s7-1500t Kinematics Function Manual en-US en-US

S7-1500T Kinematics functions V5.
0 in TIA Portal V16

Preface
Function manuals
Documentation Guide 1
Introduction 2
SIMATIC
Basics 3
S7-1500
S7-1500T Kinematics functions 4
Version overview
V5.0 in TIA Portal V16
Configuring 5
Function Manual
Programming 6
Commissioning 7
Diagnostics 8
Kinematics trace 9
Measuring 10
Instructions 11
Appendix A
TIA Portal V16
12/2019
A5E42062707-AB
Legal information
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Preface
Purpose of the documentation

This documentation provides important information that you need to configure and
commission the integrated Motion Control functionality of the S7-1500 Automation systems.
Required basic knowledge

In order to understand this documentation, the following knowledge is required:
● General knowledge in the field of automation
● General knowledge in the field of drive engineering and motion control
Validity of the documentation

This documentation is valid for the S7-1500 product range.
Conventions
● For the path settings in the project navigation it is presumed that the "Technology objects"
object is opened in the CPU subtree. The "Technology object" placeholder represents the
name of the technology object.
Example: "Technology object > Configuration > Basic parameters".
● The <TO> placeholder represents the name set in tags for the respective technology
object.
Example: <TO>.Actor.Type
● This documentation contains pictures of the devices described. The pictures may differ in
minor details from the devices supplied.
You should also observe the notes that are marked as follows:
Note
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about the handling of the product, and about sections in this documentation demanding your
particular attention.
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● The range of technical documentation for the individual SIMATIC products and systems is
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S7-1500T Kinematics functions V5.0 in TIA Portal V16

Function Manual, 12/2019, A5E42062707-AB 3
Preface
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4 Function Manual, 12/2019, A5E42062707-AB
Table of contents
Preface .................................................................................................................................................. 3
1 Function manuals Documentation Guide .............................................................................................. 11
2 Introduction .......................................................................................................................................... 13
2.1 Interplay of the various documents ........................................................................................13
2.2 Kinematics systems for handling tasks ..................................................................................14
2.3 Term definition .......................................................................................................................15
2.4 Functions ...............................................................................................................................17
3 Basics .................................................................................................................................................. 18
3.1 Kinematics technology object ................................................................................................18
3.2 Interconnection rules ..............................................................................................................20
3.3 Configuration limits for kinematics systems ...........................................................................21
3.4 Units of measure ....................................................................................................................22
3.5 Modulo setting ........................................................................................................................24
3.6 Coordinate systems and frames ............................................................................................25
3.6.1 Frames ...................................................................................................................................29
3.6.2 Tags: Coordinate systems and frames ..................................................................................34
3.7 Kinematics types ....................................................................................................................35
3.7.1 Legend for representation of the kinematics .........................................................................36
3.7.2 Cartesian portal ......................................................................................................................37
3.7.2.1 Portal 2D ................................................................................................................................37
3.7.2.2 Portal 2D with orientation .......................................................................................................39
3.7.2.3 Portal 3D ................................................................................................................................41
3.7.2.4 Portal 3D with orientation .......................................................................................................44
3.7.2.5 Tags: Cartesian portal ............................................................................................................47
3.7.3 Roller picker ...........................................................................................................................48
3.7.3.1 Roller picker 2D .....................................................................................................................48
3.7.3.2 Roller picker 2D with orientation ............................................................................................50
3.7.3.3 Roller picker 3D (vertical) ......................................................................................................52
3.7.3.4 Roller picker 3D with orientation (vertical) .............................................................................55
3.7.3.5 Roller picker 3D with orientation (horizontal) .........................................................................58
3.7.3.6 Tags: Roller picker .................................................................................................................61
3.7.4 SCARA ...................................................................................................................................63
3.7.4.1 SCARA 2D with orientation ....................................................................................................63
3.7.4.2 SCARA 3D with orientation ....................................................................................................66
3.7.4.3 Tags: SCARA .........................................................................................................................71

Table of contents
3.7.5 Articulated arm ...................................................................................................................... 72

3.7.5.1 Articulated arm 2D ................................................................................................................ 72
3.7.5.2 Articulated arm 2D with orientation ....................................................................................... 75
3.7.5.3 Articulated arm 3D ................................................................................................................ 78
3.7.5.4 Articulated arm 3D with orientation ....................................................................................... 83
3.7.5.5 Tags: Articulated arm ............................................................................................................ 89
3.7.6 Delta picker ........................................................................................................................... 90
3.7.6.1 Delta picker 2D ...................................................................................................................... 90
3.7.6.2 Delta picker 2D with orientation ............................................................................................ 93
3.7.6.3 Delta picker 3D ...................................................................................................................... 95
3.7.6.4 Delta picker 3D with orientation ............................................................................................ 98
3.7.6.5 Permissible joint position for delta picker ............................................................................ 101
3.7.6.6 Tags: Delta picker ............................................................................................................... 102
3.7.7 Cylindrical robot .................................................................................................................. 103
3.7.7.1 Cylindrical robot 3D ............................................................................................................. 103
3.7.7.2 Cylindrical robot 3D with orientation ................................................................................... 107
3.7.7.3 Tags: Cylindrical robot ........................................................................................................ 112
3.7.8 Tripod .................................................................................................................................. 113
3.7.8.1 Tripod 3D ............................................................................................................................ 113
3.7.8.2 Tripod 3D with orientation ................................................................................................... 117
3.7.8.3 Tags: Tripod ........................................................................................................................ 120
3.7.9 User-defined kinematics systems ....................................................................................... 121
3.7.9.1 Tags: User-defined kinematics systems ............................................................................. 121
3.8 Kinematics transformation .................................................................................................. 122
3.8.1 Transformation for predefined kinematics systems ............................................................ 122
3.8.1.1 Reference points ................................................................................................................. 122
3.8.1.2 Traversing range and transformation area ......................................................................... 123
3.8.1.3 Joint position spaces (kinematics-dependent) .................................................................... 124
3.8.1.4 Singular positions ................................................................................................................ 128
3.8.1.5 Mechanical couplings (kinematics-dependent) ................................................................... 129
3.8.2 Transformation for user-defined kinematics systems ......................................................... 130
3.8.2.1 User transformation ............................................................................................................ 130
3.8.2.2 MC-Transformation [OB98] ................................................................................................. 132
3.8.2.3 Program example for a user-defined kinematics systems .................................................. 135
3.8.3 Tags: Kinematics transformation ........................................................................................ 140
3.9 Kinematics motions ............................................................................................................. 141
3.9.1 Motion types ........................................................................................................................ 141
3.9.1.1 Linear motion ...................................................................................................................... 141
3.9.1.2 Circular motion .................................................................................................................... 141
3.9.1.3 Synchronous "point-to-point" motion ................................................................................... 144
3.9.2 Motion dynamics ................................................................................................................. 145
3.9.2.1 Dynamics of kinematics motion and orientation motion ...................................................... 145
3.9.2.2 Override .............................................................................................................................. 147
3.9.3 Tags: Kinematics motions ................................................................................................... 147
3.10 Conveyor Tracking .............................................................................................................. 149
3.11 Zone monitoring .................................................................................................................. 154
3.11.1 Workspace zones ............................................................................................................... 156
3.11.2 Kinematics zones ................................................................................................................ 157
3.11.3 Zone geometry .................................................................................................................... 159
3.11.4 Tags: Zone monitoring ........................................................................................................ 161

Table of contents
4 Version overview ................................................................................................................................ 162

5 Configuring ........................................................................................................................................ 164
5.1 Adding a kinematics technology object ................................................................................164
5.2 Configuring the kinematics technology object .....................................................................165
5.2.1 Configuration - Basic Parameters ........................................................................................165
5.2.2 Configuration - Interconnections ..........................................................................................166
5.2.3 Configuration - Geometry ....................................................................................................167
5.2.3.1 Configuration - Geometry (Cartesian portal) .......................................................................167
5.2.3.2 Configuration - Geometry (roller picker) ..............................................................................169
5.2.3.3 Configuration - Geometry (SCARA) .....................................................................................171
5.2.3.4 Configuration - Geometry (articulated arm) .........................................................................172
5.2.3.5 Configuration - Geometry (delta picker) ...............................................................................174
5.2.3.6 Configuration - Geometry (cylindrical robot) ........................................................................175
5.2.3.7 Configuration - Geometry (tripod) ........................................................................................176
5.2.3.8 Configuration - Geometry (user-defined) .............................................................................177
5.2.4 Configuration - Conveyor tracking .......................................................................................178
5.2.5 Extended parameters ...........................................................................................................179
5.2.5.1 Configuration - Dynamics ....................................................................................................179
5.2.5.2 Configuration - Kinematics coordinate system ....................................................................179
5.2.5.3 Configuration - Object coordinate systems ..........................................................................180
5.2.5.4 Configuration- Tools .............................................................................................................181
5.2.5.5 Configuration - Zones ..........................................................................................................181
5.2.5.6 Configuration - Job sequence ..............................................................................................186
5.3 Copying a kinematics technology object ..............................................................................187
5.4 Deleting a kinematics technology object ..............................................................................188
5.5 Toolbar of the configuration .................................................................................................189
6 Programming ..................................................................................................................................... 190
6.1 Job sequence .......................................................................................................................191
6.2 Motion status and remaining distance .................................................................................193
6.3 Interrupting, continuing and stopping kinematics motions ...................................................194
6.4 Motion preparation using multiple jobs ................................................................................195
6.4.1 Preliminary motion preparation ............................................................................................195
6.4.2 Connection of multiple kinematics motions with geometric transitions ................................195
6.4.3 Dynamic behavior when motions are appended/blended ....................................................201
6.5 Interaction of kinematics motions and single axis motions ..................................................201
7 Commissioning .................................................................................................................................. 203
7.1 Function and structure of the kinematics control panel .......................................................203
7.2 Using the kinematics control panel ......................................................................................208

Table of contents
8 Diagnostics .........................................................................................................................................209
8.1 Kinematics technology object ............................................................................................. 210
8.1.1 Structure of the diagnostics ................................................................................................ 210
8.1.2 Status and error bits ............................................................................................................ 212
8.1.3 Zones status ........................................................................................................................ 215
8.1.4 Motion and tools .................................................................................................................. 216
8.1.5 Positions .............................................................................................................................. 218
9 Kinematics trace .................................................................................................................................219
9.1 Configuration ....................................................................................................................... 220
9.2 3D visualization ................................................................................................................... 222
9.2.1 Graphic display and toolbar ................................................................................................ 222
9.2.2 Toolbar for playing a recording ........................................................................................... 226
9.2.3 List of recordings ................................................................................................................. 226
9.3 Recording and playing kinematics motions ........................................................................ 228
9.4 Saving and deleting recordings ........................................................................................... 229
9.5 Importing and exporting recordings .................................................................................... 230
10 Measuring ...........................................................................................................................................232
10.1 Structure of the calibration .................................................................................................. 233
10.2 "Three-point" / "two-point" / "one-point" calibration method ................................................ 234
10.3 "Move and rotate" calibration method ................................................................................. 238
10.4 "Move and rotate around y or z" calibration method ........................................................... 241
10.5 "Plane" calibration method .................................................................................................. 244
10.6 Graphic display and toolbar ................................................................................................ 248
11 Instructions .........................................................................................................................................250
11.1 Kinematics motions ............................................................................................................. 250
11.1.1 MC_GroupInterrupt V5 ........................................................................................................ 250
11.1.1.1 MC_GroupInterrupt: Interrupt motion execution V5 ............................................................ 250
11.1.2 MC_GroupContinue V5 ....................................................................................................... 252
11.1.2.1 MC_GroupContinue: Continue motion execution V5 .......................................................... 252
11.1.2.2 MC_GroupContinue: Function chart V5 .............................................................................. 253
11.1.3 MC_GroupStop V5 .............................................................................................................. 255
11.1.3.1 MC_GroupStop: Stop motion V5 ......................................................................................... 255
11.1.3.2 MC_GroupStop: Function chart V5 ..................................................................................... 257
11.1.4 MC_MoveLinearAbsolute V5 .............................................................................................. 258
11.1.4.1 MC_MoveLinearAbsolute: Position kinematics with linear path motion V5 ........................ 258
11.1.4.2 MC_MoveLinearAbsolute: Function chart V5 ..................................................................... 262
11.1.5 MC_MoveLinearRelative V5 ............................................................................................... 263
11.1.5.1 MC_MoveLinearRelative: Relative positioning of kinematics with linear path motion V5
............................................................................................................................................. 263
11.1.5.2 MC_MoveLinearRelative: Function chart V5 ...................................................................... 267
11.1.6 MC_MoveCircularAbsolute V5 ............................................................................................ 269
11.1.6.1 MC_MoveCircularAbsolute: Position kinematics with circular path motion V5 ................... 269
11.1.6.2 MC_MoveCircularAbsolute: Function chart V5 ................................................................... 275
11.1.7 MC_MoveCircularRelative V5 ............................................................................................. 277

