So good afternoon everyone welcome on board 2
current chapter 35 3
You'll learn about path subject 4
kinematics of the smotion system so 5
Let's start on this motion site 6
i will close the windows 7
Organizers changed 8
maybe say yes 9
and close to TIA side to reduce some ram usage 10
No 11
On the left side of your project window 12
You'll see when you click to insert path objects 13
You write your name here 14
There are several different kinematics ready-to-use 15
For instance 2D Cartesian 16
Or 2D swivel arm Arcticulated arm 17
Delta picker 18
rollpicker 19
Or 3D system 20
Are robot articulated arm 21
roll picker 22
Or 3D delta picker 23
i will continue with Cartesian 3D so 24
at this case you need to define 25
Your offset and rotation 26
There is a basic coordinate system you can use a same as your kinematics 27
Coordinate system the reference point 28
Sometimes you need to assign some offset in XYZ direction or 29
As in rotation 30
For XYZ 31
According to right-hand rule 32
roll ptich yaw and as degree values are 33
Assignable 34
According to these parameters let's consider about you want to go 35
aS 36
One-point starts here and the second Point here and 37
and when your answer some rotation 38
According to 39
Your balance in Your kinematics 40
Normally 41
with zero setting onlyY axes is moving from 42
start point to end point if you use some rotation 43
then all of the axis setPoints calculated at the same time so that means the path object 44
Are organizing all of the related access even think about the two 45
Right hear and rotation 46
So let's go in offline mode 47
and Work properly units you can Define here has been defined as mm or inch 48
or whatever 49
So by default 50
There are some table about object coordinate system 1 to 2 51
and we will use object coordinate system for the conveyor tracking for instance and object 52
and 53
If you have an some information or experience with robot 54
industrial robots KUKA or ABB or whatever 55
Then in the space 56
Three dimensional you have already known about the coordinate system and what's the difference 57
coordinate system how can you switch between two coordinate system or basic coordinate 58
system when your motion comments depends on your reference points so works 59
with Different kind of coordinate system is possible 60
at here you see the dynamic response and default values and 61
It's the important parameters located here under your default 62
PATH section 63
As default you can use the 64
3D interpolation or with motion command that you can use just 65
1 plane XY plane or YZ Plane 66
So path mode can be relative or absolute 67
Limitations of dynamic path response transport to access limits Maybe 68
No or constant across the path or variable across the path 69
So 70
You think about another object. path Object is organized into other technology 71
Objects and path object organizing other object 72
it Is calculating smooth acceleration and position 73
and vector sources to all other accesses than here there is some equations 74
For instance which access reached its limit so maybe you can select it here 75
Reduce the path velocity as a vector format that you're able to do your 76
path movements 77
On the other Case 78
You're going in the wrong path or you there's just 79
consider about 80
You missed your corner during the path movements 81
maybe 82
It depends on the dynamic setting 83
For The polinomial specification 84
There are some options 85
Specification with polynomial coefficients or continuous linking and so on 86
about Circle specification that are three way to create a circle 87
Specification with radius 88
OnPoint at orientation or the center point and angle or 89
intermediate and At the endpoint 90
Different approach to create a circle specification to move the paths 91
Direction of path syncronous motion 92
can be 93
from sign of Target position 94
Or positive or negative 95
path sync motion means additional access to your path 96
mode of path sync motion can berelative Target 97
Absolute path 98
And so on so you can just attach an additional access to your path sync 99
motion for instance during your path movement you can rotate an object or 100
For a textile machine during your 101
path movement maybe you're just drawing a flower 102
Daisy for instance at the same time you're another access have to go up and down to 103
Create the 104
Picture of drawing into material 105
At this case you have to use parh sync motion access 106
And about blending option before select no blending 107
Blending with consideration of the dynamic response 108
So at this case there's a motion queue 109
For the path object you can just attach your 110
path commands one by one 111
there is 112
Transition Behavior 113
