Siemens SIMOTION Parts list manual

TO Path Interpolation
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SIMOTION
Motion Control
TO Path Interpolation
Function Manual
11/2010
Preface
Overview of Path
Interpolation
1
Basics of Path Interpolation
2
Configuring the Path Object
3
Sample Project for the Path
Interpolation
4
Programming/homing path
interpolation
5
Appendix A
A

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Technical data subject to change

TO Path Interpolation
Function Manual, 11/2010 3
Preface
Content
This document is part of the Description of System and Function documentation package.
Scope
This manual applies to SIMOTION SCOUT in association with the SIMOTION Cam or
Cam_ext technology package for product version 4.2.
Chapters in this manual
The following is a list of sections included in this manual along with a description of the
information presented in each section.
Chapters in this manual
The following describes the purpose and objectives of the manual:
● Overview of Path Interpolation
This chapter contains an overview of the TO functionality and a definition of the terms.
● Basics of Path Interpolation
This chapter explains the basic setting options and functions of the Path Interpolation
technology object.
● Configuring the Path Object
This chapter explains the configuration procedure with reference to various tasks.
● Sample Project for the Path Interpolation
In this chapter a sample project for the path interpolation is implemented.
● Programming/homing path interpolation
This chapter explains the commands and functions in greater detail.
● Appendix A
The specific kinematics with TrafoID 1001 are explained in this chapter.
● Index
Keyword index for locating information.
SIMOTION Documentation
An overview of the SIMOTION documentation can be found in a separate list of references.
This documentation is included as electronic documentation in the scope of delivery of
SIMOTION SCOUT. It comprises 10 documentation packages.

Preface
TO Path Interpolation
4 Function Manual, 11/2010
The following documentation packages are available for SIMOTION V4.2:
● SIMOTION Engineering System
● SIMOTION System and Function Descriptions
● SIMOTION Service and Diagnostics
● SIMOTION IT
● SIMOTION Programming
● SIMOTION Programming - References
● SIMOTION C
● SIMOTION P
● SIMOTION D
● SIMOTION Supplementary Documentation
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Training
Click the following link for information on SITRAIN - Siemens training courses for automation
products, systems and solutions:
http://www.siemens.com/sitrain

Preface
TO Path Interpolation
Function Manual, 11/2010 5
FAQs
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Preface
TO Path Interpolation
6 Function Manual, 11/2010

TO Path Interpolation
Function Manual, 11/2010 7
Table of Contents
Preface ...................................................................................................................................................... 3
1 Overview of Path Interpolation................................................................................................................. 11
1.1 Overview of Functions .................................................................................................................11
1.2 Terminology .................................................................................................................................12
2 Basics of Path Interpolation ..................................................................................................................... 15
2.1 Path interpolation .........................................................................................................................15
2.2 Coordinate system .......................................................................................................................17
2.3 Modulo properties ........................................................................................................................17
2.4 Units .............................................................................................................................................18
2.5 Path interpolation types ...............................................................................................................18
2.5.1 Path interpolation types ...............................................................................................................18
2.5.2 Structure of commands for path interpolation..............................................................................19
2.5.3 Linear paths .................................................................................................................................21
2.5.4 Circular paths...............................................................................................................................22
2.5.4.1 Circular paths...............................................................................................................................22
2.5.4.2 Circular path in a main plane with radius, end point, and orientation..........................................22
2.5.4.3 Circle using center and angle ......................................................................................................23
2.5.4.4 Circular path using intermediate point and end point ..................................................................25
2.5.5 Polynomial paths..........................................................................................................................26
2.5.5.1 Polynomial paths..........................................................................................................................26
2.5.5.2 Polynomial path - direct specification of the polynomial coefficients...........................................28
2.5.5.3 Polynomial paths - explicit specification of the starting point data...............................................28
2.5.5.4 Polynomial paths - attach continuously .......................................................................................30
2.6 Path dynamics..............................................................................................................................31
2.6.1 Path dynamics..............................................................................................................................31
2.6.2 Preset path dynamics ..................................................................................................................32
2.6.3 Limiting the path dynamics ..........................................................................................................32
2.7 Stopping and resuming path motion ............................................................................................35
2.8 Path behavior at motion end........................................................................................................36
2.8.1 Path behavior at motion end........................................................................................................36
2.8.2 Stopping at motion end................................................................................................................37
2.8.3 Blending with dynamic adaptation ...............................................................................................37
2.8.4 Blending without dynamic adaptation ..........................................................................................38
2.9 Display and monitoring options on the axis .................................................................................38
2.10 Allowance for axis-specific traversing range limits ......................................................................39
2.11 Behavior of path motion when an error occurs on a participating path axis or positioning
axis...............................................................................................................................................39
2.12 Functionality of path-synchronous motion ...................................................................................40
2.12.1 Functionality of path-synchronous motion ...................................................................................40
2.12.2 Specification of path-synchronous motion ...................................................................................40
2.12.3 Dynamics of path-synchronous motion........................................................................................41

