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So good afternoon everyone welcome on board

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current chapter 35

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You'll learn about path subject

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kinematics of the smotion system so

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Let's start on this motion site

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i will close the windows

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Organizers changed

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maybe say yes

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and close to TIA side to reduce some ram usage

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No

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On the left side of your project window

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You'll see when you click to insert path objects

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You write your name here

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There are several different kinematics ready-to-use

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For instance 2D Cartesian

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Or 2D swivel arm Arcticulated arm

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Delta picker

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rollpicker

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Or 3D system

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Are robot articulated arm

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roll picker

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Or 3D delta picker

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i will continue with Cartesian 3D so

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at this case you need to define

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Your offset and rotation

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There is a basic coordinate system you can use a same as your kinematics

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Coordinate system the reference point

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Sometimes you need to assign some offset in XYZ direction or

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As in rotation

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For XYZ

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According to right-hand rule

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roll ptich yaw and as degree values are

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Assignable

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According to these parameters let's consider about you want to go

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aS

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One-point starts here and the second Point here and

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and when your answer some rotation

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According to

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Your balance in Your kinematics

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Normally

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with zero setting onlyY axes is moving from

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start point to end point if you use some rotation

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then all of the axis setPoints calculated at the same time so that means the path object

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Are organizing all of the related access even think about the two

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Right hear and rotation

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So let's go in offline mode

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and Work properly units you can Define here has been defined as mm or inch

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 or whatever

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So by default

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There are some table about object coordinate system 1 to 2

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and we will use object coordinate system for the conveyor tracking for instance and object

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and

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If you have an some information or experience with robot

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industrial robots KUKA or ABB or whatever

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Then in the space

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Three dimensional you have already known about the coordinate system and what's the difference

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 coordinate system how can you switch between two coordinate system or basic coordinate

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system when your motion comments depends on your reference points so works

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with Different kind of coordinate system is possible

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at here you see the dynamic response and default values and

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It's the important parameters located here under your default

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PATH section

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As default you can use the

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3D interpolation or with motion command that you can use just

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1 plane XY plane or YZ Plane

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So path mode can be relative or absolute

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Limitations of dynamic path response transport to access limits Maybe

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No or constant across the path or variable across the path

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So

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You think about another object. path Object is organized into other technology

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Objects and path object organizing other object

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it Is calculating smooth acceleration and position

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and vector sources to all other accesses than here there is some equations

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For instance which access reached its limit so maybe you can select it here

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Reduce the path velocity as a vector format that you're able to do your

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path movements

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On the other Case

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You're going in the wrong path or you there's just

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consider about

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You missed your corner during the path movements

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maybe

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It depends on the dynamic setting

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For The polinomial specification

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There are some options

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Specification with polynomial coefficients or continuous linking and so on

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about Circle specification that are three way to create a circle

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Specification with radius

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OnPoint at orientation or the center point and angle or

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intermediate and At the endpoint

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Different approach to create a circle specification to move the paths

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Direction of path syncronous motion

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can be

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from sign of Target position

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Or positive or negative

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path sync motion means additional access to your path

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mode of path sync motion can berelative Target

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Absolute path

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And so on so you can just attach an additional access to your path sync

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motion for instance during your path movement you can rotate an object or

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For a textile machine during your

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path movement maybe you're just drawing a flower

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Daisy for instance at the same time you're another access have to go up and down to

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Create the

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Picture of drawing into material

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At this case you have to use parh sync motion access

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And about blending option before select no blending

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Blending with consideration of the dynamic response

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So at this case there's a motion queue

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For the path object you can just attach your

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path commands one by one

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there is

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Transition Behavior

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named as Blending

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You're going to one point

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On the right direction and the next command attached to going to down points

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That's right

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At the down directions store at the corner when you use

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blending 2 commands

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And the corner maybe you can just make an

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Circle here or you can

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Blend your attached comments together so The Interpreter of motion

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queue It's

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looked ahead and the follow of the next step and

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The transition Behavior than the distance

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So construction a point mode

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can be value specification like target position or absolute or relative

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These are the default settings for your motion Commands and for the calibration

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You can specify three points in order to calibrate the basic coordinate system

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point 1-2-3 XYZ

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With the 3 step you can just

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Go first point second point and third point you can calculate and measure in the

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The real mechanical system than

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you will see the expected quality calculate offset and rotation from this

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Structure

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And when you hit the accept the values in the Real system

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You just calibrate your kinematics with this way

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It's possible to calibrate the object coordinate system that are three

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Coordinate systems

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You can Define the three different object for calibration in your kinematics

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with the

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Same procedure in 3 step

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So in your limits that are some limitations for the

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path velocity

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that means the vector sum of all of the axis velocity

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Acceleration at jerk and so on....

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In your contract with the new version of simotion CPU I think from the

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4.5

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It is possible to

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jog path via control panel with path object

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So

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Let's create first or X with

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path interpolation

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i can select also sync Operation setting

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I can use these access as separately

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and synchronize to another object

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It is possible

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This should be a linear axis virtual

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Let's create our axis Y

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sync path interpolation virtual

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Another one Z

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Let's say create another one with

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Rotation

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as a rotational axis

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as virtual

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So I will make a interconnection to this axis

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Kinematics require

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1st 2nd and 3rd axes

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First should be X should be the Y and Z

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So

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for path velocity profile it is possible to use some cams

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According to your time based vel profile you can run your path

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It is possible

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On the other hand for the position access is required to path sync motion

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I'm going to use the axis rotation at this case

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So when you

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create you're path object and you want to make conveyor tracking you should select

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path

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following Motion of

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axis conveyor or path here

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Possible

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outPut of the path length

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as vectroral sum

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this

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Is possible to enter connect to another access solve it this way

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You can just

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Synchronized some other access during path movement

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If you need to do

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Something at the same time

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Specification of the dynamic response of you can just select one axis

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Dynamic response of the path object will be adapted according to this specification

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And the axis should be

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 different

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From the other axis used

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XYZ rotation

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conveyor belt

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Maybe

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axis blue you don't have to assign it you can just

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Leave it as blank

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Let's save and compile

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I like to go online

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and download

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There are some error

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no corresponding technology package has been selected for path object so

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I have to

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Click on right Mouse button to

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Select technology packages

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I'm using the path object so that's why I should select path at least

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and compile again

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and you will download project

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Technology package with

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firmware version 5.3 will be loaded

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Let's set it

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to run mode

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Now

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my to downloaded and you'll see here the interconnection

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lets open to control panel

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And click to assume control priority

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accept

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with this button

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when i hit

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all access interconnected path will be enabled where it's located

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Control panel

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You can detect it with system variable

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So now

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I can just working on the basic coordinate system

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Cartesian Direction it is

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And the path overwrite seehundreds

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I want the jog as manual

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Because the X are not home yet

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If you want to go one by one

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With axes you can just select here let's try with velocity

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10mm/s and you can see your actual position changed

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Let's try with

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Getting - Direction see here

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So this is for manual jogging

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You see here the actual positions