named as Blending 114
You're going to one point 115
On the right direction and the next command attached to going to down points 116
That's right 117
At the down directions store at the corner when you use 118
blending 2 commands 119
And the corner maybe you can just make an 120
Circle here or you can 121
Blend your attached comments together so The Interpreter of motion 122
queue It's 123
looked ahead and the follow of the next step and 124
The transition Behavior than the distance 125
So construction a point mode 126
can be value specification like target position or absolute or relative 127
These are the default settings for your motion Commands and for the calibration 128
You can specify three points in order to calibrate the basic coordinate system 129
point 1-2-3 XYZ 130
With the 3 step you can just 131
Go first point second point and third point you can calculate and measure in the 132
The real mechanical system than 133
you will see the expected quality calculate offset and rotation from this 134
Structure 135
And when you hit the accept the values in the Real system 136
You just calibrate your kinematics with this way 137
It's possible to calibrate the object coordinate system that are three 138
Coordinate systems 139
You can Define the three different object for calibration in your kinematics 140
with the 141
Same procedure in 3 step 142
So in your limits that are some limitations for the 143
path velocity 144
that means the vector sum of all of the axis velocity 145
Acceleration at jerk and so on.... 146
In your contract with the new version of simotion CPU I think from the 147
4.5 148
It is possible to 149
jog path via control panel with path object 150
So 151
Let's create first or X with 152
path interpolation 153
i can select also sync Operation setting 154
I can use these access as separately 155
and synchronize to another object 156
It is possible 157
This should be a linear axis virtual 158
Let's create our axis Y 159
sync path interpolation virtual 160
Another one Z 161
Let's say create another one with 162
Rotation 163
as a rotational axis 164
as virtual 165
So I will make a interconnection to this axis 166
Kinematics require 167
1st 2nd and 3rd axes 168
First should be X should be the Y and Z 169
So 170
for path velocity profile it is possible to use some cams 171
According to your time based vel profile you can run your path 172
It is possible 173
On the other hand for the position access is required to path sync motion 174
I'm going to use the axis rotation at this case 175
So when you 176
create you're path object and you want to make conveyor tracking you should select 177
path 178
following Motion of 179
axis conveyor or path here 180
Possible 181
outPut of the path length 182
as vectroral sum 183
this 184
Is possible to enter connect to another access solve it this way 185
You can just 186
Synchronized some other access during path movement 187
If you need to do 188
Something at the same time 189
Specification of the dynamic response of you can just select one axis 190
Dynamic response of the path object will be adapted according to this specification 191
And the axis should be 192
different 193
From the other axis used 194
XYZ rotation 195
conveyor belt 196
Maybe 197
axis blue you don't have to assign it you can just 198
Leave it as blank 199
Let's save and compile 200
I like to go online 201
and download 202
There are some error 203
no corresponding technology package has been selected for path object so 204
I have to 205
Click on right Mouse button to 206
Select technology packages 207
I'm using the path object so that's why I should select path at least 208
and compile again 209
and you will download project 210
Technology package with 211
firmware version 5.3 will be loaded 212
Let's set it 213
to run mode 214
Now 215
my to downloaded and you'll see here the interconnection 216
lets open to control panel 217
And click to assume control priority 218
accept 219
with this button 220
when i hit 221
all access interconnected path will be enabled where it's located 222
Control panel 223
You can detect it with system variable 224
So now 225
I can just working on the basic coordinate system 226
Cartesian Direction it is 227
And the path overwrite seehundreds 228
I want the jog as manual 229
Because the X are not home yet 230
If you want to go one by one 231
With axes you can just select here let's try with velocity 232
10mm/s and you can see your actual position changed 233
Let's try with 234
Getting - Direction see here 235
So this is for manual jogging 236
You see here the actual positions 237
What is the A1A2A3Aw means 238
Normally transformation and backwards 239
Calculations are done by path 240
In Cartesian coordinate system is the same value but when you 241