Table of contents
11.1.7.1 MC_MoveCircularRelative: Relative positioning of kinematics with circular path motion

V5 .........................................................................................................................................277
11.1.7.2 MC_MoveCircularRelative: Function chart V5 .....................................................................283
11.1.8 MC_MoveDirectAbsolute V5 ................................................................................................285
11.1.8.1 MC_MoveDirectAbsolute: Absolute movement of kinematics with synchronous "point-
to-point" motion V5 ..............................................................................................................285
11.1.8.2 MC_MoveDirectAbsolute V5: Function chart .......................................................................290
11.1.9 MC_MoveDirectRelative V5 .................................................................................................292
11.1.9.1 MC_MoveDirectRelative: Relative movement of kinematics with synchronous "point-to-
point" motion V5 ...................................................................................................................292
11.1.9.2 MC_MoveDirectRelative V5: Function chart ........................................................................296
11.1.10 MC_TrackConveyorBelt V5 .................................................................................................298
11.1.10.1 MC_TrackConveyorBelt: Start conveyor tracking V5 ..........................................................298
11.1.10.2 MC_TrackConveyorBelt V5: Function chart ........................................................................300
11.2 Zones ...................................................................................................................................303
11.2.1 MC_DefineWorkspaceZone V5 ...........................................................................................303
11.2.1.1 MC_DefineWorkspaceZone: Define workspace zone V5 ....................................................303
11.2.2 MC_DefineKinematicsZone V5 ............................................................................................306
11.2.2.1 MC_DefineKinematicsZone: Define kinematics zone V5 ....................................................306
11.2.3 MC_SetWorkspaceZoneActive V5 .......................................................................................309
11.2.3.1 MC_SetWorkspaceZoneActive: Activate workspace zone V5 .............................................309
11.2.4 MC_SetWorkspaceZoneInactive V5 ....................................................................................311
11.2.4.1 MC_SetWorkspaceZoneInactive: Deactivate workspace zone V5 ......................................311
11.2.5 MC_SetKinematicsZoneActive V5 .......................................................................................313
11.2.5.1 MC_SetKinematicsZoneActive: Activate kinematics zone V5 .............................................313
11.2.6 MC_SetKinematicsZoneInactive V5 ....................................................................................315
11.2.6.1 MC_SetKinematicsZoneInactive: Deactivate kinematics zone V5 ......................................315
11.3 Tools ....................................................................................................................................317
11.3.1 MC_DefineTool V5 ...............................................................................................................317
11.3.1.1 MC_DefineTool: Redefine tool V5 .......................................................................................317
11.3.2 MC_SetTool V5 ....................................................................................................................319
11.3.2.1 MC_SetTool: Change active tool V5 ....................................................................................319
11.4 Coordinate systems .............................................................................................................321
11.4.1 MC_SetOcsFrame V5 ..........................................................................................................321
11.4.1.1 MC_SetOcsFrame: Redefine object coordinate systems V5 ...............................................321
11.4.2 MC_KinematicsTransformation V5 ......................................................................................323
11.4.2.1 MC_KinematicsTransformation: Convert axis coordinates to Cartesian coordinates V5 ....323
11.4.3 MC_InverseKinematicsTransformation V5 ..........................................................................325
11.4.3.1 MC_InverseKinematicsTransformation: Convert Cartesian coordinates to axis
coordinates V5 .....................................................................................................................325
11.5 Override response of Motion Control jobs V5 ......................................................................328
11.5.1 Override response V5: Homing and motion jobs .................................................................328
11.5.2 Override response V5: Synchronous operation jobs ...........................................................330
11.5.3 Override response V5: Measuring input jobs ......................................................................331
11.5.4 Override response V5: Kinematics motion commands ........................................................331

Table of contents
A Appendix ............................................................................................................................................334
A.1 Tags of the kinematics technology object ........................................................................... 334
A.1.1 Legend ................................................................................................................................ 334
A.1.2 "Tcp" tag (kinematics) ......................................................................................................... 335
A.1.3 "Kinematics" tag (kinematics) ............................................................................................. 335
A.1.4 "KcsFrame" tag (kinematics) ............................................................................................... 337
A.1.5 "OcsFrame[1..3]" tag (kinematics) ...................................................................................... 338
A.1.6 "Tool[1..3]" tag (kinematics) ................................................................................................ 339
A.1.7 "DynamicDefaults" tag (kinematics) .................................................................................... 340
A.1.8 "DynamicLimits" tag (kinematics) ........................................................................................ 341
A.1.9 "MotionQueue" tag (kinematics) ......................................................................................... 342
A.1.10 "Override" tag (kinematics) ................................................................................................. 342
A.1.11 "WorkspaceZone[1..10]" tag (kinematics) ........................................................................... 343
A.1.12 "KinematicsZone[2..10]" tag (kinematics) ........................................................................... 345
A.1.13 "StatusPath" tag (kinematics) ............................................................................................. 346
A.1.14 "TcpInWcs" tag (kinematics) ............................................................................................... 347
A.1.15 "TcpInOcs[1..3]" tag (kinematics) ........................................................................................ 349
A.1.16 "StatusOcsFrame[1..3]" tag (kinematics) ............................................................................ 351
A.1.17 "StatusKinematics" tag (kinematics) ................................................................................... 352
A.1.18 "FlangeInKcs" tag (kinematics) ........................................................................................... 353
A.1.19 "StatusTool" tag (kinematics) .............................................................................................. 354
A.1.20 "StatusConveyor[1..3]" tag (kinematics) ............................................................................. 355
A.1.21 "StatusWorkspaceZone[1..10]" tag (kinematics) ................................................................ 357
A.1.22 "StatusKinematicsZone[2..10]" tag (kinematics) ................................................................. 359
A.1.23 "StatusZoneMonitoring" tag (kinematics) ............................................................................ 360
A.1.24 "StatusMotionQueue" tag (kinematics) ............................................................................... 361
A.1.25 "KinematicsAxis" tag (kinematics) ....................................................................................... 361
A.1.26 "Units" tag (kinematics) ....................................................................................................... 362
A.1.27 "StatusWord" tag (kinematics) ............................................................................................ 364
A.1.28 "ErrorWord" tag (kinematics) .............................................................................................. 366
A.1.29 "ErrorDetail" tag (kinematics) .............................................................................................. 366
A.1.30 "WarningWord" tag (kinematics) ......................................................................................... 368
A.1.31 "ControlPanel" tag (kinematics) .......................................................................................... 368
A.2 Technology alarms .............................................................................................................. 371
A.2.1 Overview ............................................................................................................................. 371
A.2.2 Technology alarms 101 ....................................................................................................... 374
A.2.3 Technology alarms 201 - 204 ............................................................................................. 374
A.3 Error ID (kinematics) ........................................................................................................... 383
Index ...................................................................................................................................................387

Function manuals Documentation Guide 1
The documentation for the SIMATIC S7-1500 automation system, for CPU 1516pro-2 PN
based on SIMATIC S7-1500, and for the distributed I/O systems SIMATIC ET 200MP,
ET 200SP and ET 200AL is divided into three areas.
This division allows you easier access to the specific information you require.
Basic information
System manuals and Getting Started manuals describe in detail the configuration,
installation, wiring and commissioning of the SIMATIC S7-1500, ET 200MP, ET 200SP and
ET 200AL systems; use the corresponding operating instructions for CPU 1516pro-2 PN.
The STEP 7 online help supports you in configuration and programming.
Device information
Product manuals contain a compact description of the module-specific information, such as
properties, terminal diagrams, characteristics and technical specifications.

Function manuals Documentation Guide
General information
The function manuals contain detailed descriptions on general topics such as diagnostics,
communication, Motion Control, Web server, OPC UA.
You can download the documentation free of charge from the Internet
(https://support.industry.siemens.com/cs/ww/en/view/109742705).
Changes and additions to the manuals are documented in product information sheets.
You will find the product information on the Internet:
● S7-1500/ET 200MP (https://support.industry.siemens.com/cs/us/en/view/68052815)
● ET 200SP (https://support.industry.siemens.com/cs/us/en/view/73021864)
● ET 200AL (https://support.industry.siemens.com/cs/us/en/view/99494757)
Manual Collections
The Manual Collections contain the complete documentation of the systems put together in
one file.
You will find the Manual Collections on the Internet:
● S7-1500/ET 200MP (https://support.industry.siemens.com/cs/ww/en/view/86140384)
● ET 200SP (https://support.industry.siemens.com/cs/ww/en/view/84133942)
● ET 200AL (https://support.industry.siemens.com/cs/ww/en/view/95242965)
"mySupport"
With "mySupport", your personal workspace, you make the best out of your Industry Online
Support.
In "mySupport", you can save filters, favorites and tags, request CAx data and compile your
personal library in the Documentation area. In addition, your data is already filled out in
support requests and you can get an overview of your current requests at any time.
You must register once to use the full functionality of "mySupport".
You can find "mySupport" on the Internet (https://support.industry.siemens.com/My/ww/en).
Application examples
The application examples support you with various tools and examples for solving your
automation tasks. Solutions are shown in interplay with multiple components in the system -
separated from the focus on individual products.
You will find the application examples on the Internet
(https://support.industry.siemens.com/sc/ww/en/sc/2054).

Introduction 2
2.1 Interplay of the various documents
For a better overview, the documentation of the Motion Control functions is divided into the
following documents:
Documentation Description
S7-1500/S7-1500T Motion Con- This documentation describes the general Motion Control func-
trol overview tions independent of technology objects.
Function manual "S7-1500/S7-
1500T Motion Control overview"
(https://support.industry.siemens.
com/cs/ww/en/view/109766459)
Using S7-1500/S7-1500T axis This documentation describes the Motion Control functions for
functions the following technology objects:
Function manual "S7-1500/S7- • Speed axis
1500T Axis functions"
• Positioning axis
com/cs/ww/en/view/109766462) • External encoder
Using S7-1500/S7-1500T meas- This documentation describes the Motion Control functions for
uring input and output cam func- the following technology objects:
tions
• Measuring input
Function manual "S7-1500/S7-
• Output cam
1500T Measuring input and out-
put cam functions" • Cam track
Using S7-1500/S7-1500T syn- This documentation describes the Motion Control functions for
chronous operation functions the following technology objects:
Function manual "S7-1500/S7- • Synchronous axis
1500T Synchronous operation
• Cam
functions"
(https://support.industry.siemens. • Leading axis proxy
Using S7-1500T kinematics func- This documentation describes the Motion Control functions for
tions the following technology objects:
Function manual "S7-1500T Kin- • Kinematics
ematics functions"
Additional information
You can find an overview and important links to the topic "SIMATIC Motion Control" in the
Siemens Industry Online Support under the entry ID 109751049
(https://support.industry.siemens.com/cs/ww/en/view/109751049).

Introduction
2.2 Kinematics systems for handling tasks
2.2 Kinematics systems for handling tasks

Kinematics are user-programmable mechanical systems in which multiple mechanically
coupled axes produce the motion of a working point. The S7-1500T technology CPUs
provide functions for controlling kinematics systems, e.g. for handling tasks, with the
kinematics technology object. Typical applications include:
● Pick & Place
● Installation
● Palletizing
The kinematics control panel and extensive online and diagnostic functions support
straightforward commissioning of kinematics systems. The kinematics technology object is
fully integrated in the system diagnostics of the S7-1500T CPU.

Introduction
2.3 Term definition
2.3 Term definition
Kinematics
Kinematics are user-programmable mechanical systems in which multiple mechanically
coupled axes produce the motion of a working point.
Kinematics axes
Kinematics axes are the axes of the kinematics motion. You connect each kinematics axis
with a positioning axis/synchronous axis technology object.
Kinematics zero point (KZP)

The coordinate origin of the kinematics coordinate system (KCS) is the KZP. You configure
the geometry parameters of the kinematics starting from the KZP.
Zero point of the flange coordinate system (FNP)

The coordinate origin of the flange coordinate system (FCS) is the FNP. Starting from the
FNP, you define, for example, the flange zones of the kinematics.
Tool center point (TCP)

The coordinate origin of the tool coordinate system (TCS) is the tool center point or TCP.
The TCP is the operating point of the kinematics.
Degrees of freedom of kinematics

The degrees of freedom of kinematics are the dimensions in which the tool can move. 2D
kinematics systems move the tool in the xz plane and thus have two translational degrees of
freedom. 3D kinematics systems move the tool in xyz space and thus have three
translational degrees of freedom. The optional orientation of the tool is a further degree of
freedom (rotation of the tool around the z-axis).
Machine coordinate system (MCS)

The MCS contains the position data of the interconnected kinematics axes and thus
combines up to four one-dimensional systems in one system.