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8 Function Manual, 11/2010
2.12.4 Path blending with a path-synchronous motion .......................................................................... 41
2.12.5 Output of the path distance to the positioning axis .....................................................................42
2.12.6 Output of Cartesian coordinates using the MotionOut Interface................................................. 42
2.13 Kinematic adaptation................................................................................................................... 42
2.13.1 Kinematic adaptation................................................................................................................... 42
2.13.2 Kinematic adaptation – fundamentals ......................................................................................... 42
2.13.2.1 Scope of the transformation functionality.................................................................................... 42
2.13.2.2 Reference points ......................................................................................................................... 43
2.13.2.3 System variables for path interpolation and transformation on the path object.......................... 43
2.13.2.4 Transformation of the dynamic values ........................................................................................ 45
2.13.2.5 Differentiation of link constellations............................................................................................. 45
2.13.2.6 Information commands for the kinematic transformation............................................................ 45
2.13.2.7 Axis-specific zero point offset in the transformation ................................................................... 46
2.13.2.8 Offset of the kinematic zero point relative to the Cartesian zero point ....................................... 47
2.13.3 Supported kinematics.................................................................................................................. 48
2.13.3.1 Supported kinematics and their assignment............................................................................... 48
2.13.3.2 Configuration screens ................................................................................................................. 49
2.13.3.3 Cartesian 2D/3D gantries............................................................................................................ 51
2.13.3.4 Roller picker ................................................................................................................................ 52
2.13.3.5 Delta 2D picker............................................................................................................................ 54
2.13.3.6 Delta 3D picker............................................................................................................................ 55
2.13.3.7 SCARA kinematics...................................................................................................................... 58
2.13.3.8 Articulated arm kinematics.......................................................................................................... 61
2.13.3.9 2axis articulated arm kinematics................................................................................................. 64
2.13.3.10 Swivel arm kinematics ........................................................................................................... 65
2.13.3.11 Use of virtual axes ................................................................................................................. 67
2.13.3.12 Specific kinematics ................................................................................................................ 68
2.14 Motion sequence on the path object........................................................................................... 69
2.14.1 Object coordinate system (OCS) on the path object .................................................................. 69
2.14.2 Motion sequence – fundamentals ............................................................................................... 70
2.14.2.1 Defining an OCS reference position ........................................................................................... 70
2.14.2.2 Assigning an OCS to a motion sequence reference value ......................................................... 71
2.14.2.3 Defining the translation of the position of the coupled OCS ....................................................... 72
2.14.2.4 Synchronizing motion on the path object to the coupled OCS ................................................... 73
2.14.2.5 Performing path motions in the coupled OCS............................................................................. 75
2.14.2.6 Terminate the coupling of the kinematic end point to a controlled OCS ('desynchronize') ........ 75
2.14.2.7 Stopping in the OCS ................................................................................................................... 76
2.14.3 Motion sequence – sample application....................................................................................... 76
2.14.3.1 Sample application of an OCS.................................................................................................... 76
2.14.3.2 Defining the reference position of the OCS ................................................................................ 76
2.14.3.3 Determining the motion sequence reference value of the OCS ................................................. 77
2.14.3.4 Defining the position of the OCS relative to the motion sequence reference value ................... 78
2.14.3.5 Synchronizing motion on the path object to the coupled OCS ................................................... 78
2.14.3.6 Performing path motions in the coupled OCS............................................................................. 79
2.15 Interconnection, interconnection rules ........................................................................................ 80
2.16 Simulation operation ................................................................................................................... 81
3 Configuring the Path Object..................................................................................................................... 83
3.1 Selecting the path interpolation technology package ................................................................. 83
3.2 Creating axes with path interpolation.......................................................................................... 84
3.3 Creating a path object................................................................................................................. 84
3.4 Representation in the project navigator ...................................................................................... 86