select delta picker or different kinematics 242
as the master coorinate system you're going to see it different value here according to 243
equations 244
That means 245
You're going down points 246
Other point as linear motion 247
That the backgrounds objects calculus 248
Is it reqquired 249
Set point position and velocity curves to each access separately 250
And controls the rotation of axes and speed 251
so that way you are Able to go from one point to other points in the space 252
at Master coordinate system 253
So if you see a different kinematics the values for the access 254
Set position 255
should be difference 256
Status of the path object is standstill here the actual velocity and position 257
Of the Path len 258
if i click the relative mode 259
So at this case 260
I can just say 261
move axis one by one 262
And the rotational axis 263
Maybe 264
so Let's say as relative positioning as Z axis you see here 265
standstill 266
Take the position as 267
relatively 268
You can open the dynamic 269
response settings here 270
maybe should be smooth profile 271
for each axes 272
You can try to help to get more information 273
path object structure consist 274
From 275
Different kind of Technology objects together 276
And I think it would be come with simotion version 277
3.2 278
And it's always adding some new features with new firmwares 279
The expert colleagues in 280
Germany APC erlangen For instance or in Cologne 281
Is working on handling interbranch specially with path object 282
In the industry 283
Food and beverage pharmaceutical industry 284
It's SCARA robot 2D 3D. The pickers is commonly use kinematics so 285
You are able to 286
Do programs such as kinematics with simotion 287
At this point you just have to enter the parameters or kinematics 288
for instance is the length of the swivel arm first or second arm 289
You have to adjust your coordinate system basic coordinate system of the coordinate system 290
You can make a configuration on the hardware side with motion and sinamics 291
drives 1 fk 7 or 1 ft 7 whatever with Servo Motors you can build 292
up your system during your project and program your kinematics 3D 293
And 1 + rotational with simotion it's also possible 294
That depends on your cycle clocks times and CPU type 295
Assembly for example 296
D455 maybe 16 297
kartesian 3D kinematics is possible with 1 CPU 298
And normally 299
On the ABB and KUKA side with robot and kinematics 300
available with Cartesian 3D 301
it Is 302
Really flexible system working on different kind of process 303
and delta3d of ABB robots is very commonly used 304
possible to Make a structure with Siemens Products 305
Just for your information 306
Also there's another case to use 307
simotion system for 308
Interpreting and running to G-Code 309
With your system 310
If you want to create some cake in food and beverage industry and draw some shape 311
Maybe you should continue with simotion and use 312
2d Cartesian with G-Code interpreter 313
It is possible 314
Next chapter I will try to inform you a little bit more 315
And by the way for the TIA portal and new technology 316
CPU S7 1500 317
you know kinematics side powerful 318
developing fast 319
Because siemens have already research and development team and information 320
They're converting some of the technology object and templates from the simotion to 321
Technology CPU 322
At this point I think 323
The technology objects 1500 324
Grown up really fast and the new features 325
Like Zone control or creating safety zones 326
And during Movement Like software limit switches you can use the Zone functionality 327
In technology CPU is possible 328
Normally the simotion is the high-end product of siemens at the motion control 329
But I think the new technology CPU is 330
Working and coming with new firmwares really powerful 331
Over 20 years 332
after first release of simotion nowadays we have got a really powerful functionality 333
Maybe for the technology CPU 1500 334
It's less time 335
Then maybe five years maybe ten years later on and 336
The Techno CPU normally right now is using in the M2 market 337
In some applications maybe M1 markets 338
But it should be 339
The same level 340
maybe 5 years 341
After today 342
So my opinion 343
If you have already knowledge and experience with simotion the concept 344
Is the same 345
You just use the similar objects of course the template of Technology objects for axis side is difference 346
But you're known already the concept and the 347
Approach 348
And the behavior 349
and Your adaptation will be faster and easier 350
To the TIA portal system for technology side 351
If you don't have any information in the motion control than you have to 352