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What is the A1A2A3Aw means

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Normally transformation and backwards

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Calculations are done by path

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In Cartesian coordinate system is the same value but when you

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select delta picker or different kinematics

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as the master coorinate system you're going to see it different value here according to

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equations

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That means

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You're going down points

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Other point as linear motion

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That the backgrounds objects calculus

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Is it reqquired

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Set point position and velocity curves to each access separately

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And controls the rotation of axes and speed

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so that way you are Able to go from one point to other points in the space

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at Master coordinate system

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So if you see a different kinematics the values for the access

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Set position

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should be difference

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Status of the path object is standstill here  the actual velocity and position

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Of the Path len

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if i click  the relative mode

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So at this case

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I can just say

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move axis one by one

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And the rotational axis

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00:20:53,119  -->  00:20:54,911
Maybe

264

00:21:17,184  -->  00:21:23,072
so Let's say as relative positioning as Z axis you see here

265

00:21:23,328  -->  00:21:24,352
standstill

266

00:21:26,400  -->  00:21:28,192
Take the position as

267

00:21:28,960  -->  00:21:30,240
relatively

268

00:21:35,872  -->  00:21:39,968
You can open the dynamic

269

00:21:40,992  -->  00:21:42,784
response settings here

270

00:21:44,320  -->  00:21:46,624
maybe should be smooth profile

271

00:21:46,880  -->  00:21:49,696
for each axes

272

00:21:54,816  -->  00:21:58,656
You can try to help to get more information

273

00:22:08,384  -->  00:22:11,968
path object structure consist

274

00:22:13,760  -->  00:22:15,808
From

275

00:22:16,320  -->  00:22:19,904
Different kind of Technology objects together

276

00:22:21,440  -->  00:22:27,584
And I think it would be come with simotion version

277

00:22:27,840  -->  00:22:28,864
3.2

278

00:22:29,120  -->  00:22:35,264
And it's always adding some new features with new firmwares

279

00:22:35,520  -->  00:22:37,568
The expert colleagues in

280

00:22:37,824  -->  00:22:41,920
Germany APC erlangen For instance or in Cologne

281

00:22:43,968  -->  00:22:50,112
Is working on handling interbranch specially with path object

282

00:22:51,392  -->  00:22:54,208
In the industry

283

00:22:54,464  -->  00:22:58,304
Food and beverage pharmaceutical industry

284

00:22:58,560  -->  00:23:04,704
It's SCARA robot 2D 3D. The pickers is commonly use kinematics so

285

00:23:04,960  -->  00:23:07,264
You are able to

286

00:23:07,776  -->  00:23:11,616
Do programs such as kinematics with simotion

287

00:23:13,152  -->  00:23:18,528
At this point you just have to enter the parameters or kinematics

288

00:23:18,784  -->  00:23:24,928
for instance is the length of the swivel arm first or second arm

289

00:23:25,184  -->  00:23:31,328
You have to adjust your coordinate system basic coordinate system of the coordinate system

290

00:23:32,608  -->  00:23:38,752
You can make a configuration on the hardware side with motion and sinamics

291

00:23:39,008  -->  00:23:45,152
drives 1 fk 7 or 1 ft 7 whatever with Servo Motors you can build

292

00:23:45,408  -->  00:23:51,552
up your system during your project and program your kinematics 3D

293

00:23:51,808  -->  00:23:56,416
And 1 + rotational with simotion it's also possible

294

00:23:57,184  -->  00:24:02,560
That depends on your cycle clocks times and CPU type

295

00:24:03,328  -->  00:24:07,936
Assembly for example

296

00:24:08,192  -->  00:24:12,032
D455 maybe 16

297

00:24:12,800  -->  00:24:16,640
kartesian 3D kinematics is possible with 1 CPU

298

00:24:20,224  -->  00:24:23,040
And normally

299

00:24:23,296  -->  00:24:29,440
On the ABB and KUKA side with robot and kinematics

300

00:24:29,696  -->  00:24:33,024
available with Cartesian 3D

301

00:24:33,280  -->  00:24:34,304
it Is

302

00:24:34,560  -->  00:24:38,656
Really flexible system working on different kind of process

303

00:24:39,424  -->  00:24:43,776
and delta3d of ABB robots is very commonly used

304

00:24:50,432  -->  00:24:54,272
possible  to Make a structure with Siemens Products

305

00:24:56,320  -->  00:24:58,368
Just for your information

306

00:24:59,648  -->  00:25:03,232
Also there's another case to use

307

00:25:03,744  -->  00:25:06,304
simotion system for

308

00:25:06,560  -->  00:25:09,120
Interpreting and running to G-Code

309

00:25:10,656  -->  00:25:13,216
With your system

310

00:25:15,264  -->  00:25:21,152
If you want to create some cake in food and beverage industry and draw some shape

311

00:25:21,408  -->  00:25:25,504
Maybe you should continue with simotion and use

312

00:25:27,040  -->  00:25:30,880
2d Cartesian with G-Code interpreter

313

00:25:32,928  -->  00:25:34,720
It is possible

314

00:25:34,976  -->  00:25:40,608
Next chapter I will try to inform you a little bit more

315

00:25:41,888  -->  00:25:48,032
And by the way for the TIA portal and new technology

316

00:25:48,288  -->  00:25:50,080
CPU S7 1500 

317

00:25:50,592  -->  00:25:54,432
you know kinematics side powerful

318

00:25:54,944  -->  00:25:56,480
 developing fast

319

00:25:57,760  -->  00:26:03,904
Because siemens have already research and development team and information

320

00:26:05,184  -->  00:26:11,328
They're converting some of the technology object and templates from the simotion to

321

00:26:11,584  -->  00:26:13,376
Technology CPU

322

00:26:15,168  -->  00:26:17,472
At this point I think

323

00:26:17,984  -->  00:26:21,568
The technology objects 1500

324

00:26:23,104  -->  00:26:27,456
Grown up really fast and the new features

325

00:26:28,224  -->  00:26:33,856
Like Zone control or creating safety zones

326

00:26:34,624  -->  00:26:40,768
And during Movement Like software limit switches you can use the Zone functionality

327

00:26:41,024  -->  00:26:43,584
In technology CPU is possible

328

00:26:44,864  -->  00:26:51,008
Normally the simotion is the high-end product of siemens at the motion control

329

00:26:53,312  -->  00:26:56,896
But I think the new technology CPU is

330

00:26:57,408  -->  00:27:00,992
Working and coming with new firmwares really powerful

331

00:27:02,784  -->  00:27:05,088
Over 20 years

332

00:27:05,856  -->  00:27:12,000
after first release of simotion nowadays we have got a really powerful functionality

333

00:27:12,256  -->  00:27:18,400
Maybe for the technology CPU 1500

334

00:27:18,656  -->  00:27:19,680
It's less time

335

00:27:20,192  -->  00:27:25,568
Then maybe five years maybe ten years later on and

336

00:27:25,824  -->  00:27:30,176
The Techno CPU normally right now is using in the M2 market