Introduction
2.3 Term definition
Job sequence
The job sequence of the kinematics technology object is the memory to which motion-related
Motion Control jobs are entered as pending, inactive jobs. All jobs in the job sequence are
taken into account during the motion preparation.
AxesGroup
Kinematics-related Motion Control instructions have the input parameter "AxesGroup". The
kinematics technology object groups the interconnected kinematics axes. Therefore, you can
assign the kinematics technology object directly to the input parameter "AxesGroup".

Introduction
2.4 Functions
2.4 Functions
You execute the functions of the kinematics technology object using the Motion Control
instructions in your user program or the TIA Portal (under "Technology object >
Commissioning").
The following table shows the functions that are supported by the technology object:
Function Brief description

Motion Control instructions (user program)
"MC_GroupInterrupt" Interrupt motion execution
"MC_GroupContinue" Continue motion execution
"MC_GroupStop" Stop motion
"MC_MoveLinearAbsolute" Position kinematics with linear path motion
"MC_MoveLinearRelative" Relative positioning of kinematics with linear path motion
"MC_MoveCircularAbsolute" Position kinematics with circular path motion
"MC_MoveCircularRelative" Relative positioning of kinematics with circular path motion
"MC_MoveDirectAbsolute" Absolute movement of kinematics with synchronous "point-to-
point" motion
"MC_MoveDirectRelative" Relative movement of kinematics with synchronous "point-to-
point" motion
"MC_TrackConveyorBelt" Start conveyor tracking
"MC_DefineWorkspaceZone" Define workspace zone
"MC_DefineKinematicsZone" Define kinematics zone
"MC_SetWorkspaceZoneActive" Activate workspace zone
"MC_SetWorkspaceZoneInactive" Deactivate workspace zone
"MC_SetKinematicsZoneActive" Activate kinematics zone
"MC_SetKinematicsZoneInactive" Deactivate kinematics zone
"MC_DefineTool" Re-define tool
"MC_SetTool" Change active tool
"MC_SetOcsFrame" Redefine object coordinate systems
"MC_KinematicsTransformation" Transforming axis coordinates into Cartesian coordinates
"MC_InverseKinematics Transforming Cartesian coordinates into axis coordinates
Transformation"
TIA Portal
"Kinematics control panel Homing of kinematics axes and traversing of kinematics systems
(Page 203)" or individual kinematics axes via the TIA Portal

Basics 3
3.1 Kinematics technology object
The kinematics technology object calculates motion setpoints for the tool center point (TCP)
of the kinematics taking into account the dynamic settings. The kinematics technology object
calculates the motion setpoints for the individual axes of the kinematics and vice versa from
the current values of the axes using the kinematics transformation. The kinematics
technology object outputs the axis-specific motion setpoints to the interconnected positioning
axes.
The kinematics technology object provides the kinematics transformation (Page 122) for the
predefined kinematics types on the system level. In the case of user-defined kinematics
systems, you must provide the user transformation (Page 130) in a separate program.
You create the individual axes of the kinematics in the TIA Portal as "Positioning axis" or
"Synchronous axis" technology objects. When you configure the kinematics technology
object, you interconnect the axes in accordance with the configured kinematics type.
You can find an overview of the functions of the kinematics technology object in the
"Functions" (Page 17) section.
The graphic below shows the basic principle of operation of the kinematics technology
object:

Basics

Basics
3.2 Interconnection rules
3.2 Interconnection rules

You can interconnect a kinematics technology object with positioning axes and synchronous
axes. There must be a clear reference between the kinematics technology object and the
interconnected axes. You cannot use a second kinematics technology object with already
interconnected axes.
No provision is made for changing the interconnection of the axes during operation.
Virtual axis/simulation
You can also interconnect the kinematics technology object with axes in simulation and with
virtual axes.

Basics
3.3 Configuration limits for kinematics systems
3.3 Configuration limits for kinematics systems
Motion Control resources

Each CPU offers a defined set of "Motion Control resources". For information on the total
Motion Control resources available, refer to the technical specifications of the utilized CPU.
You can find an overview of the Motion Control resources of a CPU in the TIA Portal under
"Tools > Resources".
Extended Motion Control resources

In addition to the Motion Control resources of the interconnected axes, a kinematics
technology object utilizes 30 "Extended Motion Control resources". For information on the
maximum number of usable kinematics systems, refer to the technical specifications of the
utilized CPU.
You can find the technical specifications of the S7-15xxT CPUs in the respective manual.
Application cycle
As the number of technology objects used increases, the computing time needed by the
CPU to process the technology objects increases. The Motion Control application cycle can
be adapted according to the number of technology objects used.

Basics
3.4 Units of measure

The kinematics technology object supports the following units of measure for position and
velocity of linear axes:
Position Velocity
nm, μm, mm1), m, km mm/s1), mm/min, mm/h, m/s, m/min, m/h, km/min,
km/h
in, ft, mi in/s, in/min, ft/s, ft/min, mi/h
The kinematics technology object supports the following units of measure for angle and
angular velocity of rotary axes:
Angle Angular velocity

°1), rad °/s1), °/min, rad/s, rad/min
1) Six decimal places when the option box "Use position values with higher resolution" is selected.
The acceleration is set accordingly as the position/s² (angle/s²) unit of measure.

The jerk is set accordingly as the position/s³ (angle/s³) unit of measure.
Note
When setting or changing the units of measure, take into consideration the effect on the
display of parameter values and the user program:
• Display of parameter values in the technology data block
• Assignment of parameters in the user program
• Input and display of the position and velocity in the TIA Portal
• Setpoint settings by leading axes in synchronous operation
All information and displays are shown according to the selected unit of measure.
The set units are displayed in the tag structure of the <TO>.Units technology object. The tag
structure is described in the Appendix (Page 362).

Basics
Units of measure of the axes and the kinematics technology object

The technology objects always transfer values without units of measure.
For example, if you set [mm] for an axis and [m] for the kinematics technology object, the
kinematics technology object miscalculates the position values of the linear axis in [m]. If, in
this example, the kinematics technology object outputs a setpoint for a one-meter motion,
the axis only moves by one millimeter.
The kinematics technology object outputs linear and rotary setpoints to the interconnected
axes according to the kinematics type. The kinematics technology object does not check the
axis type of the interconnected axis (linear or rotary).
When configuring the units of measure, take into consideration the following specifications:
● Configure the interconnected technology objects as linear or rotary axes according to the
kinematics type.
● Configure the same linear/rotary units of measure for the axes interconnected according
to the kinematics type as for the kinematics technology object.
Position values with higher resolution

If you select the check box "Use position values with higher resolution" in the configuration of
the technology objects "TO_PositioningAxis", "TO_SynchronousAxis", "TO_ExternalEncoder"
and "TO_Kinematics", six decimal places are available in the selected unit. Due to the
LREAL format, the displayable position and angle range in [mm] and [°] is limited to +1.0E09
digits. This reduces the position and angle range that can be displayed as well as the
mechanical gear ratio by the factor 1000. With regard to long-term stability, the numerical
travel range limit is reduced accordingly by the factor 1000.

Basics
3.5 Modulo setting
3.5 Modulo setting

The kinematics technology object itself has no modulo setting. When you interconnect axes
with active modulo setting to the kinematics technology object, the module range of the axes
must cover at least the traversing range of the kinematics. The zero position of the axis must
match the zero position of the kinematics axis. With the exception of the orientation axis, the
module range of the axes cannot be changed during a kinematics motion.
The modulo setting is typically used for the orientation axis. In the case of the orientation
axis (axis A4 in the kinematics), the kinematics transformation covers the entire traversing
range of the axis. The orientation axis traverses without limitations through an activated
modulo setting.
An angle greater than 360° can be defined for the Cartesian orientation. A relative motion
traverses this angle. An absolute motion maps this angle in the range from 0° to 360°. The
range -180° to +180° is generally defined for the coordinate A of the tool center point (TCP).

Basics
3.6 Coordinate systems and frames

A handling task involves many objects, e.g. kinematics systems, tools, pallets and products.
You describe these objects and their relative positions with coordinate systems and frames.
The kinematics technology object calculates all motions for the tool center point (TCP).
Frames
Frames specify the shift and rotation of one coordinate system relative to another coordinate
system.
Coordinate systems
The kinematics technology object uses the following right-handed Cartesian coordinate
systems according to DIN 66217:
● World coordinate system (WCS)
● Kinematics coordinate system (KCS)
● Flange coordinate system (FCS)
● Tool coordinate system (TCS)
● Object coordinate systems (OCS)

Basics
The following graphic shows the relative position of the coordinate systems using a
workspace example:
① Control cabinet
② Conveyor belt
③ Slide
WCS World coordinate system
KCS Kinematics coordinate system
FCS Flange coordinate system (FCS)
TCS Tool coordinate system
TCP Tool center point
OCS Object coordinate system
World coordinate system (WCS)

The WCS is the fixed coordinate system of the environment or workspace of the kinematics.
The zero point of the WCS is the reference point for objects and motions on the kinematics
technology object. Starting from the zero point of the WCS (e.g. corner of a workspace), you
define the position of the objects using frames.
Kinematics coordinate system (KCS)

The KCS is connected to the kinematics. The position of the KCS within the kinematics is
specified for each predefined kinematics type. The coordinate origin of the KCS is the
kinematics zero point (KZP). You configure the geometry parameters of the kinematics
starting from the KZP.
You configure the position of the KCS in the WCS using the KCS frame.

Basics
Flange coordinate system (FCS)

The FCS is attached to the tool adapter (flange) of the kinematics. As a result, the position of
the FCS changes with kinematics motions.
The position of the FCS in the zero position of the kinematics results from the configuration
of the geometry parameters of the kinematics. The kinematics technology object calculates
the transformation frame from the geometry parameters. The transformation frame describes
the position of the FCS in the KCS. The z axis of the FCS always points in the negative z
direction of the KCS.
The following graphic shows the positions of the FCS and KCS and the transformation frame
using the "Cylindrical robot" kinematics example:
① Transformation frame
② KCS frame

Basics
Tool coordinate system (TCS - Tool Coordinate System) and tool center point (TCP - Tool Center
Point)
The TCS is attached to the FCS and defines the tool center point (TCP) in the coordinate
origin. The TCP is the operating point of the tool. The kinematics motions always refer to the
TCP (with reference to WCS/OCS). You define the position of the TCS in the FCS using a
tool frame. The z axis of the TCS always points in the negative z direction of the KCS. You
can define tool frames for up to three tools, of which only one tool and therefore one tool
frame is active at the same time.
The following graphic shows the position of the TCS and the TCP in the workspace:
① Tool frame
Object coordinate system (OCS)

The OCS is a user-defined coordinate system. With an OCS, for example, you define the
position of a pallet in the workspace. You define the position of the OCS in the WCS with an
OCS frame. You can define up to three OCS frames which are active at the same time.
① OCS frame

Basics
3.6.1 Frames
The following table shows the frames for the kinematics technology object:
Frame Description
KCS frame Position of the kinematics coordinate system (KCS) in the world coordinate
system (WCS)
Transformation frame Position of the flange coordinate system (FCS) in the KCS
The transformation frame results from the kinematics transformation and is
displayed in the "<TO>.FlangeInKcs" tag of the technology object.
Tool frame Position of the tool coordinate system (TCS) in the FCS
OCS1..3 frame Position of the object coordinate systems 1 to 3 (OCS[1..3]) in the WCS
Target position Target position for a kinematics motion
Shift
You use the shift to define the position of the zero point of a coordinate system or a zone
within the reference coordinate system. You specify the shift in Cartesian coordinates.
Rotation
You use the rotation to define the orientation of a coordinate system or a zone within the
reference coordinate system. The rotation is made up of three successive individual rotations
around the axes of the coordinate system which you define using three Euler angles. The
individual rotations depend on each other.
The following graphic shows the three successive rotations using a cuboid zone as an
example:

Basics
① Rotation A
② Rotation B
③ Rotation C

Basics
The following table shows the definition of the rotations:
Rotation Description
Rotation A Euler angle of the first rotation
A positive angle corresponds to a clockwise rotation around the z axis of
the coordinate system.
The coordinate system rotated once consists of the axes x', y' and z.
Rotation B Euler angle of the second rotation
A positive angle corresponds to a clockwise rotation around the rotated y'
axis.
The coordinate system rotated twice consists of the axes x'', y' and z'.
Rotation C Euler angle of the third rotation
A positive angle corresponds to a clockwise rotation around the rotated x''
axis.
The coordinate system rotated three times consists of the axes x'', y'' and
z''. The x'', y'' and z'' axes correspond to the x, y and z axes of the rotated
coordinate system or of the rotated zone.
Frame definition
Frames define the shift and rotation of one coordinate system relative to another coordinate
system with the following values:
Value in the frame Description

x Shift in the x direction in the reference coordinate system
y Shift in the y direction in the reference coordinate system
z Shift in the z direction in the reference coordinate system
A Rotation around the z-axis
B Rotation around the y-axis
C Rotation around the x-axis