spend some more time in TIA portal 353
This is a just use the information and experience 354
You have learned about from this course 355
Later on with new siemens Hardware simatic technology 356
CPU and with new software TIA portal 357
Yep 358
And as user defined 359
We are working at relative mode you can enter the velocity for path 360
That you can Define the distance 361
x axis 362
Y-axis and the z axis 363
Is it access together if you could stop being positive 364
Direction that you're going to see 365
All of your axes is going 366
Are rotating simultaneously if I set 367
check and Set with to 368
so We are working right now is virtual Access thats why after motion completed 369
The control panel couldn't get the requirement bits from technology objects 370
thats why it is stuck and I pressed stop 371
These are the actual positions then I would at additional distance 372
So I pressed the play 373
you will see 374
It started at the same time and the finished at the same time that means a 375
There's a vector scalar and used sum of the all of the vectors of 376
Axis 377
You sent the path position distance to go and so on... 378
This is the main information about the technology object 379
path object so how can we use 380
And control the Cartesian system in our program? 381
Let's see 382
I will go into ladder and MCC units 383
And create new MCC chart named as MCCpath 384
Here 385
after we selected 386
Technology package Path 387
You see here 388
there are some comments for path interpolation 389
1-2-3-4-5 390
lets take a look 391
into 392
... 393
more detail 394
And the first comment 395
traverse path linear 396
here i select My path pbject 397
i will Define coordinate system as basic coordinate system 398
i can select path plane here 399
3-axis and mode 400
Relative at this case and the blending option 401
Let's say 402
Active dynamics resonse adaption according to axis and 403
target Coordinates are here 404
20 + 40 + 16 405
Transition Behavior select attahed 406
and 407
The MCC 408
Will be command executed and next command 409
current command in our motion queue 410
For the blending options 411
Between two paths motion commands it is possible to insert Circle 412
Second degree segment or polynomial as or stop... 413
So take a segment or stop 414
That means if you want to 415
Just visit the corner point 416
Stop the path velocity to zero 417
then Starts again in the make a 90-degree angle with XY plane 418
then stop. 419
If you select insert point on a segment 420
you need to 421
Enter the blending distance as mm for Cartesian 422
And Hvelocity in belnding segment should be 423
High or low velocity according to this parameters 424
The system will calculate the polynomial equation and 425
The transitional blending done between two motion commands of path object 426
And the dynamic response for 427
path movemetns and velocity will be smooth 428
And you're going to set the velocity here 429
and Jerk 430
Acceleration 431
Dynamic response 432
With segmentation via path 433
Specific velocity profile if you said if yes then you have to 434
Select your cam position start or stop 435
According to your profile it is possible to calculate the 436
slave set points 437
From the curve then your velocity is changed 438
not constant during movements 439
It's be taken into account from your profile 440
Let's say specific velocity 441
and for sync axis attached and interpolated 442
as Rotational axis you can set it to your sync access mode 443
As relative 444
you can set here your direction 445
positive 446
and Let's see here I want to rotate my access as 90 degrees 447
During this linear path motion 448
So let's say attached 449
Okay the other command is traverse path circularly 450
Not linear circular that's why that are 451
The object and coordinate system and plane is the same mode relative 452
Blending 453
Is the same 454
You can specify your circle with 455
Radius end point and orientation 456
So you have to answer your target coordinates and circle radius 457
when you select center and angle 458
You have to enter Center coordinates of your circle as 459
IJK parameter and angle 460
Interpolate 461
Intermediate Point Mode should be relative 462
Or is and of the 463
point coordinates and so on 464
If you select intermediate and end points I think this is the most commonly used one 465
For such as you have to enter your XYZ 466
target coordinator and intermediate points as IJK 467
sometimes Your calculated and 468
Answer the wrong values then you'll get some technology alarms 469
Afterwards 470
Because the system will check and calculate the movement before it starts 471
The next tab is the same insert polinomial segments and distance 472
10 mm high velocity dynamics reseponse should be 473
