Special Motion Commands
5.5 Polynomial interpolation (POLY, POLYPATH)
Job planning
Programming Manual, 03/2006 Edition, 6FC5398-2BP10-1BA0
5-17
Parameters
POLY Activation of polynomial interpolation
with a block containing POLY
POLYPATH Polynomial interpolation can be selected
for both the AXIS or VECT axis groups
PO [axis identifier/variable]=(…,…,…) End points and polynomial coefficients
X, Y, Z Axis identifier
x
e
, y
e
, z
e
Specification of end position for
relevant axis; value range as for path
dimension
a
2
, a
3,
a
4
, a
5
The coefficients a
2
, a
3
, a
4
, and a
5
are
written with their value; Value range as
for path dimension. The last coefficient
in each case can be omitted if it equals
zero.
PL Length of parameter interval over which
the polynomials are defined (definition
range of function f(p)). The interval
always starts at 0. p can be set to
values between 0 and PL. Theoretical
value range for
PL: 0,0001 … 99 999,9999. The PL value
applies to the block that contains it.
PL=1 is applied if no PL value is
programmed.
Activate/deactivate POLY
Polynomial interpolation belongs to the first G group along with G0, G1, G2, G3, A spline,
B spline and C spline. If it is active, there is no need to program the polynomial syntax: Axes
that are programmed with their name and end point only are traversed linearly to their end
point. If all axes are programmed in this manner, the control system responds as if G1 were
programmed.
Polynomial interpolation is deactivated by another command in the G group (e.g. G0, G1).
Polynomial coefficient
The PO value (PO[]=) or ...=PO(...) specifies all polynomial coefficients for an axis.
Several values, separated by commas, are specified according to the degree of the
polynomial. Different polynomial degrees can be programmed for different axes within one
block.
New polynomial syntax with PO: The previous syntax remains valid.
Subroutine call POLYPATH
With POLYPATH the polynomial interpolation can be specified selectively for the following
axis groups:
• POLYPATH ("AXES")
All path axes and special axes.
• POLYPATH ("VECT") orientation axes
(with orientation transformation).
As standard, the programmed polynomials are interpreted as polynomial for both axis
groups.
Examples:
POLYPATH ("VECT")
Only the orientation axes are selected for the polynomial interpolation; all other axes are
traversed linearly.
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