Basics
The following table shows the restrictions for frames depending on the kinematics type. The
information "x", "y" and "z" means that a shift in the respective direction is possible. The
information "A", "B" and "C" means that a rotation in the respective direction is possible. The
information "= 0.0" means that a shift or rotation in the respective direction is not permitted or
not relevant for the kinematics type.
Kinematics type KCS frame/OCS frame Tool frame Target position

2D Shift Rotation Shift Rotation Shift Rotation
x A = 0.0 x A = 0.0 x A = 0.0
y = 0.0 B y = 0.0 B = 0.0 y = 0.0 B = 0.0
z C = 0.0 z C = 0.0 z C = 0.0
2D with orientation Shift Rotation Shift Rotation Shift Rotation
x A = 0.0 x = 0.0 A x A
y = 0.0 B = 0.0 y = 0.0 B = 0.0 y = 0.0 B = 0.0
z C = 0.0 z C = 0.0 z C = 0.0
3D Shift Rotation Shift Rotation Shift Rotation
x A x A = 0.0 x A = 0.0
y B y B = 0.0 y B = 0.0
z C z C = 0.0 z C = 0.0
3D with orientation Shift Rotation Shift Rotation Shift Rotation
x A x A x A
y B = 0.0 y B = 0.0 y B = 0.0
z C = 0.0 z C = 0.0 z C = 0.0
x, y, z, A, B, C: Shift/rotation possible
Value = 0.0: Shift/rotation not permitted or not relevant

Basics
The following table shows the value ranges for the rotations of KCS, OCS and tool frames
depending on the kinematics type:
Kinematics type Value ranges

KCS frame/OCS frame Tool frame
2D A 0.0 A 0.0
B -180.0° to 179.999° - -
C 0.0 - -
2D with orientation A 0.0 A -180.0° to 179.999°
B 0.0 - -
C 0.0 - -
3D A -180.0° to 179.999° A 0.0
B -90.0° to 90.0° - -
C -180.0° to 179.999° - -
3D with orientation A -180.0° to 179.999° A -180.0° to 179.999°
B 0.0 - -
C 0.0 - -
Value = 0.0: Rotation not permitted

No information (-): Parameter not available

Basics
3.6.2 Tags: Coordinate systems and frames

The following tags of the kinematics technology object are relevant for coordinate systems
and frames:
Tag Description
Configuration
<TO>.KcsFrame KCS frame
x, y, z, A, B, C
<TO>.OcsFrame[1..3] OCS frame
x, y, z, A, B, C
<TO>.Tool[1..3] Tool frame
x, y, z, A
Status values
<TO>.Tcp Position of the tool center point (TCP), TCP frame in the world coordinate system (WCS).
x, y, z, A
<TO>.TcpInWcs Parameter for tool center point in the world coordinate system
x, y, z, A
<TO>.TcpInOcs[1..3] Parameter for the tool center point (TCP) in the Object Coordinate Systems 1 to 3 (OCS)
x, y, z, A
<TO>.FlangeInKcs Parameter for the flange coordinate system (FCS) in the kinematics coordinate system
(KCS)
x, y, z, A
<TO>.StatusOcsFrame[1..3] Display of the OCS frames
x, y, z, A, B, C

Basics
3.7 Kinematics types

The type of the mechanical system and the number of the axes determine the kinematics
type. The mechanically coupled axes produce the motion of the tool center point (TCP).
Depending on the kinematics type, you configure the kinematics using appropriate geometry
parameters.
The kinematics technology object supports the following kinematics types:
Category Kinematics type

Predefined kinematics systems
Cartesian portal (Page 37) Cartesian portal 2D
Cartesian portal 2D with orientation
Cartesian portal 3D
Cartesian portal 3D with orientation
Roller picker (Page 48) Roller picker 2D
Roller picker 2D with orientation
Roller picker 3D (vertical)
Roller picker 3D with orientation (vertical)
Roller picker 3D with orientation (horizontal)
SCARA (Page 63) SCARA 3D with orientation
SCARA 2D with orientation
Articulated arm (Page 72) Articulated arm 2D
Articulated arm 2D with orientation
Articulated arm 3D
Articulated arm 3D with orientation
Delta picker (Page 90) Delta picker 2D
Delta picker 2D with orientation
Delta picker 3D
Delta picker 3D with orientation
Cylindrical robot (Page 103) Cylindrical robot 3D
Cylindrical robot 3D with orientation
Tripod (Page 113) Tripod 3D
Tripod 3D with orientation
User-defined kinematics systems
User-defined kinematics sys- User-defined 2D
tems (Page 121) User-defined 2D with orientation
User-defined 3D
User-defined 3D with orientation

Basics
3.7.1 Legend for representation of the kinematics

The following table shows the graphic elements and symbols which are used to display the
kinematics:
Graphic element Meaning

Basis of kinematics
Kinematics arm
Kinematics deflected from zero position
Active rotary axis
• Passive joint
• Axis guide
Active linear axis
Rotary axis on the tool adapter (orientation axis)
Tool adapter
Tool (gripper)
Coordinate axis set up out of the mapping plane
Coordinate axis set up into the mapping plane
Color x axis
Color y axis
Color z axis

Basics
3.7.2 Cartesian portal
3.7.2.1 Portal 2D
The kinematics "Portal 2D" supports two axes and two degrees of freedom. The following
graphic shows the principal configuration and the typical working area of the kinematics:
The kinematics consists of two orthogonal, linear axes A1 and A2. The axes enclose a
rectangular working range.

Basics
Coordinate systems and zero position

The graphic below shows the following in the front view:
● The position of the axes and the coordinate systems KCS and FCS
● The zero position of the kinematics
● The positive deflection of the kinematics is indicated (dashed)
Zero position of the kinematics

L1 At zero position of the axis A1:
Distance of the FCS to the KZP in x direction of the KCS
Distance of the FCS to the KZP and flange length LF in z direction of the KCS
LF Flange length before the FCS in the z direction of the KCS
Deflection of the kinematics
x1 Deflection of the axis A1 in the positive x direction
z1 Deflection of the axis A2 in the positive z direction
Legend for representation of the kinematics (Page 36)
The kinematics coordinate system (KCS) with the kinematics zero point (KZP) is located at
the base of the kinematics. The flange coordinate system (FCS) is located at distance LF
from the zero position of the axis A2.
The position 0.0 on the respective interconnected technology object defines the zero
positions of the axes A1 and A2 in the KCS. You define the distances of the zero positions of
the axes in relation to the kinematics zero point using lengths L1 and L2.
Transformation area
The kinematics transformation covers the entire traversing range (Page 123) of the axes.

Basics
3.7.2.2 Portal 2D with orientation

The kinematics "Portal 2D with orientation" supports three axes and three degrees of
freedom. The following graphic shows the principal configuration and the typical working
area of the kinematics:
The kinematics consists of the following axes:

● Two orthogonal linear axes A1 and A2
● One rotary axis A4 (orientation axis)
The linear axes enclose a rectangular working area. The orientation axis A4 enables rotation
of the tool.

Basics

● The positive deflection of the kinematics is indicated (dashed)

Distance of the FCS to the kinematics zero point (KZP) in x direction of the KCS
positions of the axes A1 and A2 in the KCS. You define the distances of the zero positions of
the axes A1 and A2 to the kinematics zero point with lengths L1 and L2. At the zero position
of axis A4, the x axis of the FCS points in the direction of the x axis of the KCS.

Basics
Transformation area
3.7.2.3 Portal 3D
The kinematics "Portal 3D with orientation" supports three axes and three degrees of
The kinematics consists of three orthogonal, linear axes A1, A2 and A3. The linear axes
enclose a rectangular working area.

Basics

The graphic below shows the following in the front view (xz plane):
● The positive/negative deflection of the axes A1 and A3 is indicated (dashed)


Basics
The graphic below shows the following in the top view (xy plane):

Distance of the FCS to the KZP in y direction of the KCS
y1 Deflection of the axis A2 in negative y direction
positions of the axes A1, A2 and A3 in the KCS. You define the distances of the zero
positions of the axes to the kinematics zero point with lengths L1, L2 and L3.
Transformation area

Basics
3.7.2.4 Portal 3D with orientation

The kinematics "Portal 3D with orientation" supports four axes and four degrees of freedom.
The following graphic shows the principal configuration and the typical working area of the
kinematics:

● Three orthogonal linear axes A1, A2 and A3
The linear axes enclose a rectangular working area. The orientation axis A4 enables rotation
of the tool.

Basics



Basics

y1 Deflection of the axis A2 in negative y direction
positions of the axes A1, A2 and A3 in the KCS. You define the distances of the zero
positions of the axes A1, A2 and A3 to the kinematics zero point with lengths L1, L2 and L3.
At the zero position of axis A4, the x axis of the FCS points in the direction of the x axis of
the KCS.
Transformation area

Basics
3.7.2.5 Tags: Cartesian portal
Portal 2D
You define the 2D portal kinematics using the following tags of the technology object:
Tags Values Description

<TO>.Kinematics.TypeOfKinematics 1 Portal 2D
2 Portal 2D with orientation
<TO>.Kinematics.Parameter[1] -1.0E12 to 1.0E12 Distance L1 of the zero position of the axis A1 to the kine-
matics zero point (KZP) in x direction of the kinematics
coordinate system (KCS)
<TO>.Kinematics.Parameter[2] -1.0E12 to 1.0E12 Distance of the flange coordinate system from the axis A2
in the negative z direction of the KCS
<TO>.Kinematics.Parameter[3] -1.0E12 to 1.0E12 Distance L2 of the zero position of the axis A2 to the KZP
in z direction of the KCS
Portal 3D
You define the 3D portal kinematics using the following tags of the technology object:

<TO>.Kinematics.TypeOfKinematics 3 Portal 3D
4 Portal 3D with orientation
in x direction of the KCS
in y direction of the KCS
in z direction of the KCS
See also
Tags of the kinematics technology object (Page 334)

Basics
3.7.3 Roller picker
3.7.3.1 Roller picker 2D

The kinematics "Roller picker 2D" supports two axes and two degrees of freedom. The
following graphic shows the principal configuration and the typical working area of the
kinematics:
The kinematics consists of two rotary axes A1 and A2 and a system of guide rollers. If both
axes A1 and A2 rotate with the same velocity in the same direction, the flange moves
horizontally in x direction of the KCS. If both axes A1 and A2 rotate with the same velocity in
opposite directions, the flange moves vertically in z direction of the KCS. The kinematics
enables a rectangular working area.

Basics

● The deflection of the kinematics is indicated (dashed)

L1 With zero position of the axes A1 and A2:
R1 Cam radius for axis A1
x1 Deflection of the kinematics in the positive x direction
z1 Deflection of the kinematics in the positive z direction

Basics
the base of the kinematics. The flange coordinate system (FCS) is located between axes A1
and A2.
The position 0.0 on the respective interconnected technology object defines the zero position
of the axes A1 and A2. You define the position of the FCS for zero position of the axes A1
and A2 using lengths L1 and L2. You shift the FCS in the negative z direction of the KCS
using length LF.
Transformation area
3.7.3.2 Roller picker 2D with orientation

The kinematics "Roller picker 2D with orientation" supports three axes and three degrees of
The kinematics consists of a system made up of guide rollers and the following axes:
● Two rotary axes A1 and A2
● A rotational axis A4 (orientation axis) with rotation around z in the KCS
If both axes A1 and A2 rotate with the same velocity in the same direction, the flange moves
opposite directions, the flange moves vertically in z direction of the KCS. The kinematics
enables a rectangular working area. The orientation axis A4 enables rotation of the tool.

Basics



Basics
and A2.
of the axes A1 and A2. You define the position of the FCS for zero position of the axes A1
and A2 using lengths L1 and L2. You shift the FCS in the negative z direction of the KCS
using length LF. At the zero position of axis A4, the x axis of the FCS points in the direction
of the x axis of the KCS.
Transformation area
3.7.3.3 Roller picker 3D (vertical)

The kinematics "Roller picker 3D (vertical)" supports three axes and three degrees of
● A linear axis A3 in y direction of the KCS
opposite directions, the flange moves vertically in z direction of the KCS. The linear portal
axis A3 moves the system of guide rollers horizontally in y direction of the KCS. The
kinematics enables a cuboid working area.

