Output Of The Path Distance To The Positioning Axis; Output Of Cartesian Coordinates Using The Motionout Interface; Kinematic Adaptation; Kinematic Adaptation - Fundamentals - Siemens SIMOTION Function Manual

Basics of Path Interpolation

2.13 Kinematic adaptation

2.12.5

Output of the path distance to the positioning axis

Alternatively, the traveled path distance, i.e. the current path length, can be output to the
positioning axis. This distance can be relative to an individual path segment or added up
over multiple path segments.
The setting is made in the path command.
For example, this can be used to output path distance-related output cams or measuring
inputs.
2.12.6

Output of Cartesian coordinates using the MotionOut Interface

The motionOut.x/y/z interfaces can be used to interconnect the Cartesian coordinates
directly with other technology objects, e.g. with the MotionIn interfaces of positioning axes.
For example, this functionality can be used in the application to implement output cams and
measuring inputs on Cartesian axes.
2.13 Kinematic adaptation
2.13.1 Kinematic adaptation
The kinematic transformation or the kinematic adaptation is used to convert path axis values
to the Cartesian axes, and vice versa.
2.13.2 Kinematic adaptation – fundamentals
2.13.2.1

Scope of the transformation functionality

During forward calculation of the kinematics (including direct kinematics, forward kinematics
or forward transformation) for position and motion conversion, the position of the end point of
the kinematics is determined in the basic coordinate system from the position of the
articulation angle and its spatial arrangement.
During backward calculation (including backward transformation or inverse kinematics), the
position of the individual articulation angle is determined from the position of the end point of
the kinematics in the basic coordinate system. For path interpolation, the position of the end
point of the kinematics in the basic coordinate system is calculated over time.
The position and the dynamic values are transformed.
The current modulo range is retained in path axes specified as modulo axes.
See Modulo properties (Page 17).
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TO Path Interpolation
Function Manual, 11/2010