337

00:27:33,504  -->  00:27:37,088
In some applications maybe M1 markets

338

00:27:37,856  -->  00:27:39,904
But it should be

339

00:27:40,416  -->  00:27:41,952
The same level

340

00:27:42,208  -->  00:27:44,512
maybe 5 years

341

00:27:44,768  -->  00:27:46,816
After today

342

00:27:47,584  -->  00:27:50,144
So my opinion

343

00:27:50,400  -->  00:27:56,544
If you have already knowledge and experience with simotion the concept

344

00:27:56,800  -->  00:27:58,080
Is the same

345

00:27:59,104  -->  00:28:05,248
You just use the similar objects of course the template of Technology objects for axis side is difference

346

00:28:06,016  -->  00:28:12,160
But you're known already the concept and the

347

00:28:12,416  -->  00:28:13,696
Approach

348

00:28:14,208  -->  00:28:15,744
And the behavior

349

00:28:16,512  -->  00:28:22,656
and Your adaptation will be faster and easier

350

00:28:23,168  -->  00:28:29,312
To the TIA portal system for technology side

351

00:28:30,848  -->  00:28:36,992
If you don't have any information in the motion control than you have to

352

00:28:37,248  -->  00:28:41,344
spend some more time in TIA portal

353

00:28:41,600  -->  00:28:47,744
This is a just use the information and experience

354

00:28:48,000  -->  00:28:51,584
You have learned about from this course

355

00:28:52,096  -->  00:28:58,240
Later on with new siemens Hardware simatic technology

356

00:28:58,496  -->  00:29:00,288
CPU and with new software TIA portal

357

00:29:05,920  -->  00:29:08,224
Yep

358

00:29:13,088  -->  00:29:15,904
And as user defined

359

00:29:19,232  -->  00:29:24,096
We are working at relative mode you can enter the velocity for path

360

00:29:24,352  -->  00:29:27,168
That you can Define the distance

361

00:29:27,680  -->  00:29:29,984
 x axis

362

00:29:30,240  -->  00:29:33,312
Y-axis and the z axis

363

00:29:33,568  -->  00:29:39,712
Is it access together if you could stop being positive

364

00:29:39,968  -->  00:29:43,296
Direction that you're going to see

365

00:29:43,552  -->  00:29:45,856
All of your axes is going

366

00:29:46,624  -->  00:29:50,976
Are rotating simultaneously if I set

367

00:29:52,256  -->  00:29:54,560
check and Set with to

368

00:30:00,704  -->  00:30:06,848
so We are working right now is virtual Access thats why after motion completed

369

00:30:07,360  -->  00:30:13,504
The control panel couldn't get the requirement bits from technology objects

370

00:30:13,760  -->  00:30:16,576
thats why it is stuck and I pressed stop

371

00:30:16,832  -->  00:30:22,976
These are the actual positions then I would at additional distance

372

00:30:24,000  -->  00:30:27,072
So I pressed the play

373

00:30:27,328  -->  00:30:28,352
you will see

374

00:30:29,120  -->  00:30:34,496
It started at the same time and the finished at the same time that means a

375

00:30:34,752  -->  00:30:40,896
There's a vector scalar and used sum of the all of the vectors of

376

00:30:41,664  -->  00:30:42,688
Axis

377

00:30:44,224  -->  00:30:48,576
You sent the path position distance to go and so on...

378

00:30:48,832  -->  00:30:53,440
This is the main information about the technology object

379

00:30:53,952  -->  00:30:58,304
path object so how can we use

380

00:30:58,560  -->  00:31:02,144
And control the Cartesian system in our program?

381

00:31:02,400  -->  00:31:03,680
Let's see

382

00:31:06,752  -->  00:31:11,616
I will go into ladder and MCC units

383

00:31:11,872  -->  00:31:16,224
And create new MCC chart named as MCCpath

384

00:31:17,760  -->  00:31:20,064
Here

385

00:31:31,072  -->  00:31:33,120
after we selected

386

00:31:33,376  -->  00:31:34,912
Technology package Path

387

00:31:35,168  -->  00:31:36,960
You see here

388

00:31:37,216  -->  00:31:40,800
there are some comments for path interpolation

389

00:31:42,848  -->  00:31:45,152
1-2-3-4-5

390

00:31:46,944  -->  00:31:49,248
lets take a look

391

00:31:49,760  -->  00:31:51,040
into

392

00:31:53,856  -->  00:31:56,672
...

393

00:31:56,928  -->  00:31:58,464
more detail

394

00:31:59,488  -->  00:32:01,536
And the first comment

395

00:32:01,792  -->  00:32:04,608
traverse path linear

396

00:32:07,936  -->  00:32:12,800
here i select My path pbject

397

00:32:13,312  -->  00:32:18,944
i will Define coordinate system as basic coordinate system

398

00:32:19,456  -->  00:32:21,760
i can select path plane here

399

00:32:23,296  -->  00:32:26,112
3-axis and mode

400

00:32:27,648  -->  00:32:32,256
Relative at this case and the blending option

401

00:32:32,768  -->  00:32:35,072
Let's say

402

00:32:36,096  -->  00:32:42,240
Active dynamics resonse adaption according to axis and

403

00:32:42,496  -->  00:32:45,056
target Coordinates are here

404

00:32:46,080  -->  00:32:52,224
20 + 40 + 16

405

00:32:52,480  -->  00:32:55,808
Transition Behavior select attahed

406

00:32:57,344  -->  00:32:58,880
and

407

00:32:59,648  -->  00:33:01,184
The MCC

408

00:33:02,464  -->  00:33:08,608
Will be command executed and next command

409

00:33:08,864  -->  00:33:12,960
current command in our motion queue

410

00:33:13,472  -->  00:33:15,776
For the blending options

411

00:33:16,800  -->  00:33:22,944
Between two paths motion commands it is possible to insert Circle

412

00:33:24,736  -->  00:33:29,344
Second degree segment or polynomial as or stop...

413

00:33:30,112  -->  00:33:32,416
So take a segment or stop

414

00:33:35,232  -->  00:33:37,536
That means if you want to

415

00:33:39,072  -->  00:33:41,376
Just visit the corner point

416

00:33:41,632  -->  00:33:44,960
Stop the path velocity to zero

417

00:33:45,728  -->  00:33:51,872
then Starts again in the make a 90-degree angle with XY plane

418

00:33:52,128  -->  00:33:54,176
then stop.