Basics



Basics

y1 Deflection of the kinematics in the positive y direction
and A2.
of the axes A1 and A2 and the zero position of the axis A3 in the KCS. You define the
distance of the zero position of the axis A3 to the KZP in y direction of the KCS using length
L2.
You define the position of the FCS for zero position of the axes A1 and A2 using lengths L1
and L3. You shift the FCS in the negative z direction of the KCS using length LF.
Transformation area

Basics
3.7.3.4 Roller picker 3D with orientation (vertical)

The kinematics "Roller picker 3D with orientation (vertical)" supports four axes and four
degrees of freedom. The following graphic shows the principal configuration and the typical
working area of the kinematics:
● A linear axis A3 in y direction of the KCS
opposite directions, the flange moves vertically in z direction of the KCS. The linear portal
axis A3 moves the system of guide rollers horizontally in y direction of the KCS. The
kinematics enables a cuboid working area. The orientation axis A4 enables rotation of the
tool.

Basics



Basics

and A2.
L2.
and L3. You shift the FCS in the negative z direction of the KCS using length LF. At the zero
position of axis A4, the x axis of the FCS points in the direction of the x axis of the KCS.
Transformation area

Basics
3.7.3.5 Roller picker 3D with orientation (horizontal)

The kinematics "Roller picker 3D with orientation (horizontal)" supports four axes and four
degrees of freedom. The following graphic shows the principal configuration and the typical
working area of the kinematics:
● A linear axis A3 in z direction of the KCS
opposite directions, the flange moves horizontally in y direction of the KCS. The linear portal
axis A3 moves the system of guide rollers vertically in z direction of the KCS. The kinematics
enables a cuboid working area. The orientation axis A4 enables rotation of the tool.

Basics



Basics

and A2.
L2.
and L3. You shift the FCS in the negative z direction of the KCS using length LF.

Basics
Transformation area
3.7.3.6 Tags: Roller picker
Roller picker 2D
You define the 2D delta picker kinematics systems using the following tags of the technology
object:

<TO>.Kinematics.TypeOfKinematics 5 Roller picker 2D
6 Roller picker 2D with orientation
<TO>.Kinematics.Parameter[1] -1.0E12 to 1.0E12 With zero position of the axes A1 and A2:
Distance L1 of the FCS to the KZP in x direction of the
kinematics coordinate system (KCS)
<TO>.Kinematics.Parameter[2] 0.001 to 1.0E12 Cam radius R1 for axis 1
<TO>.Kinematics.Parameter[4] -1.0E12 to 1.0E12 Flange length LF before the flange coordinate system
(FCS) in the negative z direction of the KCS
Distance L2 of the FCS to the KZP in z direction of the
KCS

Basics
Roller picker 3D
You define the 3D roller picker kinematics systems using the following tags of the technology
object:

<TO>.Kinematics.TypeOfKinematics 7 Roller picker 3D (vertical)
8 Roller picker 3D with orientation (vertical)
9 Roller picker 3D with orientation (horizontal)
Distance L1 of the FCS to the KZP in x direction of the
KCS
<TO>.Kinematics.Parameter[4] -1.0E12 to 1.0E12 Flange length LF before the FCS in the negative z direction
of the KCS
<TO>.Kinematics.Parameter[5] -1.0E12 to 1.0E12 Roller picker Distance L2 of the zero position of the axis
vertical A3 to the KZP in y direction of the KCS
Roller picker With zero position of the axes A1 and A2:
horizontal Distance L2 of the FCS to the kinematics
zero point (KZP) in y direction of the KCS
<TO>.Kinematics.Parameter[6] -1.0E12 to 1.0E12 Roller picker With zero position of the axes A1 and A2:
vertical Distance L3 of the FCS to the KZP in z
direction of the KCS
Roller picker Distance L3 of the zero position of the axis
horizontal A3 to the KZP in z direction of the KCS

Basics
3.7.4 SCARA
3.7.4.1 SCARA 2D with orientation

The kinematics "SCARA 2D with orientation" (swivel arm) supports three axes and three
degrees of freedom. The axes are configured as serial kinematics.
kinematics:

● A rotary axis A1 with rotation around the z axis of the kinematics coordinate system
(KCS)
The kinematics consists of a base and an articulated arm for horizontal alignment, which are
connected by revolute joints (axis A1). A linear stroke axis (axis A2) is fastened to the end of
the articulated arm for the vertical alignment. The tool is fastened to the end of the linear
axis. The orientation axis A4 enables a rotation of the tool.

Basics

The graphic below shows the following in the side view (xz plane):
● The positive/negative deflection of the kinematics is indicated (dashed)

L1 Distance of the axis A1 to the KZP in z direction of the KCS
L2 Distance of the axis A1 to the FCS in x direction of the KCS
LF Distance of the FCS to the axis A1 in z direction of the FCS
z1 Deflection of the axis A2 in the positive direction

Basics

α1 Deflection of the axis A1 in positive direction when α1 = 30.0°
Deflection of the axis A1 in negative direction when α1 = -60.0°
The KCS with the kinematics zero point (KZP) is located at the base of the kinematics. The
flange coordinate system (FCS) is located at the end of the articulated arm.
The following table shows the zero position of the axes:
Axis Zero position

A1 The articulated arm points in x direction of the KCS.
A2 The axis A2 is at the position 0.0 of the interconnected technology object.
A4 At zero position of axes A1, the x axis of the FCS points in the direction of
the x axis of the KCS.
Compensation of mechanical axis couplings

You can configure a mechanical axis coupling of axis A4 to axis A2 for the kinematics. The
kinematics transformation compensates for the configured mechanical axis coupling. The
axis coupling between axis A4 and axis A2 is implemented as a leadscrew pitch. With a
coupling factor of 1.0, 360.0° on axis A4 corresponds to a distance of -1.0 mm on axis A2.

Basics
Transformation area
The kinematics transformation covers the following traversing range (Page 123) of the axes:
● Axis A1: -180.0° ≤ α1 < 180.0°
● Axis A2: No limiting
An angle greater than 360° can be defined for the orientation. But coordinate A of the tool
center point (TCP) is mapped in the range -180° to +180°.
You can process these kinematics only with the Motion Control instructions
MC_MoveDirectAbsolute and MC_MoveDirectRelative or single-axis jobs.
3.7.4.2 SCARA 3D with orientation

The kinematics "SCARA (Selective Compliance Assembly Robot Arm) 3D with orientation"
supports four axes and four degrees of freedom. The axes are configured as serial
kinematics.
kinematics:

(KCS)
● A rotary axis A2 at distance L2 to A1 with rotation around z of the KCS
● A linear axis A3 at distance L3 to A2 with motion in z direction of the KCS
The kinematics consists of a base and two levers for horizontal alignment, which are
connected by revolute joints (axis A1 and A2). A linear axis (axis A3) is fastened to the end
of the articulated arm for the vertical alignment. The tool is fastened to the end of the linear
axis. The orientation axis A4 enables the rotary motion of the tool.

Basics


L1 Distance of the axis A1 to the KZP in z direction of the KCS
L2 Distance of the axis A2 to the axis A1 in x direction of the KCS
LF Distance of the FCS to the axis A2 in z direction of the FCS
z1 Deflection of the axis A3 in the positive direction

Basics

Deflection of the kinematics in the positive direction when α1 = 30.0° with positive joint position
when α2 = 75.0°
Deflection of the kinematics in the negative direction when α1 = -60.0° with negative joint posi-
tion when α2 = -45.0°
α2 The deflection of the axis A2 in the positive direction when α2 = 75.0° produces a posi-
tive joint position.
The deflection of the axis A2 in negative direction when α2 = -45.0° produces a nega-

Basics
The KCS with the kinematics zero point (KZP) is located at the base of the kinematics. The
flange coordinate system (FCS) is located at the end of the axis A3.
Axis Zero position

A1 and A2 The kinematics is elongated in the xKCS direction.
A3 The FCS is located at distance L1-LF from the KCS in z direction.
A4 At the zero position of axis A1 and A2, the x axis of the FCS points in the
direction of the x axis of the KCS.

You can configure the following mechanical coupled axes for the kinematics:
● Mechanical coupling of axis A1 to axis A2
The kinematics transformation compensates for the configured mechanical axis couplings.
With a coupling factor > 0.0, the kinematics transformation assumes that a positive motion of
the axis A1 leads to a negative motion on the axis A2. The axis coupling between axis A4
and axis A3 is implemented as a leadscrew pitch. With a coupling factor of 1.0, 360.0° on
axis A4 corresponds to a distance of -1.0 mm on axis A3.
Transformation area
● Axis A1: -180.0° ≤ α1 ≤ 180.0°
● Axis A2: -180.0° ≤ α2 ≤ 180.0°
Note
Singular positions
The kinematics have singular positions (Page 128).
A singular position occurs when the zero point of the flange coordinate system (FCS) is
located on the z-axis of the kinematics coordinate system (KCS). Inverse transformation is
not possible in this area. This position may result, e.g. in the event of suspended installation
if the lengths L2 and L3 are the same size.

Basics
The graphic below shows examples of a movement in the direction of the singular joint
position:
Permissible joint position

Invalid joint position for transformation with L2 = L3

Basics
3.7.4.3 Tags: SCARA
SCARA 2D
You define the SCARA 2D kinematics using the following tags of the technology object:

<TO>.Kinematics.TypeOfKinematics 20 SCARA 2D with orientation
<TO>.Kinematics.Parameter[1] -1.0E12 to 1.0E12 Distance of the axis A1 from the kinematics zero point in z
direction of the kinematics coordinate system (KCS)
<TO>.Kinematics.Parameter[2] -1.0E12 to 1.0E12 Distance L2 of the axis A2 from the axis A4 in x direction of
the KCS
<TO>.Kinematics.Parameter[3] 0.001 to 1.0E Distance of the flange coordinate system from the axis A2
<TO>.Kinematics.Parameter[4] - Mechanical axis coupling of axis A4 to A2 present/not
present
0 Not present
1 Present
<TO>.Kinematics.Parameter[5] -1.0E12 to 1.0E12 Mechanical axis coupling factor of axis A4 to axis A2
SCARA 3D
You define the SCARA 3D kinematics using the following tags of the technology object:

<TO>.Kinematics.TypeOfKinematics 10 SCARA 3D with orientation
<TO>.Kinematics.Parameter[1] -1.0E12 to 1.0E12 Distance of the axis A1 from the kinematics zero point in z
<TO>.Kinematics.Parameter[2] 0.001 to 1.0E12 Distance L2 of the axis A2 from the axis A1 in x direction of
the KCS
<TO>.Kinematics.Parameter[3] - Mechanical axis coupling of axis A1 to axis A2 present/not
present
0 Not present
1 Present
<TO>.Kinematics.Parameter[5] 0.001 to 1.0E12 Distance L3 of the axis A3 from the axis A2 in x direction of
the KCS
present
0 Not present
1 Present

Basics
3.7.5 Articulated arm
3.7.5.1 Articulated arm 2D

The kinematics "Articulated arm 2D" supports two axes and two degrees of freedom. The
axes are configured as serial kinematics with forced coupling of the flange system.
kinematics:

● A rotary axis A1 with the distances L1 in z direction of the KCS and L2 in x direction of the
KCS to the kinematics zero point
● A rotary axis A2 at distance L3 to axis A1
The kinematics consists of a base and articulated arms, which are connected by revolute
joints (axes A1, A2). Axes A1 and A2 move the articulated arm in the xz plane. Through a
forced coupling between the axes and the flange system, the z axis of the FCS always points
in the negative z direction of the KCS.

The graphic below shows the following in the side view:
● The position of the axes and of the forced coupler point
● The position of coordinate systems KCS and FCS

Basics
① Forced coupler point

L1 Distance of the axis A1 to the kinematics zero point (KZP) in z direction of the KCS
L2 Distance of the axis A1 to the KZP in x direction of the KCS
L4 Distance of the forced coupler point to the axis A2 in x direction of the KCS
LF Distance of the FCS to the forced coupler point in z direction of the FCS
α1 Positive deflection of the axis A1 when α1 = 45.0°
Negative deflection of the axis A1 when α1 = -60.0°

Basics
the base of the kinematics. You define the position of the axis A1 relative to the KZP using
lengths L1 and L2. The axis A2 is located at distance L3 in x direction of the KCS from the
axis A1.
The flange coordinate system (FCS) is located at the following distances from the axis A2
and the forced coupler point:
● Distance L4 to the axis A2 in x direction of the KCS
● Distance LF to the forced coupler point in the negative z direction of the KCS
The axis A2 and the flange system are force-coupled. With the force coupling, the z axis of
the FCS always points in negative z direction of the KCS. The forced coupler point is located
at distance L4 in x direction of the KCS from the axis A2.
Axis Zero position

A1 Length L3 points in x direction of the KCS.
A2 At zero position of the axis A1, the length L4 points in x direction of the
KCS.

