Special Motion Commands
5.6 Settable path reference (SPATH, UPATH)
Job planning
5-22 Programming Manual, 03/2006 Edition, 6FC5398-2BP10-1BA0
5.6 5.6 Settable path reference (SPATH, UPATH)
Function
During polynomial interpolation the user may require two different relationships between the
velocity-determining FGROUP axes and the other path axes: The latter are to be controlled
• either synchronized with the path of the FGROUP axes
• or synchronized with the curve parameter.
Therefore, for the axes not contained in FGROUP there are two ways to follow the path:
1. Either they travel synchronized with path S (SPATH)
2. or synchronized with the curve parameter U of FGROUP axes (UPATH).
Both types of path interpolation are used in different applications and can be switched via
G codes SPATH and UPATH.
Programming
SPATH
or
UPATH
Parameters
SPATH Path reference for FGROUP axes is arc length
UPATH Path reference for FGROUP axes is curve parameter
FGROUP Definition of axes with path feed
SPATH, UPATH
One of the two G codes (SPATH, UPATH) can be used to select and program the
required behavior.
The commands are modal. If SPATH is active, the axes are traversed synchronized with the
path; if UPATH is active, traversal is synchronized with the curve parameter.
UPATH and SPATH also determine the relationship of the F word polynomial
(FPOLY, FCUB, FLIN) with the path movement.
FGROUP activation
The path reference for the axes that are not contained in FGROUP is set via the two
language commands SPATH and UPATH contained in the 45th G code group.
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