419

00:33:54,432  -->  00:33:58,784
If you select insert point on a segment

420

00:33:59,040  -->  00:34:00,320
you need to

421

00:34:00,576  -->  00:34:06,720
Enter the blending distance as mm for Cartesian

422

00:34:06,976  -->  00:34:10,304
And Hvelocity in belnding segment should be

423

00:34:10,816  -->  00:34:15,424
High or low velocity according to this parameters

424

00:34:15,936  -->  00:34:19,520
The system will calculate the polynomial equation and

425

00:34:20,800  -->  00:34:26,432
The transitional blending done between two motion commands of path object

426

00:34:26,944  -->  00:34:29,248
And the dynamic response for

427

00:34:30,016  -->  00:34:34,880
path movemetns and velocity will be smooth

428

00:34:35,136  -->  00:34:39,232
And you're going to set the velocity here

429

00:34:40,000  -->  00:34:42,304
and Jerk

430

00:34:42,560  -->  00:34:45,632
Acceleration

431

00:34:48,192  -->  00:34:52,032
Dynamic response

432

00:34:52,800  -->  00:34:55,360
With segmentation via path

433

00:34:56,896  -->  00:35:03,040
Specific velocity profile if you said if yes then you have to

434

00:35:03,296  -->  00:35:07,136
Select your cam position start or stop

435

00:35:07,392  -->  00:35:13,536
According to your profile it is possible to calculate the

436

00:35:13,792  -->  00:35:15,584
slave set points

437

00:35:16,352  -->  00:35:21,728
From the curve then your velocity is changed

438

00:35:22,496  -->  00:35:24,544
not constant during movements

439

00:35:25,312  -->  00:35:30,176
It's be taken into account from your profile

440

00:35:30,432  -->  00:35:35,552
Let's say specific velocity

441

00:35:35,808  -->  00:35:41,440
and for sync axis attached and interpolated

442

00:35:41,696  -->  00:35:47,584
as Rotational axis you can set it to your sync access mode

443

00:35:47,840  -->  00:35:49,888
As relative

444

00:35:51,424  -->  00:35:53,984
you can set here your direction

445

00:35:54,240  -->  00:35:55,008
positive

446

00:35:55,776  -->  00:36:01,920
and Let's see here I want to rotate my access as 90 degrees

447

00:36:02,176  -->  00:36:06,528
During this linear path motion

448

00:36:12,160  -->  00:36:13,696
So let's say attached

449

00:36:18,560  -->  00:36:24,704
Okay the other command is traverse path circularly

450

00:36:26,496  -->  00:36:32,640
Not linear circular that's why that are

451

00:36:34,944  -->  00:36:41,088
The object and coordinate system and plane is the same mode relative

452

00:36:41,344  -->  00:36:43,648
Blending

453

00:36:44,160  -->  00:36:45,952
Is the same

454

00:36:49,536  -->  00:36:52,864
You can specify your circle with

455

00:36:53,632  -->  00:36:57,216
Radius end point and orientation

456

00:36:58,496  -->  00:37:04,640
So you have to answer your target coordinates and circle radius

457

00:37:04,896  -->  00:37:07,712
when you select center and angle

458

00:37:07,968  -->  00:37:13,856
You have to enter Center coordinates of your circle as

459

00:37:14,112  -->  00:37:17,184
IJK parameter and angle

460

00:37:18,976  -->  00:37:21,024
Interpolate

461

00:37:21,536  -->  00:37:25,632
Intermediate Point Mode should be relative

462

00:37:26,400  -->  00:37:29,216
Or is and of the

463

00:37:29,472  -->  00:37:32,032
point coordinates and so on

464

00:37:32,544  -->  00:37:38,688
If you select intermediate and end points I think this is the most commonly used one

465

00:37:38,944  -->  00:37:45,088
For such as you have to enter your XYZ

466

00:37:45,344  -->  00:37:51,488
target coordinator and intermediate points as IJK

467

00:37:52,256  -->  00:37:55,328
sometimes Your calculated and

468

00:37:55,584  -->  00:38:00,960
Answer the wrong values then you'll get some technology alarms

469

00:38:02,496  -->  00:38:03,776
Afterwards

470

00:38:04,032  -->  00:38:09,408
Because the system will check and calculate the movement before it starts

471

00:38:16,320  -->  00:38:22,464
The next tab is the same insert polinomial segments and distance

472

00:38:22,720  -->  00:38:27,840
10 mm high velocity dynamics reseponse should be

473

00:38:28,608  -->  00:38:30,912
Maybe the velocity

474

00:38:32,448  -->  00:38:38,080
And last program setting can be used

475

00:38:39,104  -->  00:38:45,248
Same settings from the last comment line of this post with segmentation

476

00:38:45,504  -->  00:38:49,088
First profile smooth sync axis

477

00:38:51,136  -->  00:38:57,280
For the sync Access mode if you select output path length

478

00:38:57,792  -->  00:39:01,632
then absolute path length will be

479

00:39:02,400  -->  00:39:07,008
Automatically assigned to your access set point position

480

00:39:08,032  -->  00:39:09,568
If this case

481

00:39:10,592  -->  00:39:12,896
there are other several options

482

00:39:13,664  -->  00:39:15,200
You can use

483

00:39:15,456  -->  00:39:18,528
Your rotational axis as

484

00:39:19,296  -->  00:39:24,160
W absolute and output peth length in W2

485

00:39:26,208  -->  00:39:30,560
There are four options about this case relative W and

486

00:39:31,072  -->  00:39:32,608
added output path length 

487

00:39:32,864  -->  00:39:37,728
 it depends on your application

488

00:39:40,544  -->  00:39:42,336
So let's say relative to zero

489

00:39:44,128  -->  00:39:47,456
 that means no

490

00:39:47,968  -->  00:39:49,248
Rotation

491

00:39:53,856  -->  00:39:55,904
And the 3rd command

492

00:39:56,160  -->  00:39:58,720
traverse path using polynomials

493

00:39:59,488  -->  00:40:02,304
Define here the coordinate system

494

00:40:02,816  -->  00:40:04,352
path plane

495

00:40:04,608  -->  00:40:08,704
mode and the blending option are the same

496

00:40:09,984  -->  00:40:16,128
forl the polynomial that are three option explicit specification of the starting

497

00:40:17,920  -->  00:40:18,688
point data attach

498

00:40:18,944  -->  00:40:24,832
Continuously or direct specification of coefficients

499

00:40:28,928  -->  00:40:31,232
For this comment

500

00:40:33,024  -->  00:40:39,168
You enter Target coordinates and coefficient with a A2

501

00:40:39,424  -->  00:40:40,448
A3 A4 A5

502

00:40:41,472  -->  00:40:43,776
5th degree polynomial is possible

503

00:40:44,800  -->  00:40:48,384
with direct specification

504

00:40:48,896  -->  00:40:51,712
click attach continuously

505

00:40:52,224  -->  00:40:56,832
Then you answer your first derivative at end point

506

00:40:57,856  -->  00:41:01,440
Second derivative at end point

507

00:41:03,232  -->  00:41:04,256
Off the

508

00:41:04,512  -->  00:41:10,656
Position that means first derivative is velocity and second derivatives is

509

00:41:10,912  -->  00:41:12,704
acceleration At the endpoint

510

00:41:13,216  -->  00:41:19,360
You can say that explicit specification of the starts in point data

511

00:41:23,968  -->  00:41:30,112
then for the starting point first derivative and second you need to enter

512

00:41:32,416  -->  00:41:36,512
I mean position velocity acceleration

513

00:41:36,768  -->  00:41:41,632
and At the end point you have to answer first derivative vector