For the kinematics, you can configure a mechanical axis coupling of axis A1 to axis A2. The
kinematics transformation compensates for the configured mechanical axis coupling. With a
coupling factor > 0.0, the kinematics transformation assumes that a positive motion of the
axis A1 leads to a negative motion on the axis A2.
Transformation area
● Axis A1: -180.0° ≤ α1 < 180.0°
● Axis A2: -180.0° ≤ α2 < 180.0°

Basics
3.7.5.2 Articulated arm 2D with orientation

The kinematics "Articulated arm 2D with orientation" supports three axes and three degrees
of freedom. The axes are configured as serial kinematics with forced coupling of the flange
system.
kinematics:

● A rotary axis A4 (orientation axis) at distance L4 in x direction of the KCS from the axis
A2
joints (axes A1, A2). Axes A1 and A2 move the articulated arm in the xz plane. Through a
forced coupling between the axes and the flange system, the z axis of the FCS always points
in the negative z direction of the KCS. The orientation axis A4 enables rotation of the tool.


Basics


Basics
the base of the kinematics. You define the position of the axis A1 relative to the KZP using
lengths L1 and L2. The axis A2 is located at distance L3 in x direction of the KCS from the
axis A1.
Axis Zero position

A1 Length L3 points in x direction of the KCS.
KCS.
A4 At the zero position of axis A1 and A2, the x axis of the FCS points in the

For the kinematics, you can configure a mechanical axis coupling of axis A1 to axis A2. The
Transformation area
● Axis A1: -180.0° ≤ α1 < 180.0°
● Axis A2: -180.0° ≤ α2 < 180.0°

Basics
3.7.5.3 Articulated arm 3D

The kinematics "Articulated arm 3D" supports three axes and three degrees of freedom. The
axes are configured as serial kinematics with forced coupling of the flange system.
kinematics:

(KCS)
joints (axes A1, A2 and A3). Axis A1 rotates the kinematics horizontally around the base.
Axes A2 and A3 move the articulated arm. The kinematics enables an approximately
spherical working area. Through a forced coupling between the axes and the flange system,
the z axis of the FCS always points in the negative z direction of the KCS.

● The zero position of the axes

Basics

α3 The deflection of the A3 in the positive direction when α3 = 45.0° produces a positive
joint position.
The deflection of the A3 in negative direction when α3 = -15.0° produces a negative
joint position.

Basics


Basics
The KCS with the kinematics zero point (KZP) is located at the base of the kinematics. You
define the position of the axis A2 relative to the KZP using lengths L1 and L2. The axis A3 is
located at distance L3 in x direction of the KCS from the axis A2.
Axis Zero position

A1 The articulated arms of the kinematics point in the x direction of the KCS.
KCS.
A3 At zero position of the axes A1 and A2, the length L4 points in x direction of
the KCS.

Transformation area
● Axis A1: -180.0° ≤ α1 < 180.0°
● Axis A2: -180.0° ≤ α2 < 180.0°
● Axis A3: -180.0° ≤ α3 < 180.0°
Note
Singular positions
not possible in this area.

Basics
The graphic below shows examples of permissible and impermissible joint positions for the
transformation:

Invalid joint position for the transformation

Basics
3.7.5.4 Articulated arm 3D with orientation

The kinematics "Articulated arm 3D with orientation" supports four axes and four degrees of
freedom. The axes are configured as serial kinematics with forced coupling of the flange
system.
kinematics:

(KCS)
● A rotary axis A4 (orientation axis) at distance L4 in x direction of the KCS from the axis
A3
joints (axes A1, A2 and A3). Axis A1 rotates the kinematics horizontally around the base.
Axes A2 and A3 move the articulated arm. The kinematics enables an approximately
spherical working area. Through a forced coupling between the axes and the flange system,
the z axis of the FCS always points in the negative z direction of the KCS. The orientation
axis A4 enables rotation of the tool.


Basics

α3 The deflection of the A3 in the positive direction when α3 = 45.0° produces a positive
joint position.
The deflection of the A3 in negative direction when α3 = -15.0° produces a negative
joint position.

Basics
● The position of the axes


Basics
define the position of the axis A2 relative to the KZP using lengths L1 and L2. The axis A3 is
located at distance L3 in x direction of the KCS from the axis A2.
Axis Zero position

A1 The articulated arms of the kinematics point in the x direction of the KCS.
KCS.
A3 At zero position of the axes A1 and A2, the length L4 points in x direction of
the KCS.
A4 At zero position of the axes A1, A2 and A3, the x axis of the FCS points in
the direction of the x axis of the KCS.


Basics
Transformation area
● Axis A1: -180.0° ≤ α1 < 180.0°
● Axis A2: -180.0° ≤ α2 < 180.0°
● Axis A3: -180.0° ≤ α3 < 180.0°
Note
Singular positions
not possible in this area.

Basics
transformation:


Basics
3.7.5.5 Tags: Articulated arm
Articulated arm 2D
You define the 2D articulated arm kinematics systems using the following tags of the
technology object:

<TO>.Kinematics.TypeOfKinematics 11 Articulated arm 2D
12 Articulated arm 2D with orientation
<TO>.Kinematics.Parameter[1] -1.0E12 to 1.0E12 Distance L1 of the axis A1 to the kinematics zero point in z
<TO>.Kinematics.Parameter[2] -1.0E12 to 1.0E12 Distance L2 of the axis A1 to the kinematics zero point in x
<TO>.Kinematics.Parameter[3] 0.001 to 1.0E12 Arm length L3 between the axes A1 and A2
present
0 Not present
1 Present
<TO>.Kinematics.Parameter[6] 0.001 to 1.0E12 Side length L4 between A2 and positive coupling point
<TO>.Kinematics.Parameter[7] -1.0E12 to 1.0E12 Distance LF of the flange coordinate system (FCS) from
the forced coupler point in the negative z direction of the
KCS
Articulated arm 3D
You define the 3D articulated arm kinematics systems using the following tags of the
technology object:

<TO>.Kinematics.TypeOfKinematics 13 Articulated arm 3D
<TO>.Kinematics.Parameter[1] -1.0E12 to 1.0E12 Distance L1 of the axis A2 to the kinematics zero point in z
<TO>.Kinematics.Parameter[2] 0.0 to 1.0E12 Distance L2 of the axis A2 to the kinematics zero point in x
<TO>.Kinematics.Parameter[3] 0.001 to 1.0E12 Arm length L3 between the axes A2 and A3
present
0 Not present
1 Present
<TO>.Kinematics.Parameter[5] -1.0E12 to 1.0E12 Mechanical axis coupling factor from axis A2 to axis A3
<TO>.Kinematics.Parameter[6] 0.001 to 1.0E12 Arm length L4 between the axis A3 and positive coupler
point
<TO>.Kinematics.Parameter[7] -1.0E12 to 1.0E12 Distance LF of the FCS from the forced coupler point in the
negative z direction of the KCS

Basics
3.7.6 Delta picker
3.7.6.1 Delta picker 2D

The kinematics "Delta picker 2D" supports two axes and two degrees of freedom The axes
are configured as parallel kinematics.
kinematics:
The kinematics consists of two rotary axes A1 and A2.

The kinematics is modeled suspended and consists of an upper connecting plate, two upper
arms and a lower connecting plate. The axes for moving the arms (axes A1, A2) are
fastened to the upper connecting plate. The upper arms and the connecting rods connect the
upper and lower connecting plates. The tool is suspended from the lower connecting plate.
The parallelogram structures of the connecting rods keep the lower connecting plate parallel
to the xy plane of the KCS.


Basics

D1 Distance of the axes from the center of the upper connecting plate (radius of the upper
connecting plate)
D2 Distance of the hinge points of the connecting rods to the middle of the lower connect-
ing plate (radius of the lower connecting plate)
L1 Length of the upper arms
L2 Length of the connecting rods
D1, D2, L1 and L2 are identical for the two arms of the kinematics.
The motion of the axes in the positive direction is the outward rotation of the upper arms.
α1 Deflection of the axis A1 in the negative direction when α1 = -45.0°
α2 Deflection of the axis A2 in the positive direction when α2 = 88.0°

Basics
the center point of the upper connecting plate. The axes A1 and A2 are at distance D1 from
the common center point (kinematics zero point).
The flange coordinate system (FCS) is located on the bottom of the lower connecting plate
with equal distance D2 to the hinge points of each arm. You shift the FCS in the negative z
direction of the KCS using length LF.
In the zero position of the axes A1 and A2, the upper arms point in the negative z direction of
the KCS.
Transformation area
Only the outwardly bent joint position (Page 101) is permitted for the arms of the kinematics.
You cannot traverse the axes beyond the extended position of the arms.

Basics
3.7.6.2 Delta picker 2D with orientation

The kinematics "Delta picker 2D with orientation" supports three axes and three degrees of
freedom. The axes are configured as parallel kinematics.
kinematics:

● Two rotary axes A1, A2
The kinematics is modeled suspended and consists of an upper connecting plate, two upper
arms and a lower connecting plate. The axes for moving the arms (axes A1, A2) are
fastened to the upper connecting plate. The upper arms and the connecting rods connect the
upper and lower connecting plates. The tool is suspended from the lower connecting plate.
The parallelogram structures of the connecting rods keep the lower connecting plate parallel
to the xy plane of the KCS. The orientation axis A4 enables rotation of the tool.

● The zero positions of the axes A1 and A4

Basics

connecting plate)
D1, D2, L1 and L2 are identical for the two arms of the kinematics.
α1 Deflection of the axis A1 in the negative direction when α1 = -45.0°

Basics
the center point of the upper connecting plate. The axes A1 and A2 are at distance D1 from
the common center point (kinematics zero point).
The flange coordinate system (FCS) is located on the bottom of the lower connecting plate
with equal distance D2 to the hinge points of each arm. You shift the FCS in the negative z
direction of the KCS using length LF.
In the zero position of the axes A1 and A2, the upper arms point in the negative z direction of
the KCS. At the zero position of axis A4, the x axis of the FCS points in the direction of the x
axis of the KCS.
Transformation area
3.7.6.3 Delta picker 3D

The kinematics "Delta picker 3D" supports three axes and three degrees of freedom. The
axes are configured as parallel kinematics.
kinematics:
The kinematics consists of three rotary axes A1, A2 and A3.

The kinematics is modeled suspended and consists of an upper connecting plate, three
upper arms and a lower connecting plate. The axes for moving the arms (axes A1, A2 and
A3) are fastened to the upper connecting plate. The upper arms and the connecting rods
connect the upper and lower connecting plates. The tool is suspended from the lower
connecting plate. The parallelogram structures of the connecting rods keep the lower
connecting plate parallel to the xy plane of the KCS.

Basics

● The position of the kinematics coordinate system (KCS)
● The angles of the axes A1, A2 and A3 to one another
β1 Angle between the axes A1 and A2

The following graphic shows the top view of the position of the flange coordinate system
(FCS) in the xy plane of the lower connecting plate:
● The position of the axis A1 and the coordinate systems KCS and FCS
● The zero position of the axis A1
● The positive/negative deflection of the axis A1 is indicated (dashed)

Basics

connecting plate)
D1, D2, L1 and L2 are identical for the three arms of the kinematics.
α1 Deflection of the axis A1 in negative direction when α1 = -50.0°
Deflection of the axis A1 in positive direction when α1 = 90.0°

Basics
The KCS with the kinematics zero point (KZP) is located at the center point of the upper
connecting plate. The axes A1, A2 and A3 are at distance D1 from the common center point
(kinematics zero point).
The FCS is located in the center on the bottom of the lower connecting plate with equal
distance D2 to the hinge points of each arm. You shift the FCS in the negative z direction of
the KCS using length LF.
In the zero position of the axes A1, A2 and A3, the upper arms point in the negative z
direction of the KCS.
Transformation area
3.7.6.4 Delta picker 3D with orientation

The kinematics "Delta picker 3D with orientation" supports four axes and four degrees of
freedom. The axes are configured as parallel kinematics.
kinematics:

● Three rotary axes A1, A2 and A3
The kinematics is modeled suspended and consists of an upper connecting plate, three
upper arms and a lower connecting plate. The axes for moving the arms (axes A1, A2 and
A3) are fastened to the upper connecting plate. The upper arms and the connecting rods
connect the upper and lower connecting plates. The tool is attached to the lower connecting
plate. The parallelogram structures of the connecting rods keep the lower connecting plate
parallel to the xy plane of the KCS. The orientation axis A4 enables rotation of the tool.