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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 Interconnecting a path object.......................................................................................................92
3.9 Configuring kinematic adaptation in the expert list ......................................................................93
3.10 Configuring path monitoring.........................................................................................................93
3.11 Path interpolation - context menu ................................................................................................94
4 Sample Project for the Path Interpolation ................................................................................................ 97
4.1 Overview of the example .............................................................................................................97
4.2 Select technology package..........................................................................................................98
4.3 Create axes..................................................................................................................................98
4.4 Creating a path object................................................................................................................101
4.5 Defining the kinematics .............................................................................................................101
4.6 Interconnecting a path object.....................................................................................................103
4.7 Setting the default settings of the path object............................................................................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 Assigning 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: Overview ............................................................................................................129
5.1.2 Overview of commands .............................................................................................................129
5.1.2.1 Information and conversion........................................................................................................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 Handling........................................................................................................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 Override behavior ......................................................................................................................134
5.1.4 Interactions between the path object and the axis.....................................................................134

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10 Function Manual, 11/2010
5.1.4.1 Override behavior...................................................................................................................... 134
5.1.4.2 Sequence of effectiveness........................................................................................................ 135
5.1.4.3 Interaction with the axis............................................................................................................. 135
5.1.4.4 Interactions with other path motions ......................................................................................... 135
5.2 Local alarm response................................................................................................................ 136
A Appendix A ............................................................................................................................................ 137
A.1 Specific kinematics with TrafoID 1001 ......................................................................................137
Index...................................................................................................................................................... 143

TO Path Interpolation
Function Manual, 11/2010 11
Overview of Path Interpolation 1
1.1 Overview of Functions
As of Version V4.1, SIMOTION provides path interpolation functionality. This functionality
enables up to three path axes to travel along paths. In addition, a positioning axis can be
traversed synchronously with the path.
Paths can be combined from segments with linear, circular, and polynomial interpolation in
2D and 3D.
The path interpolation technology is provided by the path object, which represents an
independent functionality.
The Path Object technology object (TO Path Object) is interconnected with path axes, and
can also be interconnected with a positioning axis.
The dynamic response parameters are predefined on the path motion.
The path motions of individual path commands can be blended together to form a complete
path with no intermediate stop.
The machine kinematics are adapted to the Cartesian axes of the path coordinate system via
the kinematic transformation.
As of V4.1.2, the functionality is available for the synchronization of the path motions with an
externally specified position value, e.g. with the motion of a conveyor. This supports the
system handling for the moved conveyor.
The path interpolation technology contains transformations for the following orthogonal
kinematics:
● Cartesian linear aches
● SCARA
● Roller picker
● Delta 2D picker
● Delta 3D picker
● Articulated arm
During a path motion, a positioning axis can be traversed synchronously with the path. The
axis can approach a programmed, axis-specific target position synchronously or it can
execute a motion according to the path length, thus enabling implementation of path-length-
based output cams and measuring inputs.
Path interpolation functions are required for such applications as feeding or withdrawal of
materials to or from a machine.
The application of commands for individual path segments requires a total path plan in the
user program or application.
DIN 66025 programming is not supported by SIMOTION.