514

00:41:42,656  -->  00:41:44,704
I'm second derivative vector

515

00:41:48,800  -->  00:41:51,360
It depends on your choice

516

00:41:51,616  -->  00:41:54,687
blending tab is the same

517

00:42:00,063  -->  00:42:04,671
Dynamic response tab is the same

518

00:42:17,215  -->  00:42:22,591
sync axis tab is the same

519

00:42:25,663  -->  00:42:31,807
Export the tab assign a variable to try to

520

00:42:32,063  -->  00:42:34,111
track This comment

521

00:42:41,535  -->  00:42:44,351
Okay

522

00:42:49,471  -->  00:42:52,031
next comments

523

00:42:52,543  -->  00:42:54,335
Stop path motion

524

00:42:54,591  -->  00:43:00,735
with Path object coordinate system stop mode stop Without aboard

525

00:43:02,015  -->  00:43:04,063
Stopping Behavior

526

00:43:04,831  -->  00:43:09,183
immediately or end of the path Commands

527

00:43:09,951  -->  00:43:13,279
That means I want to finish the last path comment

528

00:43:13,535  -->  00:43:16,607
then stopped

529

00:43:17,119  -->  00:43:19,679
Dynamic response

530

00:43:20,959  -->  00:43:24,543
Auto Select the smooth velocity profile

531

00:43:24,799  -->  00:43:28,383
with jerk last program

532

00:43:28,895  -->  00:43:32,991
Deceleration and jerk

533

00:43:33,759  -->  00:43:39,903
Basically done.

534

00:43:41,183  -->  00:43:47,327
last command Continue path motion after we stopped path motion

535

00:43:47,583  -->  00:43:53,727
It is possible to use this going to continue the path motion and dynamic response of the

536

00:43:53,983  -->  00:43:55,263
motion to be

537

00:43:56,031  -->  00:44:00,127
Interrupted motion or I can specify

538

00:44:00,895  -->  00:44:02,943
Another motion

539

00:44:04,223  -->  00:44:08,063
For instance during your part process

540

00:44:10,111  -->  00:44:14,463
Operator has to reduce the override to zero

541

00:44:14,975  -->  00:44:19,071
Or feedrate to zero or just press the stop button

542

00:44:19,839  -->  00:44:22,911
Then you use your start coming and

543

00:44:23,423  -->  00:44:29,567
Change something made some cleaning or whatever after that operated press

544

00:44:29,823  -->  00:44:33,407
Start button again with this case

545

00:44:34,175  -->  00:44:40,319
if you use continue your program path movements

546

00:44:41,343  -->  00:44:42,879
Whatever you want

547

00:44:43,647  -->  00:44:45,439
From the last point

548

00:44:46,207  -->  00:44:51,583
Specific Dynamic response or last response is possible

549

00:44:54,143  -->  00:44:56,447
and if your motion

550

00:44:56,959  -->  00:44:59,519
buffer queue empty and

551

00:45:00,031  -->  00:45:03,871
with this setting you just finished your last comment

552

00:45:04,127  -->  00:45:10,271
Then that means there's no motion to continue and command will be executived

553

00:45:12,575  -->  00:45:17,439
So let's try with different linear motions

554

00:45:17,695  -->  00:45:23,839
Of course before we do that we have to be sure that

555

00:45:24,095  -->  00:45:29,983
axes are enabled and there is no error on our access technology object

556

00:45:33,311  -->  00:45:38,175
So that's why I'm going to

557

00:45:38,943  -->  00:45:41,759
enable my exes interconnected

558

00:45:42,527  -->  00:45:44,575
axis X

559

00:45:45,087  -->  00:45:51,231
delay program execution I'm going to do the same thing for all of the other axes

560

00:45:52,255  -->  00:45:54,303
Why?

561

00:45:56,095  -->  00:45:57,631
Z

562

00:45:58,143  -->  00:46:03,007
Rotational axis

563

00:46:08,895  -->  00:46:11,967
I can use it also

564

00:46:12,479  -->  00:46:15,039
wait for axis commands

565

00:46:17,599  -->  00:46:18,879
axis x

566

00:46:20,159  -->  00:46:21,951
Access status

567

00:46:28,351  -->  00:46:30,655
Motion stationary

568

00:46:31,679  -->  00:46:33,471
stationary

569

00:46:35,775  -->  00:46:39,103
Just for your information

570

00:46:40,127  -->  00:46:46,271
And there's a setting under your expert list of path object

571

00:46:49,855  -->  00:46:52,927
Your system variables

572

00:46:53,183  -->  00:46:58,815
That out several different variables when compared to axis TO

573

00:47:01,631  -->  00:47:05,983
So limits of path dynamics right here

574

00:47:06,495  -->  00:47:12,383
Override velocity and acceleration of your path you can write

575

00:47:12,639  -->  00:47:14,431
during your program

576

00:47:16,223  -->  00:47:18,527
in Your configuration data

577

00:47:21,343  -->  00:47:23,391
attach path

578

00:47:23,647  -->  00:47:26,207
Execution adn so on

579

00:47:26,975  -->  00:47:32,607
At the commons for path Dynamics used here

580

00:47:33,631  -->  00:47:36,191
Let's configure at 3

581

00:47:36,703  -->  00:47:42,591
And maximum buffer motion comments in decoding config is default value is

582

00:47:42,847  -->  00:47:43,871
5

583

00:47:44,639  -->  00:47:45,663
Is

584

00:47:47,455  -->  00:47:50,783
You can increase to Maximum 10

585

00:47:52,063  -->  00:47:54,623
for buffer

586

00:47:55,135  -->  00:48:01,279
That means look forward for 10

587

00:48:01,535  -->  00:48:07,679
motion command for simotion and it is 200 in sinumerik system

588

00:48:08,447  -->  00:48:12,031
So that's the difference on the Path case

589

00:48:12,543  -->  00:48:18,687
as kinematics simotion also sinumerik is able to control hexapot

590

00:48:21,503  -->  00:48:26,879
It's six or more axes at the same time at the simotion side it is limited

591

00:48:32,255  -->  00:48:34,559
for deep note

592

00:48:36,351  -->  00:48:39,167
And you can change here

593

00:48:39,679  -->  00:48:40,959
The offsets

594

00:48:43,519  -->  00:48:45,823
Normally programming plain

595

00:48:52,223  -->  00:48:56,831
Yep, system Dynamics

596

00:48:57,855  -->  00:49:00,159
Let's say

597

00:49:00,671  -->  00:49:02,719
When you select 10

598

00:49:02,975  -->  00:49:06,815
You have to see in your real application

599

00:49:17,311  -->  00:49:18,591
Okay

600

00:49:21,407  -->  00:49:23,711
Enabling access

601

00:49:23,967  -->  00:49:25,759
Stopping path objects

602

00:49:28,063  -->  00:49:31,647
and wait for all of the access standstill

603

00:49:38,303  -->  00:49:41,119
Unfortunately there is no

604

00:49:41,375  -->  00:49:45,215
path object selectable here maybe I can say

605

00:49:47,007  -->  00:49:50,847
axis

606

00:49:53,151  -->  00:49:59,295
Motion moving completed

607

00:50:02,367  -->  00:50:08,511
stationary this rotational XYZ

608

00:50:14,143  -->  00:50:15,935
The rotational

609

00:50:20,543  -->  00:50:21,823
Okay

610

00:50:25,919  -->  00:50:30,271
Maybe I can disable my axes

611

00:50:34,111  -->  00:50:36,159
XYZ...