Maybe the velocity 474
And last program setting can be used 475
Same settings from the last comment line of this post with segmentation 476
First profile smooth sync axis 477
For the sync Access mode if you select output path length 478
then absolute path length will be 479
Automatically assigned to your access set point position 480
If this case 481
there are other several options 482
You can use 483
Your rotational axis as 484
W absolute and output peth length in W2 485
There are four options about this case relative W and 486
added output path length 487
it depends on your application 488
So let's say relative to zero 489
that means no 490
Rotation 491
And the 3rd command 492
traverse path using polynomials 493
Define here the coordinate system 494
path plane 495
mode and the blending option are the same 496
forl the polynomial that are three option explicit specification of the starting 497
point data attach 498
Continuously or direct specification of coefficients 499
For this comment 500
You enter Target coordinates and coefficient with a A2 501
A3 A4 A5 502
5th degree polynomial is possible 503
with direct specification 504
click attach continuously 505
Then you answer your first derivative at end point 506
Second derivative at end point 507
Off the 508
Position that means first derivative is velocity and second derivatives is 509
acceleration At the endpoint 510
You can say that explicit specification of the starts in point data 511
then for the starting point first derivative and second you need to enter 512
I mean position velocity acceleration 513
and At the end point you have to answer first derivative vector 514
I'm second derivative vector 515
It depends on your choice 516
blending tab is the same 517
Dynamic response tab is the same 518
sync axis tab is the same 519
Export the tab assign a variable to try to 520
track This comment 521
Okay 522
next comments 523
Stop path motion 524
with Path object coordinate system stop mode stop Without aboard 525
Stopping Behavior 526
immediately or end of the path Commands 527
That means I want to finish the last path comment 528
then stopped 529
Dynamic response 530
Auto Select the smooth velocity profile 531
with jerk last program 532
Deceleration and jerk 533
Basically done. 534
last command Continue path motion after we stopped path motion 535
It is possible to use this going to continue the path motion and dynamic response of the 536
motion to be 537
Interrupted motion or I can specify 538
Another motion 539
For instance during your part process 540
Operator has to reduce the override to zero 541
Or feedrate to zero or just press the stop button 542
Then you use your start coming and 543
Change something made some cleaning or whatever after that operated press 544
Start button again with this case 545
if you use continue your program path movements 546
Whatever you want 547
From the last point 548
Specific Dynamic response or last response is possible 549
and if your motion 550
buffer queue empty and 551
with this setting you just finished your last comment 552
Then that means there's no motion to continue and command will be executived 553
So let's try with different linear motions 554
Of course before we do that we have to be sure that 555
axes are enabled and there is no error on our access technology object 556
So that's why I'm going to 557
enable my exes interconnected 558
axis X 559
delay program execution I'm going to do the same thing for all of the other axes 560
Why? 561
Z 562
Rotational axis 563
I can use it also 564
wait for axis commands 565
axis x 566
Access status 567
Motion stationary 568
stationary 569
Just for your information 570
And there's a setting under your expert list of path object 571
Your system variables 572
That out several different variables when compared to axis TO 573
So limits of path dynamics right here 574
Override velocity and acceleration of your path you can write 575
during your program 576
in Your configuration data 577
attach path 578
Execution adn so on 579
At the commons for path Dynamics used here 580
Let's configure at 3 581
And maximum buffer motion comments in decoding config is default value is 582
5 583
Is 584
You can increase to Maximum 10 585
for buffer 586
That means look forward for 10 587
motion command for simotion and it is 200 in sinumerik system 588
So that's the difference on the Path case 589
as kinematics simotion also sinumerik is able to control hexapot 590
It's six or more axes at the same time at the simotion side it is limited 591
for deep note 592
And you can change here 593
The offsets 594
Normally programming plain 595
Yep, system Dynamics 596
Let's say 597
When you select 10 598
You have to see in your real application 599
Okay 600