Basics


● The positive/negative deflection of the axis A1 is indicated (dashed)

Basics

connecting plate)
D1, D2, L1 and L2 are identical for the three arms of the kinematics.
α1 Deflection of the axis A1 in negative direction when α1 = -50.0°
Deflection of the axis A1 in positive direction when α1 = 90.0°

Basics
connecting plate. The axes A1, A2 and A3 are at distance D1 from the common center point
(kinematics zero point).
The FCS is located in the center on the bottom of the lower connecting plate with equal
distance D2 to the hinge points of each arm. You shift the FCS in the negative z direction of
In the zero position of the axes A1, A2 and A3, the upper arms point in the negative z
direction of the KCS. At the zero position of axis A4, the x axis of the FCS points in the
Transformation area
3.7.6.5 Permissible joint position for delta picker

Only the outwardly bent joint position is permitted for the arms of the delta picker kinematics.
transformation:


Basics
3.7.6.6 Tags: Delta picker
Delta picker 2D
You define the 2D delta picker kinematics using the following tags of the technology object:

<TO>.Kinematics.TypeOfKinematics 15 Delta picker 2D
16 Delta picker 2D with orientation
<TO>.Kinematics.Parameter[1] 0.0 to 1.0E12 Distance D1 (radius of the upper connecting plate)
<TO>.Kinematics.Parameter[2] 0.001 to 1.0E12 Length L1 of the upper arms
<TO>.Kinematics.Parameter[3] 0.001 to 1.0E12 Length L2 of connecting rods
<TO>.Kinematics.Parameter[4] 0.0 to 1.0E12 Distance D2 (radius of the lower connecting plate)
<TO>.Kinematics.Parameter[5] -1.0E12 to 1.0E12 Distance LF of the FCS from the lower connecting plate in
the negative z direction of the KCS
Delta picker 3D
You define the 3D delta picker kinematics using the following tags of the technology object:

<TO>.Kinematics.TypeOfKinematics 17 Delta picker 3D
<TO>.Kinematics.Parameter[2] 0.001 to 1.0E12 Length L1 of the upper arms
<TO>.Kinematics.Parameter[5] 90.001° to 179.998° Angle β1 between the axes A1 and A2
<TO>.Kinematics.Parameter[7] -1.0E12 to 1.0E12 Distance LF of the FCS from the lower connecting plate in
the negative z direction of the KCS

Basics
3.7.7 Cylindrical robot
3.7.7.1 Cylindrical robot 3D

The kinematics "Cylindrical robot 3D" supports three axes and three degrees of freedom.
The axes are configured as serial kinematics.
kinematics:

(KCS)
● A linear axis A3 in x direction of the KCS
The kinematics consists of a base, a supporting column and a jib. Axis A1 rotates the
supporting column with jib around the base. Axis A2 moves the jib vertically. Axis A3 moves
the flange system horizontally on the jib. The kinematics enables a cylindrical working area.


Basics
Zero position of the axes A1 and A2

Distance of the FCS to the kinematics zero point (KZP) and flange length LF in z direc-
tion of the KCS
x1 Positive deflection of the axis A3
At the zero position of axis A3, the z axis of the FCS is located on the z axis of the KCS.
For mechanical reasons, the kinematics shown cannot approach the zero position of
the axis A3.
z1 Positive deflection of the axis A2

Basics

L2 Distance of the axis A3 from the KZP in y direction of the KCS (negative value here)
α1 Positive deflection of the axis A1 when α1 = 30°
Negative deflection of the axis A1 when α1 = -75°
define the distance of the zero position of axis A2 in z direction of the KCS from the KZP
using length L1. You define the distance of the axis A3 from the KNP in y direction of the
KCS using length L2.
The flange coordinate system (FCS) is located on the axis A3, shifted by the length LF in
negative z direction of the KCS.
Axis Zero position

A1 The jib with the axis A3 points in xKCS direction.

Basics
Transformation area
● Axis A1: -180.0° ≤ α1 < 180.0°
Note
Singular positions
not possible in this area. This position may result, e.g. if the length L2 is 0.0 due to the
design.
transformation:

Invalid joint position for transformation with L2 = 0.0

Basics
3.7.7.2 Cylindrical robot 3D with orientation

The kinematics "Cylindrical robot 3D with orientation" supports four axes and four degrees of
freedom. The axes are configured as serial kinematics.
kinematics:

(KCS)
● A linear axis A3 in x direction of the KCS
The kinematics consists of a base, a supporting column and a jib. Axis A1 rotates the
supporting column with jib around the base. Axis A2 moves the jib vertically. Axis A3 moves
the flange system horizontally on the jib. The kinematics enables a cylindrical working area.
The orientation axis A4 enables the rotary motion of the tool.

Basics


Distance of the FCS to the kinematics zero point (KZP) and flange length LF in z direc-
tion of the KCS
At the zero position of axis A3, the z axis of the FCS is located on the z axis of the KCS.
For mechanical reasons, the kinematics shown cannot approach the zero position of
the axis A3.
z1 Positive deflection of the axis A2

Basics

L2 Distance of the axis A3 to the KZP in y direction of the KCS (negative value in this
case)
α1 Positive deflection of the axis A1 when α1 = 30°
Negative deflection of the axis A1 when α1 = -75°
define the distance of the zero position of axis A2 in z direction of the KCS from the KZP
using length L1. You define the distance of the axis A3 from the KNP in y direction of the
KCS using length L2.
The flange coordinate system (FCS) is located on the axis A3, shifted by the length LF in
negative z direction of the KCS.

Basics
Axis Zero position

A1 The jib with the axis A3 points in xKCS direction.
A4 At the zero position of axis A1, the x axis of the FCS points in the direction
of the x axis of the KCS.

kinematics transformation compensates for the configured mechanical axis coupling. The
axis coupling between axis A4 and axis A2 is implemented as a leadscrew pitch. With a
coupling factor of 1.0, 360.0° on axis A4 corresponds to a distance of -1.0 mm on axis A2.
Transformation area
● Axis A1: -180.0° ≤ α1 < 180.0°
Note
Singular positions
not possible in this area. This position may result, e.g. if the length L2 is 0.0 due to the
design.

Basics
transformation:

Invalid joint position for transformation with L2 = 0.0

Basics
3.7.7.3 Tags: Cylindrical robot
Cylindrical robot 3D
You define the "Cylindrical robot 3D" kinematics using the following tags of the technology
object:

<TO>.Kinematics.TypeOfKinematics 21 Cylindrical robot 3D
matics zero point in z direction of the kinematics coordinate
system (KCS)
<TO>.Kinematics.Parameter[2] -1.0E12 to 1.0E12 Distance L2 between the axes A2 and A3 in y direction of
the KCS
Cylindrical robot 3D with orientation

You define the "Cylindrical robot 3D with orientation" kinematics using the following tags of
the technology object:

<TO>.Kinematics.TypeOfKinematics 22 Cylindrical robot 3D with orientation
matics zero point in z direction of the KCS
<TO>.Kinematics.Parameter[2] -1.0E12 to 1.0E12 Distance L2 between the axes A2 and A3 in y direction of
the KCS
present
0 Not present
1 Present

Basics
3.7.8 Tripod
3.7.8.1 Tripod 3D
The kinematics "Tripod 3D" supports three axes and three degrees of freedom. The axes are
configured as parallel kinematics.
kinematics:
The kinematics consists of three linear axes A1, A2 and A3.

The kinematics is modeled suspended and consists of an upper connecting plate, three arms
and a lower connecting plate. The axes for the motion of the arms consist of rails with sliding
carriages. The rails with the sliding carriages are fastened to the upper connecting plate.
Connecting rods connect the sliding carriages to the lower connecting plate. The tool is
suspended from the lower connecting plate. The parallelogram structures of the connecting
rods keep the lower connecting plate parallel to the xy plane of the KCS.

Basics


● The positive deflection of the axis A1 is indicated (dashed)

Basics

D1 Distance of the upper hinge points of the connecting rods to the center of the upper
connecting plate
D2 Distance of the lower hinge points of the connecting rods to the center of the lower
connecting plate
γ Angle between the upper connecting plate (xy plane of the KCS) and the rail of the axis
A1 (0.0° ≤ γ < 90.0°)
D1, D2, L1 and γ are identical for the three arms of the kinematics.
Deflection of the kinematics with deflection of the axis A1 in positive direction

Basics
connecting plate. The kinematics zero point is centered relative to the zero positions of the
axes A1, A2 and A3.
The FCS is located in the center point of the lower connecting plate with identical distance
D2 to the joint points of each connecting rod. You shift the FCS in the negative z direction of
At the zero position, axes A1, A2 and A3 are in the x-y plane of the KCS.
Transformation area
● Axes A1, A2 and A3: 0.0 ≤ Travel distance

Basics
3.7.8.2 Tripod 3D with orientation

The kinematics "Tripod 3D with orientation" supports four axes and four degrees of freedom.
The axes are configured as parallel kinematics.
kinematics:

● Three linear axes A1, A2 and A3
The kinematics is modeled suspended and consists of an upper connecting plate, three arms
and a lower connecting plate. The axes for the motion of the arms consist of rails with sliding
carriages. The rails with the sliding carriages are fastened to the upper connecting plate.
Connecting rods connect the sliding carriages to the lower connecting plate. The tool is
suspended from the lower connecting plate. The parallelogram structures of the connecting
rods keep the lower connecting plate parallel to the xy plane of the KCS. The orientation axis
A4 enables the rotary motion of the tool.

Basics



● The positive deflection of the axis A1 is indicated (dashed)

Basics

D1 Distance of the upper hinge points of the connecting rods to the center of the upper
connecting plate
D2 Distance of the lower hinge points of the connecting rods to the center of the lower
connecting plate
γ Angle between the upper connecting plate (xy plane of the KCS) and the rail of the axis
A1 (0.0° ≤ γ < 90.0°)
D1, D2, L1 and γ are identical for the three arms of the kinematics.
Deflection of the kinematics with deflection of the axis A1 in positive direction

Basics
connecting plate. The kinematics zero point is centered relative to the zero positions of the
axes A1, A2 and A3.
The FCS is located in the center point of the lower connecting plate with identical distance
D2 to the joint points of each connecting rod. You shift the FCS in the negative z direction of
At the zero position, axes A1, A2 and A3 are in the x-y plane of the KCS. At the zero position
of axis A4, the x axis of the FCS points in the direction of the x axis of the KCS.
Transformation area
● Axes A1, A2 and A3: 0.0 ≤ Travel distance
3.7.8.3 Tags: Tripod

You define the tripod kinematics using the following tags of the technology object:

<TO>.Kinematics.TypeOfKinematics 23 Tripod 3D
24 Tripod 3D with orientation
<TO>.Kinematics.Parameter[3] 0.0° to 89.999° Angle γ between the linear axes and the x-y plane of the
kinematics coordinate system
<TO>.Kinematics.Parameter[7] -1.0E12 to 1.0E12 Distance of the flange coordinate system from the lower
connecting plate in the negative z direction of the kinemat-
ics coordinate system

Basics
3.7.9 User-defined kinematics systems

You can configure user-defined kinematics systems with corresponding axis
interconnections:
● User-defined 2D
● User-defined 2D with orientation
● User-defined 3D
● User-defined 3D with orientation
The configuration supports you in the interconnection of the positioning axes in a user-
defined kinematics. In addition, up to 32 tags for defining the geometry of your kinematics
area available on the system level.
You have to program the user transformation (Page 130) of the Cartesian positions and the
axis positions and axis dynamics. Predefined interfaces are available on the system level.
See also
User transformation (Page 130)
3.7.9.1 Tags: User-defined kinematics systems

You configure the user-defined kinematics systems using the following tags of the
technology object:
Tag Values Description

<TO>.Kinematics.TypeOfKinematics 31 User-defined 2D
32 User-defined 2D with orientation
33 User-defined 3D
<TO>.Kinematics.Parameter[1..32] - Up to 32 user-specific parameters

Basics
3.8 Kinematics transformation

The kinematics transformation is the conversion between the Cartesian coordinates of the
kinematics motion and the setpoints for the individual kinematics axes:
● Forward transformation
Calculation of the Cartesian coordinates from the axis positions of the kinematics axes
● Inverse transformation
Calculation of the axis positions of the kinematics axes from the Cartesian coordinates
The kinematics transformation converts the position values and the dynamic values (velocity,
acceleration).
The kinematics technology object provides the kinematics transformation for the predefined
kinematics types on the system level. In the case of user-defined kinematics systems, you
must calculate the user transformation (Page 130) in its own program.
3.8.1 Transformation for predefined kinematics systems
3.8.1.1 Reference points

The kinematics transformation uses the following reference points:
● Kinematics zero point (KZP)
● Zero positions of the kinematics axes
● Tool center point (TCP)
The positive direction of the axes for the kinematics transformation is dependent on the
kinematics type (Page 35). Configure the positive direction on the positioning
axis/synchronous axis technology object corresponding to the positive direction of the axis in
the kinematics.
Kinematics zero point (KZP)

The coordinate origin of the kinematics coordinate system (KCS) is the KZP. You configure
the geometry parameters of the kinematics starting from the KZP.
Zero positions of the kinematics axes

The position 0.0 on the positioning axis/synchronous axis technology object defines the zero
position of the kinematics axis. Reference the axes in such a way that the axes indicate the
position 0.0 in the zero position of the kinematics. The zero position of the kinematics
depends on the kinematics type (Page 35).