612

00:50:49,983  -->  00:50:52,287
and rotation

613

00:50:54,335  -->  00:50:56,895
XYZ rotation

614

00:50:57,407  -->  00:51:02,783
Second wait time at the start of the program

615

00:51:04,831  -->  00:51:08,159
2 seconds and save

616

00:51:14,047  -->  00:51:16,863
i would change the position

617

00:51:17,631  -->  00:51:19,167
As relative

618

00:51:21,471  -->  00:51:22,495
and

619

00:51:26,335  -->  00:51:29,151
in Z Direction only

620

00:51:35,039  -->  00:51:40,415
then X and Y direction

621

00:51:40,671  -->  00:51:44,255
with rotational -90

622

00:51:49,375  -->  00:51:55,519
System variables check motion buffer of path object

623

00:51:57,311  -->  00:51:58,847
Also

624

00:51:59,103  -->  00:52:01,663
In your symbol browser there are som 

625

00:52:02,175  -->  00:52:04,223
variables about path

626

00:52:07,039  -->  00:52:11,135
You see here if there's an error and error reaction

627

00:52:12,159  -->  00:52:14,463
And limits

628

00:52:15,487  -->  00:52:17,023
dynamic limits

629

00:52:17,791  -->  00:52:23,167
software limits with the motion buffer on the status

630

00:52:24,447  -->  00:52:27,007
Your see here empty

631

00:52:28,799  -->  00:52:34,943
or Maybe full if your motion buffer is full than you're not able to attach any

632

00:52:35,199  -->  00:52:36,223
new command

633

00:52:36,479  -->  00:52:37,759
You have to check first

634

00:52:38,527  -->  00:52:44,159
And there are some path data acceleration position and velocity

635

00:52:44,927  -->  00:52:48,511
Status motion you may track here

636

00:52:48,767  -->  00:52:53,119
Let's use this variables and attach them to our Trace

637

00:52:56,703  -->  00:52:59,007
I will save this one

638

00:53:05,151  -->  00:53:07,967
as training Red blue

639

00:53:09,759  -->  00:53:13,599
we will delete or create new one

640

00:53:14,623  -->  00:53:19,999
endless trace servo cycle

641

00:53:22,815  -->  00:53:26,399
Lets select the position of paths

642

00:53:28,703  -->  00:53:30,239
velocity of path

643

00:53:36,895  -->  00:53:38,943
motion states of path

644

00:53:47,391  -->  00:53:53,023
Maybe the motion buffer State also

645

00:53:54,303  -->  00:53:57,119
I want to add the

646

00:53:59,935  -->  00:54:01,471
Other

647

00:54:01,727  -->  00:54:03,519
axis X

648

00:54:06,847  -->  00:54:08,895
Actual position

649

00:54:09,919  -->  00:54:11,711
maybe positioning state

650

00:54:21,951  -->  00:54:27,327
Yeah

651

00:54:28,607  -->  00:54:31,679
Y

652

00:54:33,215  -->  00:54:37,055
Z last one rotation

653

00:54:49,599  -->  00:54:55,743
Let's compile check downloads and start test our program

654

00:54:59,071  -->  00:55:00,607
Going online

655

00:55:05,727  -->  00:55:07,007
And no

656

00:55:11,615  -->  00:55:14,431
Ask the offline and online trace

657

00:55:15,967  -->  00:55:21,087
Is different do you want upload to trace no I said no

658

00:55:21,343  -->  00:55:24,415
lets download program yep

659

00:55:41,823  -->  00:55:44,639
Do you want to do it online no

660

00:55:47,455  -->  00:55:50,015
 stop

661

00:55:50,527  -->  00:55:55,135
And the start trace first of after that

662

00:55:58,719  -->  00:56:01,535
I will used up status

663

00:56:03,071  -->  00:56:07,935
Or we forgot to assign our program to execution system

664

00:56:09,471  -->  00:56:13,055
So let's assign motion task 3

665

00:56:16,639  -->  00:56:18,175
and path

666

00:56:21,759  -->  00:56:23,039
This

667

00:56:23,807  -->  00:56:27,391
Let's check our background task to organize

668

00:56:35,071  -->  00:56:38,655
You seem more task i want to I need to add additional

669

00:56:40,447  -->  00:56:43,775
motion task 3

670

00:56:51,455  -->  00:56:54,271
Global exportable

671

00:56:58,879  -->  00:57:02,719
MT2 task States

672

00:57:02,975  -->  00:57:09,119
copy and paste for MT3

673

00:57:10,655  -->  00:57:13,983
Okay and start motion task 3

674

00:57:14,751  -->  00:57:16,543
save and compile

675

00:57:30,111  -->  00:57:33,951
And download again

676

00:57:49,311  -->  00:57:51,103
Let's check the trace

677

00:57:52,639  -->  00:57:53,919
it Started

678

00:57:54,431  -->  00:57:57,247
I'm going to

679

00:57:57,503  -->  00:58:00,831
start simotion set to run

680

00:58:07,487  -->  00:58:09,791
okay And

681

00:58:10,559  -->  00:58:16,703
Missing enables on axis x axis Y and so on

682

00:58:19,519  -->  00:58:22,847
So let's set CPU stop mode

683

00:58:24,383  -->  00:58:26,687
acknowledge or

684

00:58:28,223  -->  00:58:32,319
Close MCC back

685

00:58:43,071  -->  00:58:46,655
and wait axis X stationary

686

00:58:54,335  -->  00:58:57,663
wait for signal wait for condition

687

00:58:59,967  -->  00:59:01,759
ladder i am not gonna use

688

00:59:03,039  -->  00:59:05,087
...