Enabling access 601
Stopping path objects 602
and wait for all of the access standstill 603
Unfortunately there is no 604
path object selectable here maybe I can say 605
axis 606
Motion moving completed 607
stationary this rotational XYZ 608
The rotational 609
Okay 610
Maybe I can disable my axes 611
XYZ... 612
and rotation 613
XYZ rotation 614
Second wait time at the start of the program 615
2 seconds and save 616
i would change the position 617
As relative 618
and 619
in Z Direction only 620
then X and Y direction 621
with rotational -90 622
System variables check motion buffer of path object 623
Also 624
In your symbol browser there are som 625
variables about path 626
You see here if there's an error and error reaction 627
And limits 628
dynamic limits 629
software limits with the motion buffer on the status 630
Your see here empty 631
or Maybe full if your motion buffer is full than you're not able to attach any 632
new command 633
You have to check first 634
And there are some path data acceleration position and velocity 635
Status motion you may track here 636
Let's use this variables and attach them to our Trace 637
I will save this one 638
as training Red blue 639
we will delete or create new one 640
endless trace servo cycle 641
Lets select the position of paths 642
velocity of path 643
motion states of path 644
Maybe the motion buffer State also 645
I want to add the 646
Other 647
axis X 648
Actual position 649
maybe positioning state 650
Yeah 651
Y 652
Z last one rotation 653
Let's compile check downloads and start test our program 654
Going online 655
And no 656
Ask the offline and online trace 657
Is different do you want upload to trace no I said no 658
lets download program yep 659
Do you want to do it online no 660
stop 661
And the start trace first of after that 662
I will used up status 663
Or we forgot to assign our program to execution system 664
So let's assign motion task 3 665
and path 666
This 667
Let's check our background task to organize 668
You seem more task i want to I need to add additional 669
motion task 3 670
Global exportable 671
MT2 task States 672
copy and paste for MT3 673
Okay and start motion task 3 674
save and compile 675
And download again 676
Let's check the trace 677
it Started 678
I'm going to 679
start simotion set to run 680
okay And 681
Missing enables on axis x axis Y and so on 682
So let's set CPU stop mode 683
acknowledge or 684
Close MCC back 685
and wait axis X stationary 686
wait for signal wait for condition 687
ladder i am not gonna use 688
... 689
lets check if condition here 690
axis x coontrol is 691
Active 692
axes 693
Control is active 694
2 3 4 695
let say 696
axis 697
X control is active 1-2-3-4 Z and rotation 698
Okay let's save compiled and download 699
I have written something wrong 700
And it's response if I double click 701
I have to close and compile again 702
It's not logical but that's the way 703
It's right here rotation 704
Rotation 705
I took you said so I think I should have some 706
More modifications 707
here compile again 708
And download again so many times 709
PC is working so slowly right now 710
Okay let check trace to check the status of simotion let's start Trace 711
If you're in the run let's check the technology object alarms that is still an alarm 712
Missing enable incorrect mode 713
path sync axis not ready 714
This is why 715
So I think 716
we should and status and debug mode to Trace 717
axes are virtual axis that's why I think the path object is not working 718
I'm going to switch to real axis 719
with simulation 720
let's try 721
Electrical axes 722
Define later 723
Or incremental encoder Define later 724
not so relevant axis x lets try y 725
Electrical 726
assign later on 727
Let's Z 728
and for the rotation 729
Electrical 730
so with later 731
later finish save and compiled 732
First check the consistency 733
lets download again 734
If you're using too many windows open the communication utilization is high 735
So that's why it's a good idea to close 736
Windows in sometime 737
If you're not using some windows you should close 738
To increase your speed of operation 739
Okay let's start our trace and set to CPU in the RUN mode and try again 740
The situation is the same for axes 741
It is not ready 742
missing enables 743
parameter 1 ad with 744
7 means 745
Enables are missing on power drive side and position controller 746
Let's connect our access to sinamics integrated side 747
with conveyor and ejector 748
So I was supposed to do conveyor connection 749
change axis type to virtual and ejector 750
here Maybe I should plate 751
conveyor belt 752
and Injector 753
i will try with 754
sinamics drives 755
Change 756
Or you can assign your drive here 757
conveyor 758