Overview of Path Interpolation
1.2 Terminology
TO Path Interpolation
12 Function Manual, 11/2010
1.2 Terminology
Axis coordinates
Coordinates of the path axes or the positioning axis with path-synchronous motion
Path interpolation
Motion along a path with an assignable dynamic response.
Path interpolation generates the traversing profile for the path, calculates the path
interpolation points in the interpolation cycle, and uses the kinematic transformation to derive
the axis setpoints for the interpolation cycle points.
Continuous-path control
Motion along a path at a definable velocity.
This can include a velocity-based smoothing of the segment transitions by insertion of
rounded transition segments.
The path interpolation function of SIMOTION Version 4.1 only covers the continuous-path
control functionality to a limited extent. Therefore, this term is not used.
Path object
The path object provides the functionality for the path interpolation and for other tasks
connected with the path interpolation. It also contains the kinematics transformations
implemented in the system.
Path axis
Axis that can execute a path motion along with other path axes via a path object.
Path-axis interface
Interfaces for bidirectional data exchange between the path object and interconnected path
axes.
Path motion
Motion resulting from the interpolation of a path motion command; output on path axes
Path interpolation grouping
Several path and positioning axes connected by a path object or interpolation
Basic coordinate system (BCS)
Coordinate system of path interpolation. A right-handed, rectangular coordinate system in
accordance with DIN 66217 is used.
Motion sequence
Permits the coupling of the kinematic end point with a coupled OCS and so, for example, the
coupling with the actual value of a conveyor. This means, for example, a product can be
taken from a running conveyor or placed there.
As of SIMOTION V4.1.2, position details in the motion commands can be related optionally
to the basic coordinate system or to an object coordinate system (OCS).

Overview of Path Interpolation
1.2 Terminology
TO Path Interpolation
Function Manual, 11/2010 13
Motion sequence reference value (trackingInPosition)
The value made available to the TrackingIn interface of the path object by another
technology object. This can be, for example, the actual value of an external encoder.
Motion sequence value (trackingPosition)
The current position of a coupled OCS with reference to the OCS reference position.
Frame transformation
A frame transformation describes the position of a coordinate system relative to another
coordinate system that defines, for example, the OCS reference position relative to the basic
coordinate system of the path object. The frame transformation consists of translations along
the X-, Y-, and Z-axes and rotations at the individual axes.
For the transformation, the displacements are performed first and then the rotations in the
following order:
● Roll at the X axis
● Pitch at the (already turned) Y axis
● Yaw at the (already twice-turned) Z axis
Main plane
x-y, y-z, or z-x plane or a parallel plane. The third coordinate is not evaluated.
Interface for path-synchronous motion
Interface for bidirectional data exchange between the path object and an interconnected
positioning axis for path-synchronous motion.
Cartesian axes
Axes X, Y, and Z of the path object
Kinematics
The term "kinematics" in the context of robots and handling devices in motion control
systems refers to the abstraction of a mechanical system onto the variables relevant for
motion and motion control, i.e. the motion-capable elements (articulations) and their
geometric positions relative to each other (arms).
Kinematic transformation, kinematic adaptation
Conversion of specifications in Cartesian coordinates to specifications for individual path
axes, and vice versa.
Circular path
Path in 2D or 3D that describes a circle or an arc path.
Linear path
Path in 2D or 3D that describes a straight path.
Coupled OCS
An object coordinate system (OCS) coupled synchronously to the trackingIn interface.