689

00:59:15,839  -->  00:59:18,911
lets check if condition here

690

00:59:19,167  -->  00:59:25,311
axis x coontrol is

691

00:59:35,551  -->  00:59:38,879
Active

692

00:59:53,983  -->  00:59:57,055
axes

693

00:59:57,311  -->  01:00:03,455
Control is active

694

01:00:05,759  -->  01:00:09,087
2 3 4

695

01:00:12,415  -->  01:00:14,719
let say

696

01:00:18,559  -->  01:00:21,375
axis

697

01:00:25,471  -->  01:00:28,287
X control is active 1-2-3-4 Z and rotation

698

01:00:36,479  -->  01:00:39,551
Okay let's save compiled and download

699

01:00:47,999  -->  01:00:50,303
I have written something wrong

700

01:00:52,351  -->  01:00:58,495
And it's response if I double click

701

01:01:00,287  -->  01:01:02,847
I have to close and compile again

702

01:01:04,127  -->  01:01:08,223
It's not logical but that's the way

703

01:01:11,295  -->  01:01:15,647
It's right here rotation

704

01:01:17,439  -->  01:01:19,231
Rotation

705

01:01:22,559  -->  01:01:28,703
I took you said so I think I should have some

706

01:01:29,215  -->  01:01:31,007
More modifications

707

01:01:43,807  -->  01:01:45,599
here compile again

708

01:01:47,903  -->  01:01:54,047
And download again so many times

709

01:01:55,327  -->  01:01:58,655
PC is working so slowly right now

710

01:02:13,247  -->  01:02:19,391
Okay let check trace to check the status of simotion let's start Trace

711

01:02:19,647  -->  01:02:25,791
If you're in the run let's check the technology object alarms that is still an alarm

712

01:02:28,095  -->  01:02:30,911
Missing enable incorrect mode

713

01:02:31,423  -->  01:02:33,983
path sync axis not ready

714

01:02:39,103  -->  01:02:40,383
This is why

715

01:02:41,407  -->  01:02:44,735
So I think

716

01:02:46,271  -->  01:02:51,135
we should and status and debug mode to Trace

717

01:03:21,855  -->  01:03:27,231
axes are virtual axis that's why I think the path object is not working

718

01:03:27,999  -->  01:03:31,327
I'm going to switch to real axis

719

01:03:31,583  -->  01:03:33,119
with simulation

720

01:03:40,031  -->  01:03:41,311
let's try

721

01:03:44,383  -->  01:03:46,431
Electrical axes

722

01:03:48,991  -->  01:03:51,551
Define later

723

01:03:53,855  -->  01:03:58,719
Or incremental encoder Define later

724

01:03:58,975  -->  01:04:03,583
not so relevant axis x lets try y

725

01:04:07,423  -->  01:04:08,703
Electrical

726

01:04:10,239  -->  01:04:14,847
assign later on

727

01:04:18,943  -->  01:04:20,991
Let's Z

728

01:04:31,487  -->  01:04:34,047
and for the rotation

729

01:04:37,887  -->  01:04:41,215
Electrical

730

01:04:41,471  -->  01:04:43,519
so with later

731

01:04:45,055  -->  01:04:49,663
later finish save and compiled

732

01:04:53,503  -->  01:04:56,575
First check the consistency

733

01:04:59,903  -->  01:05:01,695
lets download again

734

01:05:12,959  -->  01:05:19,103
If you're using too many windows open the communication utilization is high

735

01:05:19,359  -->  01:05:25,503
So that's why it's a good idea to close

736

01:05:26,783  -->  01:05:29,855
Windows in sometime

737

01:05:31,647  -->  01:05:36,511
If you're not using some windows you should close

738

01:05:37,023  -->  01:05:40,607
To increase your speed of operation

739

01:05:44,703  -->  01:05:50,847
Okay let's start our trace and set to CPU in the RUN mode and try again

740

01:05:53,663  -->  01:05:58,271
The situation is the same for axes

741

01:06:00,063  -->  01:06:01,855
It is not ready

742

01:06:02,111  -->  01:06:04,415
missing enables

743

01:06:12,607  -->  01:06:16,447
parameter 1 ad with

744

01:06:16,703  -->  01:06:19,007
7 means

745

01:06:19,263  -->  01:06:24,639
Enables are missing on power drive side and position controller

746

01:06:34,623  -->  01:06:40,767
Let's connect our access to sinamics integrated side

747

01:06:41,535  -->  01:06:43,583
with conveyor and ejector

748

01:06:46,143  -->  01:06:50,495
So I was supposed to do conveyor connection

749

01:06:52,031  -->  01:06:54,335
change axis type to virtual and ejector

750

01:06:56,383  -->  01:07:01,247
here Maybe I should plate

751

01:07:03,039  -->  01:07:04,575
conveyor belt

752

01:07:06,111  -->  01:07:08,159
and Injector

753

01:07:12,511  -->  01:07:14,559
i will try with

754

01:07:14,815  -->  01:07:16,863
sinamics drives

755

01:07:17,119  -->  01:07:19,167
Change

756

01:07:20,959  -->  01:07:23,775
Or you can assign your drive here

757

01:07:24,799  -->  01:07:27,615
conveyor

758

01:07:27,871  -->  01:07:29,919
The encoder

759

01:07:31,199  -->  01:07:32,735
encoder 1

760

01:07:32,991  -->  01:07:36,575
For axes Y

761

01:07:37,855  -->  01:07:42,207
i will use

762

01:07:42,463  -->  01:07:44,511
Ejector

763

01:07:45,023  -->  01:07:47,583
Encoder

764

01:07:50,399  -->  01:07:53,983
So let's try with this way

765

01:07:54,751  -->  01:07:58,591
Maybe this simulation is possible to simulate

766

01:07:59,615  -->  01:08:04,223
If you have to attend your assignments

767

01:08:09,855  -->  01:08:11,903
ejector

768

01:08:14,975  -->  01:08:18,559
fOr message handling

769

01:08:21,887  -->  01:08:25,983
and output cam 1

770

01:08:33,407  -->  01:08:35,455
go online

771

01:08:38,015  -->  01:08:42,879
And I will download again

772

01:09:15,135  -->  01:09:17,183
lets start to trace

773

01:09:22,047  -->  01:09:24,351
Let's set CPU to RUN mode

774

01:09:27,935  -->  01:09:30,495
now the situation is the same

775

01:09:33,823  -->  01:09:38,687
So next thing I'll try to set up the

776

01:09:40,991  -->  01:09:44,319
axis with script to simulation mode

777

01:09:58,655  -->  01:10:03,775
Rotation x y z

778

01:10:14,271  -->  01:10:17,343
axis was in real mode switch to

779

01:10:17,599  -->  01:10:19,391
simulation mode

780

01:10:19,647  -->  01:10:23,487
script execution done let's compile

781

01:10:27,327  -->  01:10:29,887
And Go online

782

01:10:47,039  -->  01:10:49,343
and download

783

01:11:04,703  -->  01:11:10,079
Changing the telegram and IOs configuration due to simulation

784

01:11:10,335  -->  01:11:12,639
You'll see here the difference

785

01:11:12,895  -->  01:11:16,991
All project downloaded that's why trace stopped

786

01:11:17,247  -->  01:11:19,551
Let's start again the trace

787

01:11:20,319  -->  01:11:25,951
Let's acknowledge the alarms and set CPU to run mode and try again

788

01:11:26,975  -->  01:11:33,119
And the situation is the same unfortunately that means it is not possible to

789

01:11:34,143  -->  01:11:39,263
Test program with the Simosim you have to use the real system

790

01:11:40,031  -->  01:11:41,567
So

791

01:11:44,639  -->  01:11:47,967
But I switch back to my path program

792

01:11:53,087  -->  01:11:58,207
Normal axis should be enabled here

793

01:11:58,463  -->  01:12:00,767
Because I have already selected

794

01:12:04,351  -->  01:12:10,495
but path object requires the real axes enable signal so

