Functionality Of Path-Synchronous Motion; Specification Of Path-Synchronous Motion - Siemens SIMOTION Function Manual

Basics of Path Interpolation

2.12 Functionality of path-synchronous motion

2.12 Functionality of path-synchronous motion
2.12.1 Functionality of path-synchronous motion
A path-synchronous motion on a positioning axis can be specified synchronous to the path
motion with which it is specified. This causes the path-synchronous motion to start and end
at the same time as the path motion. This enables a gripper to rotate in synchronism with the
path motion, for example.
The path motion and the path-synchronous motion follow a common traversing profile. This
also applies to the blending between two path segments.
2.12.2

Specification of path-synchronous motion

There are several options for path-synchronous motion, which are specified in the wMode
parameter of the respective motion command:
● Motion to a defined end point in the coordinate system of the positioning axis
● Motion according to current path length
– Accumulated output without reset (OUTPUT_PATH_LENGTH_ADDITIVE)
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The target position of the path-synchronous motion is specified in the path command.
This can be a relative (RELATIVE) or absolute (ABSOLUTE) position.
As for the positioning command of the axis, the direction of the synchronous motion is
specified using a parameter (wDirection).
For further information, refer to the Motion Control, TO axis, electrical / hydraulic, external
encoder Function Manual, "Positioning".
The motion dynamics conform to the path, and the axis is "carried along". If the maximum
dynamic values of the positioning axis are thereby violated, the dynamic parameters of
the path are reduced accordingly.
If the path length is zero and a path-synchronous motion is programmed, an error will be
issued and the path-synchronous motion set to the programmed end position. The
resulting setpoint jump is traversed axially with the maximum values.
In this case, it is important to note that a configured monitoring of the setpoint error of the
synchronous axis also acts on the setpoint jump.
The current path distance is output. There are two ways of doing this:
– Reference to the command (OUTPUT_PATH_LENGTH)
The axis position is first set to 0.0 before the path distance is traveled.
The reset of the axis position to zero is equivalent to a synchronized
_redefinePosition() command.
The path distance accumulated via the command limit is output.
TO Path Interpolation
Function Manual, 11/2010