Overview of Path Interpolation
1.2 Terminology
TO Path Interpolation
14 Function Manual, 11/2010
Object coordinate system (OCS)
As of SIMOTION V4.1.2, in addition to the base coordinate system (BCS), object coordinate
systems (OCS) with the path object are also available. Path motions can be specified either
in the BCS or in the OCS. The object coordinate systems are defined in their reference
position using frame transformations for the BCS. They can be coupled with a specified
motion value in the x direction of the OCS on the TrackingIn interface.
OCS reference position
Position of the OCS for the motion sequence value equal to zero. The OCS reference
position for the BCS is defined using a frame transformation.
Polynomial path
Path in 2D or 3D that describes a polynomial segment.
Synchronous motion, path-synchronous motion
Synchronous coupling of an axis with a path motion; output on a positioning axis
TrackingIn interface
The trackingIn input interconnection interface of the path object can be interconnected with
another TO that provides an output interface with motion information. This can be, for
example, the motion setpoint or actual value of an axis or the actual value of an external
encoder.

TO Path Interpolation
Function Manual, 11/2010 15
Basics of Path Interpolation 2
2.1 Path interpolation
The path interpolation technology provides functionality for interpolating linear, circular, and
polynomial paths in two dimensions (2D) and three dimensions (3D).
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Objects involved in path interpolation
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The path interpolation technology is made available in the Path Object technology object (TO
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Basics of Path Interpolation
2.1 Path interpolation
TO Path Interpolation
16 Function Manual, 11/2010
The TO Path Object is interconnected with 2 or 3 path axes.
In addition, the TO Path Object can be interconnected with a positioning axis for path-
synchronous motion and with positioning axes for connection to a coordinate. Likewise, it
can be interconnected with a cam.
The TrackingIn interface can be used to interconnect a technology object that provides
motion information with a position (the motion sequence value), such as:
● External encoder
● Positioning axis
Role of the path axis
All single-axis functions can be executed on the path axis without limitations.
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The path interpolation functionality is independent of the physical axis type. Path
interpolation can be applied to electric axes, hydraulic axes, and stepper motor axes (real
axes) as well as to virtual axes.
Inclusion of path interpolation in technology packages
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Figure 2-4 Inclusion of path interpolation in technology packages
Path functionality is made available in the PATH technology package, which also includes
the functionality of the CAM technology package. The extensions include the TO Path
Interpolation and the TO Path Axis.
Thus, the CAM_EXT technology package also contains these object types.
For additional information, see Motion Control Basic Functions, "Available technology
objects".

Basics of Path Interpolation
2.2 Coordinate system
TO Path Interpolation
Function Manual, 11/2010 17
2.2 Coordinate system
The path interpolation functions require a Cartesian coordinate system. A clockwise,
rectangular coordinate system in accordance with DIN 66217 is used.
The user programs in this right-handed system, irrespective of the real kinematics.
z
y
x
Figure 2-5 Cartesian coordinate system, right-handed system
Main planes
It is easy to program two-dimensional motions (2D) directly in one of the three main planes
X-Y, Y-Z, or Z-X. In this case, the third coordinate remains constant and does not have to be
programmed.
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Figure 2-6 Main planes in 3D
2.3 Modulo properties
Both path axes and positioning axes can be used as modulo axes. However, no modulo
range change for the path axis may occur in the path traversal area. The kinematic
transformation does not take account of any modulo range change.
Consequently, only one modulo range of the path axis can be used for the traversal area on
the path object. The activation of the path interpolation defines the modulo range for the path
motion.