The encoder 759
encoder 1 760
For axes Y 761
i will use 762
Ejector 763
Encoder 764
So let's try with this way 765
Maybe this simulation is possible to simulate 766
If you have to attend your assignments 767
ejector 768
fOr message handling 769
and output cam 1 770
go online 771
And I will download again 772
lets start to trace 773
Let's set CPU to RUN mode 774
now the situation is the same 775
So next thing I'll try to set up the 776
axis with script to simulation mode 777
Rotation x y z 778
axis was in real mode switch to 779
simulation mode 780
script execution done let's compile 781
And Go online 782
and download 783
Changing the telegram and IOs configuration due to simulation 784
You'll see here the difference 785
All project downloaded that's why trace stopped 786
Let's start again the trace 787
Let's acknowledge the alarms and set CPU to run mode and try again 788
And the situation is the same unfortunately that means it is not possible to 789
Test program with the Simosim you have to use the real system 790
So 791
But I switch back to my path program 792
Normal axis should be enabled here 793
Because I have already selected 794
but path object requires the real axes enable signal so 795
It's not possible to do it with simulation mode 796
So basically you have got the idea 797
maybe i should say stop 798
and 799
lets try with substitude 800
and Attached 801
delay program execution 802
entry motion buffer 803
okay motion completed 804
Let's take a few seconds to wait here 805
I think my Logic on the program site is wrong 806
That's why I'm not able to run my program in simulation Maybe 807
Because I didn't say translation option and interpreter 808
goes down like this 809
Disable command with executed 810
At the same time after path started to do movement maybe 811
So let's try again 812
Sometimes you may think about the wrong way 813
You have to check all of the possibilities to find the 814
Solution 815
Or something you did wrong 816
it downloaded let's start the trace again 817
time diagram set CPU to RUN 818
okay If it's RUN 819
missing enables same error 820
With MCC path 821
Let acknowledge all 822
No not possible 823
Make sure there's a movement right here 824
there is a path velocity 825
actual position of axis 826
And eventually able to run our program 827
so Let's just set CPU to run 828
Finally you'll see 829
here all three of line in motion commands executed enable access 830
Let me go back to trace window and check cuves 831
you see here are three different movements 832
Position within the path length means 833
As you can see the orange curve is 25mm 834
as vectoral sum of all of the axes 835
After the first path command executive completed its restarted 836
new comments at this time 837
buffer was empty command inserted 838
Executed at the second command it becomes the writable 839
Because the two next comments attached to our buffer 840
So at this point is again empty because 841
Are executed right here so let's check the status of the path motion 842
It was standstill here accelerating constant move decelerating and standstill 843
Last testing for the position at actual position 844
of the axis XYZ blue brown red 845
You see here the blue access was 846
18 nearly eighteen mm and it is rising 847
Nearly 100 and the next comments or the Brown axis 848
The different values the important think is here 849
axis 850
Working together that means moving together 851
And these is our rotational axis 852
working as relatively position is also possible 853
Our program is still going on and on again 854
So you can try 855
It's your own with different commands here for circular movement and with different parameters 856
Is possible with segmentation and so on 857
And let's go one step back with try 858
With the virtual access setting I wonder 859
simulation on and off 860
Let's take the simulation off 861
Okay 862
Switch to real mode script executed 863
lets Download and try again 864
now you may say it's also working this relation with 865
simosim 866
Is the path velocity 867
Let's try with virtual axis 868
X virtual Y axis Z axis 869
Let's save you chose not to set 870
virtual 871
And the rotation virtual 872
Okay compiling 873
We will download and try 874
it is good to be sure is it works 875
With the virtual axis together the path object and simosim 876
in that you are able to test your programs in offline mode with simulation in your office 877
Before you go on the field and start working with the real machine 878
Okay that's it folks 879
For the path object and kinematics for your exercise maybe you should try 880
Different kinematics and see the differences 881
You should try with different parameters for motion comands for the path objects 882
Thanks