Siemens SINUMERIK 840D sl Programming Manual page 168

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Special Motion Commands

5.2 Spline interpolation (ASPLINE, BSPLINE, CSPLINE, BAUTO, BNAT, BTAN)

A, B and C splines are modally active and belong to the group of motion commands.

The tool radius offset may be used.

Collision monitoring is carried out in the projection in the plane.

Parameters for A-SPLINE and C-SPLINE

For the Akima spline (A spline) and the Cubic spline (C spline), restrictions for the transition

behavior at the start and the end of the spline curve can be programmed.

These restrictions for the transition behavior are divided into two groups with statements

each with three commands as follows:

Start of spline curve:

End of spline curve:

The Akima spline passes as tangent through the intermediate

The B spline does not pass directly through the control points

but only near them. The programmed positions are not

interpolation points but only control points.

Cubic spline with transitions to the interpolation points both

tangentially and in terms of curvature.

No command input; start is determined by the position of the

Zero curvature

Tangential transition to preceding block (initial setting)

No command input; end is determined by the position of the

Zero curvature

Tangential transition to next block (initial setting)

Programming Manual, 03/2006 Edition, 6FC5398-2BP10-1BA0

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