Basics of Path Interpolation
2.4 Units
TO Path Interpolation
18 Function Manual, 11/2010
This means that the modulo transition of the axis must not be in the traversing range of the
path motions. The modulo range and the modulo starting point as well as the position of the
modulo range relative to the intended path travel range must be set appropriately, for
example, using the settings for reference point and reference point offset during homing.
2.4 Units
All axis-related values are displayed in the quantity and unit of the assigned (interconnected)
axes.
The Cartesian coordinates are indicated in a unit of length. The default setting for Cartesian
values is [mm].
The default unit for rotary values, such as rotary angle, is [°] and calculated as degrees.
The transformation calculates directly with the numerical values. There is no unit conversion
for transformations provided by the system. Thus, the same units must be used for the same
base value, e.g, length specification.
Note
Use the same units for all objects associated with the path object that have the same
reference quantities (e.g. linear axes in mm, rotary axes in °). Avoid, for example, the mixing
of metric and non-metric units for the involved axes.
2.5 Path interpolation types
2.5.1 Path interpolation types
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Figure 2-7 Examples of linear path in 3D, circular path in 3D, polynomial path in 3D

Basics of Path Interpolation
2.5 Path interpolation types
TO Path Interpolation
Function Manual, 11/2010 19
The following interpolation modes are available for the path object:
● Linear paths (Page 21)
– 2D in a main plane
– 3D
● Circular paths (Page 22)
– 2D in a main plane with radius, end point, and orientation
– 2D in a main plane with center point and angle
– 2D with intermediate and end points
– 3D with intermediate and end points
● Polynomial paths (Page 26)
– 2D in a main plane with explicit specification of geometric derivatives in the start point
or with a geometrically continuous attachment
– 3D with explicit specification of geometric derivatives in the start point or with a
geometrically continuous attachment
– 2D with explicit specification of polynomial parameters
– 3D with explicit specification of polynomial parameters
The main plane (2D) or the 3D mode in which the path motion occurs can be specified with
the pathPlane parameter of the interpolation command.
The third path coordinate perpendicular to the main plane is not changed in a 2D path.
2.5.2 Structure of commands for path interpolation
The following path interpolation commands are available:
● Linear interpolation: _movePathLinear()
● Circular interpolation: _movePathCircular()
● Polynomial interpolation: _movePathPolynomial()
These commands contain the following parameters:
● Specification of the object instance in pathObjectType
● Specification of the path plane in pathPlane
This parameter is used to set the path plane. The main plane (2D) or the 3D mode in
which the path motion should occur can be specified.
● Specification of the path mode in pathMode
This parameter is used to set whether the value for the end point is specified as an
absolute value or whether it is to be evaluated relative to the start point.
● Specification of the end point in x, y, z
● Specification of the blending mode in blendingMode
● Specification of the merge behavior in mergeMode

Basics of Path Interpolation
2.5 Path interpolation types
TO Path Interpolation
20 Function Manual, 11/2010
● Specification of the command transition in nextCommand
● Specification of the command ID in commandId
Specifications for the linear path only ( _movePathLinear() ):
(see Linear paths (Page 21) )
● None
Specifications for the circular path only (_movePathCircular() )
(see Circular paths (Page 22) )
● Specification of the circle type in circularType
● Specification of the circle direction in circleDirection
● Specification of the intermediate point mode in ijkMode
● Specification of the intermediate point mode in i, j, k
● Specification of the arc angle in arc
● Specification of the circle radius in radius
Specifications for the polynomial path only (_movePathPolynomial() )
(see Polynomial paths (Page 26) )
● Specification of polynomial mode in polynomialMode
● Specification of the vector components in vector1x to vector4z
Specifications for the dynamics
(see Path dynamics (Page 31) )
● Velocity profile in velocityprofile
● Velocity in velocity
● Acceleration in positiveAccel
● Deceleration in negativeAccel
● Jerk on start of acceleration in positiveAccelStartJerk
● Jerk at acceleration end in positiveAccelEndJerk
● Jerk on start of deceleration in negativeAccelStartJerk
● Jerk at deceleration end in negativeAccelEndJerk
● Selection of specific profile in specificVelocityProfile
● Specifies the velocity profile with a cam in profileReference
● Start point for specific profile in profileStartPosition
● End point for specific profile in profileEndPosition
● Adaptation to the axis dynamics in dynamicAdaption
Specifications for path-synchronous motion
(see Functionality of path-synchronous motion (Page 40) )