795

01:12:10,751  -->  01:12:14,847
It's not possible to do it with simulation mode

796

01:12:24,319  -->  01:12:28,671
So basically you have got the idea

797

01:12:44,287  -->  01:12:46,591
maybe i should say stop

798

01:13:02,975  -->  01:13:05,023
and 

799

01:13:06,303  -->  01:13:07,583
lets try with substitude

800

01:13:09,887  -->  01:13:11,935
and Attached

801

01:13:15,007  -->  01:13:19,359
delay program execution

802

01:13:19,871  -->  01:13:22,175
entry motion buffer

803

01:13:35,999  -->  01:13:37,791
okay motion completed

804

01:13:54,687  -->  01:14:00,063
Let's take a few seconds to wait here

805

01:14:00,319  -->  01:14:05,439
I think my Logic on the program site is wrong

806

01:14:11,583  -->  01:14:16,959
That's why I'm not able to run my program in simulation Maybe

807

01:14:27,711  -->  01:14:33,855
Because I didn't say translation option and interpreter

808

01:14:34,111  -->  01:14:36,415
goes down like this

809

01:14:36,671  -->  01:14:39,743
Disable command with executed

810

01:14:39,999  -->  01:14:45,631
At the same time after path started to do movement maybe

811

01:14:45,887  -->  01:14:48,191
So let's try again

812

01:14:56,895  -->  01:15:02,015
Sometimes you may think about the wrong way

813

01:15:02,527  -->  01:15:06,879
You have to check all of the possibilities to find the

814

01:15:07,647  -->  01:15:09,695
Solution

815

01:15:10,207  -->  01:15:13,023
Or something you did wrong

816

01:15:13,279  -->  01:15:17,375
it downloaded let's start the trace again

817

01:15:18,655  -->  01:15:21,471
time diagram set CPU to RUN

818

01:15:21,727  -->  01:15:23,519
okay If it's RUN

819

01:15:28,895  -->  01:15:32,479
missing enables same error

820

01:15:33,247  -->  01:15:37,599
With MCC path

821

01:15:51,935  -->  01:15:54,495
Let acknowledge all

822

01:16:06,783  -->  01:16:08,319
No not possible

823

01:16:14,463  -->  01:16:17,023
Make sure there's a movement right here

824

01:16:17,279  -->  01:16:19,327
there is a path velocity

825

01:16:21,375  -->  01:16:23,935
actual position of axis

826

01:16:35,455  -->  01:16:40,575
And eventually able to run our program

827

01:16:40,831  -->  01:16:43,903
so Let's just set CPU to run

828

01:16:51,071  -->  01:16:57,215
Finally you'll see

829

01:16:57,471  -->  01:17:03,615
here all three of line in motion commands executed enable access

830

01:17:03,871  -->  01:17:10,015
Let me go back to trace window and check cuves

831

01:17:16,671  -->  01:17:22,815
you see here are three different movements

832

01:17:29,471  -->  01:17:35,615
Position within the path length means

833

01:17:35,871  -->  01:17:42,015
As you can see the orange curve is 25mm

834

01:17:42,271  -->  01:17:48,415
as vectoral sum of all of the axes

835

01:17:48,671  -->  01:17:54,815
After the first path command executive completed its restarted

836

01:17:55,071  -->  01:18:01,215
new comments at this time

837

01:18:01,471  -->  01:18:07,615
buffer was empty command inserted

838

01:18:07,871  -->  01:18:14,015
Executed at the second command it becomes the writable

839

01:18:14,271  -->  01:18:20,415
Because the two next comments attached to our buffer

840

01:18:20,671  -->  01:18:26,815
So at this point is again empty because

841

01:18:27,071  -->  01:18:33,215
Are executed right here so let's check the status of the path motion

842

01:18:33,471  -->  01:18:39,615
It was standstill here accelerating constant move decelerating and standstill

843

01:18:39,871  -->  01:18:46,015
Last testing for the position at actual position

844

01:18:46,271  -->  01:18:52,415
 of the axis XYZ blue brown red

845

01:18:52,671  -->  01:18:58,815
You see here the blue access was

846

01:18:59,071  -->  01:19:05,215
18 nearly eighteen mm and it is rising

847

01:19:05,471  -->  01:19:11,615
Nearly 100 and the next comments or the Brown axis

848

01:19:11,871  -->  01:19:18,015
The different values the important think is here

849

01:19:18,271  -->  01:19:24,415
axis

850

01:19:24,671  -->  01:19:30,815
Working together that means moving together

851

01:19:31,071  -->  01:19:37,215
And these is our rotational axis

852

01:19:37,471  -->  01:19:43,615
working as relatively position is also possible

853

01:19:43,871  -->  01:19:50,015
Our program is still going on and on again

854

01:19:50,271  -->  01:19:56,415
So you can try

855

01:19:56,671  -->  01:20:02,815
It's your own with different commands here for circular movement and with different parameters

856

01:20:03,071  -->  01:20:09,215
Is possible with segmentation and so on

857

01:20:09,471  -->  01:20:15,616
And let's go one step back with try

858

01:20:15,872  -->  01:20:22,016
With the virtual access setting I wonder

859

01:20:22,272  -->  01:20:28,416
simulation on and off

860

01:20:28,672  -->  01:20:34,816
Let's take the simulation off

861

01:20:47,872  -->  01:20:54,016
Okay

862

01:21:00,672  -->  01:21:06,816
Switch to real mode script executed

863

01:21:07,072  -->  01:21:13,216
lets Download and try again

864

01:21:58,272  -->  01:22:04,416
now you may say it's also working this relation with

865

01:22:04,672  -->  01:22:10,816
simosim

866

01:22:11,072  -->  01:22:17,216
Is the path velocity

867

01:22:17,472  -->  01:22:23,616
Let's try with virtual axis

868

01:22:30,272  -->  01:22:36,416
X virtual Y axis Z axis

869

01:22:36,672  -->  01:22:42,816
Let's save you chose not to set

870

01:22:43,072  -->  01:22:49,216
virtual

871

01:22:49,472  -->  01:22:55,616
And the rotation virtual

872

01:22:55,872  -->  01:23:02,016
Okay compiling

873

01:23:02,272  -->  01:23:08,416
We will download and try

874

01:23:08,672  -->  01:23:14,816
it is good to be sure is it works

875

01:23:15,072  -->  01:23:21,216
With the virtual axis together the path object and simosim

876

01:23:27,872  -->  01:23:34,016
in that you are able to test your programs in offline mode with simulation in your office

877

01:23:34,272  -->  01:23:40,416
Before you go on the field and start working with the real machine

878

01:23:47,072  -->  01:23:53,216
Okay that's it folks

879

01:23:53,472  -->  01:23:59,616
For the path object and kinematics for your exercise maybe you should try

880

01:23:59,872  -->  01:24:06,016
Different kinematics and see the differences

881

01:24:06,272  -->  01:24:12,416
You should try with different parameters for motion comands for the path objects

882

01:24:12,672  -->  01:24:15,488
Thanks