................................115
4.8.3.6
Programming the D-E polynomial path......................................................................................116
4.8.3.7
Programming the E-F linear path...............................................................................................118
4.8.3.8
Programming the F-A return travel .....................................................................................
.......118
4.8.4 Activating the axis enables and homing the axes
......................................................................120
4.8.5 MCC diagram.............................................................................................................................121
4.8.6 As
signing MCC
chart in the execution system ..........................................................................121
4.8.7 Checking a motion with trace
....................................................................................................123
4.9 Creating a synchronous axis
.....................................................................................................124
5
Programming
/homing path interpolation ................................................................................................ 129
5.1
Programming..............................................................................................................................129
5.1.1
Programming: Ove
rview
............................................................................................................129
5.1.2 Overview of
commands .............................................................................................................129
5.1.2.1 Information and convers
ion........................................................................................................129
5.1.2.2 Conversion commands
..............................................................................................................130
5.1.2.3 Command tracking
.....................................................................................................................130
5.1.2.4 Motion ........................................................................................................................................130
5.1.2.5 Object and Alarm Handli
ng.............................................................................................
...........131
5.1.2.6 Object coordinates .....................................................................................................................132
5.1.3
Command execution ..................................................................................................................132
5.1.3.1
Command buffer ........................................................................................................................132
5.1.3.2 Ov
erride behavior
......................................................................................................................134
5.1.4 Interactions between the path objec
t and the axis.....................................................................134

Siemens SIMOTION Specifications

General

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