The position of the TCP results from the geometry parameters and the tool frame.

Basics
3.8.1.2 Traversing range and transformation area

The transformation area is the area of the axis positions that the kinematics transformation
covers. The kinematics type defines the transformation area for the individual kinematics
axes. You will find information on the transformation area in the description of the individual
kinematics systems (Page 35).
The hardware and software limit switches of an axis define the maximum traversing range
and the working area. The working area of a kinematics axis can be greater than or less than
the transformation area depending on the axis configuration:
● Work area > Transformation area
When a kinematics axis exits the transformation area during a kinematics motion, the
kinematics technology object outputs the technology alarm 803. The kinematics motion is
aborted and the axes stop with the maximum dynamic values configured for the axes
(alarm reaction: Stop with maximum dynamic values of the axes).
● Work area ≤ Transformation area
When a kinematics axis runs into the software limit switch, the positioning
axis/synchronous axis technology object outputs the technology alarm 533. The axis
stops with the maximum dynamic values configured for the axis (alarm reaction: Stop with
maximum dynamic values). When the axis is stopped, the kinematics technology object
outputs the technology alarm 801. The kinematics motion is aborted and the axes stop
with the maximum dynamic values configured for the axes (alarm reaction: Stop with
maximum dynamic values of the axes).
The following graphic shows the relationship between the working area of the axis and the
transformation area:
① Mechanical end stop

② Hardware limit switch for positioning axis/synchronous axis technology object
③ Software limit switch for positioning axis/synchronous axis technology object
④ Maximum traversing range of the axis
⑤ Work area of the axis
⑥ Transformation area
(here working area > transformation area)

Basics
3.8.1.3 Joint position spaces (kinematics-dependent)

Depending on the kinematics type, a kinematics system can reach Cartesian coordinates via
various joint positions. The kinematics type (Page 35) defines the possible joint positions and
the positive and negative joint position space. The joint positioning spaces are limited by the
respective transformation areas. In addition, with the "Delta picker" kinematics type there are
further limitations due to invalid joint positions and singular positions (Page 128) with the
kinematics types "articulated arm", "SCARA 3D" and "cylindrical robot". Also note the
resulting constructional limitations due to the installation location of the kinematics.
The kinematics technology object indicates the current joint position in the
"<TO>.StatusKinematics.LinkConstellation" tag.
The kinematics system cannot exit the joint position space during a linear or circular motion.
You can change the arm positioning space using single-axis motions and synchronous point-
to-point motion (sPTP motion).

Basics
Example: Kinematics type SCARA 3D

A "SCARA 3D" kinematics is to relocate an object from one pallet to another pallet. Due to a
wall, the kinematics system cannot reach the second pallet without the axis A2 changing the
joint position space.
The figure below shows the kinematics in the top view (xy plane):

Deflection of the kinematics in the positive direction when α1 = 45.0° with positive joint position
when α2 = 120.0°
Deflection of the kinematics in the negative direction when α1 = -45.0° with negative joint posi-
tion when α2 = -120.0°
Deflection of the axis A1 in the negative direction when α1 = -45.0°
α2 The deflection of the axis A2 in the positive direction when α2 = 120.0° produces a
positive joint position.

Basics
Example: "Articulated arm 3D" kinematics type

A kinematics "Articulated arm 3D" should move one object from one storage location to
another. The kinematics cannot reach the second storage location because of the ceiling
without axis A3 changing the arm positioning space.
The figure below shows the kinematics in the side view (xz plane):

Deflection of the kinematics in the positive direction when α1 = 10.0° with positive joint position when α2 = 35.0°
Deflection of the kinematics in the negative direction when α1 = -15.0° with negative joint position when α2 = -75.0°
α3 The deflection of the A3 in the positive direction when α3 = 35.0° produces a positive joint position.
The deflection of the A3 in negative direction when α3 = -75.0° produces a negative joint position.

Basics
Example: Kinematics type "cylindrical robot"

A kinematics "Cylindrical robot" should move an object from one storage location to another.
The kinematics cannot reach the second storage location without axis A3 changing the arm
positioning space.
The figure below shows the kinematics in the top view (xy plane):

Deflection of the kinematics in positive direction when α1 = 30.0°
Deflection of the kinematics in the negative direction when α1 = -75.0°
Deflection of the axis A1 in the negative direction when α1 = -75.0°

Basics
3.8.1.4 Singular positions

Depending on the kinematics type, inverse transformation Cartesian coordinates are
possible, which cannot be clearly converted into axis positions of the kinematics axes. This
occurs when the zero point of the flange coordinate system (FCS) is located on the z-axis of
the kinematics coordinate system (KCS). The Cartesian coordinates at which this behavior
occurs are referred to as singular positions.
The following kinematics types of the kinematics technology object have singular positions.
● Articulated arm 3D
● Articulated arm 3D with orientation
● SCARA 3D with orientation
● Cylindrical robot 3D
● Cylindrical robot 3D with orientation
Behavior in singular positions

A path motion on or through a singular position is not possible. When the singular position is
reached, the technology alarm 803 "Error during calculation of the transformation" is output
(alarm reaction: Stop with maximum dynamic values of the axes). The kinematics system
reduces the overruns of the dynamics caused by setpoints to the maximum dynamics of the
axis. The reduction of the overruns of the dynamics can result in unexpected axis motion.
Dynamic increase in the vicinity of singular positions

If the path motion runs in the vicinity of singular positions, kinematics axes may accelerate or
decelerate considerably and travel at very high speed. The dynamic limits of the axes may
be exceeded because of this. If the dynamic limits of the axes with regard to speed,
acceleration or deceleration are exceeded, this is displayed on the technology object data
block of the corresponding axis and the technology alarm 511 "Dynamic limit is violated by
the kinematics motion" is triggered. This is a warning and contains no alarm response. The
kinematics motion is not stopped.
The size of the area in which this behavior occurs depends on the kinematics used.

Basics
Possible measures
To prevent a dynamic increase in the vicinity of singular positions, take the following
measures:
1. Plan the path motions in such a way that the kinematics do not travel in or in the vicinity
of singular positions.
2. Check whether travel with your kinematics in or in the vicinity of singular positions can be
prevented by blocked zones or software limit switches.
3. In the user program, send Motion Control jobs with activated dynamic adaptation to the
kinematics technology object.
Note
Dynamic adaptation in the kinematics control panel
The dynamic adaptation is not active in the kinematics control panel. The dynamic limits of
the kinematics axes are not taken into account during a kinematics motion with the
kinematics control panel.
3.8.1.5 Mechanical couplings (kinematics-dependent)

If the position of a kinematics axis changes due to the motion of another kinematics axis,
these two axes are mechanically coupled. Mechanical couplings between two kinematics
axes can arise for reasons of construction. For example, if the orientation axis of the
"SCARA" kinematics is coupled to the spindle of a linear axis, the orientation changes due to
the motion of the linear axis.
The kinematics transformation compensates for the mechanical couplings with a coupling
factor. You specify the mechanical couplings and coupling factors depending on the
kinematics type during configuration of the kinematics.

Basics
3.8.2 Transformation for user-defined kinematics systems
3.8.2.1 User transformation

Unlike for predefined kinematics types, you must calculate the transformation for user-
defined kinematics systems in your own program. Like for predefined kinematics types, the
kinematics technology object performs the following tasks:
● Processing of Motion Control instructions
● Monitoring functions
● Communication with the interconnected axes
You program the user transformation of the Cartesian coordinates and the axis-specific
setpoints in the MC-Transformation [OB98] organization block. This programming includes
the transformation of the positions and the dynamic values (velocity, acceleration, jerk). You
freely define the parameters of a user-defined kinematics system in the tags of the
kinematics technology object "<TO>.Kinematics.Parameter[1..32]" or under "Technology
object > Configuration > Geometry".
When you add the MC-Transformation [OB98] in the TIA Portal, the system data block
"TransformationParameter" is automatically created under "Program blocks > System blocks
> Program resources". In the properties of the organization block under "General >
Transformation", the MC-Transformation [OB98] indicates the number of the system data
block "TransformationParameter". You write and read the axis-specific data or the Cartesian
data of the kinematics to be transformed in the system data block
"TransformationParameter".

Basics
Programming
The graphic below shows the interfaces and the interaction of system performance and user
transformation:
Processing by user program
System performance
The kinematics technology object automatically calls the MC-Transformation [OB98]. The
MC-Transformation [OB98] contains the following start information:
● Kinematics technology object that calls the MC-Transformation [OB98]
● Required direction of the transformation (forward or inverse transformation)
● Processing context of the transformation (current motion or motion planning)
● Pointer to the system data block "TransformationParameter" (VARIANT)
You evaluate this status information in your user program. In MC-Transformation [OB98].
you program the algorithms for the calculation of the axis-specific data or the Cartesian data
of all user-defined kinematics systems. You read the kinematics parameters needed for this
from the tags of the "<TO>.Kinematics.Parameter[1..32]" technology object. You write the
result of the calculation to the "TransformationParameter" interface.
The transformation parameters are then applied automatically to the kinematics technology
object and processed further. The kinematics technology object outputs the setpoints to the
kinematics axes.

Basics
Restrictions during transformation of multiple kinematics

Each kinematics technology object calls the MC-Transformation [OB98]. Only one
kinematics can be transformed in an MC-Transformation [OB98]. Only one
MC-Transformation [OB98] can be called in each servo clock.
3.8.2.2 MC-Transformation [OB98]
Reference declaration for system data block "TransformationParameter"

You must specify a reference to the data type for the system data block
"TransformationParameter" in the "MC-Transformation [OB98]". For this purpose, you
specify a tag with the following data type in the "Temp" area of the block interface:
"REF_TO TO_Struct_TransformationParameter_V1"
To enable access to the system data block "TransformationParameter", assign the data type
"TO_Struct_TransformationParameter_V1" using the following casting command:
#P ?= #TransformationParameters;
The declaration is described in a program example (Page 135).

Basics
Block call
The MC-Transformation [OB98] is called in the Motion Control application cycle according to
the configured priority. When the MC-Transformation [OB98] is called, the kinematics
technology object assigns its parameters:
Parameter Declaration Data type Default Description

value
KinematicsObject INPUT DB_ANY - Kinematics technology object for which the
MC-Transformation [OB98] calculates the transfor-
mation when called.
ExecutionContext INPUT DINT - Processing context of the MC-Transformation OB
0 MOTION_EXECUTION
Calculation of the axis setpoints in the motion
execution in the MC-Interpolator [OB92]. The
calculated values are necessary for the current
motion control.
1 NON_MOTION_EXECUTION
The transformation is necessary for the motion
planning (currently no motion).
TransformationType INPUT DINT - Calculation called for
0 Forward transformation
Calculation of the Cartesian parameters from
the axis positions
1 Inverse transformation
Calculation of the axis-specific parameters from
the Cartesian parameters
TransformationParameters InOut VARIANT - Pointer to the system data block "Transformation-
Parameter"
FunctionResult OUTPUT DINT - Return value of the MC-Transformation [OB98] to the
kinematics technology object
0 Calculation performed and parameters output
≠0 Error during calculation (user-defined)
If an error occurs during the calculation, the
kinematics technology object stops the motion.
The kinematics technology object outputs a
technology alarm with the error ID as an ac-
company value and deletes the job sequence.
The value can be greater than or less than
zero.

Basics
Priority
You configure the priority of the MC-Transformation [OB98] in the properties of the
organization block under "General > Attributes > Priority". For the priority you can set values
from 17 to 25 (default setting 25):
● The priority of MC-Transformation [OB98] must be at least one level lower than the
priority of MC-Servo [OB91].
● The priority of MC-Transformation [OB98] must be at least one level higher than the
priority of MC-Interpolator [OB92].

Basics
Tags of the system data block "TransformationParameter"

The following table shows the tags in the system data block "TransformationParameter":
Tag Data type Description

AxisData. STRUCT_ Axis-specific parameters
Transformation
AxisData_V1
a1Position LREAL Position setpoint of the axis A1
a1Velocity LREAL Velocity setpoint of the axis A1
a1Acceleration LREAL Acceleration setpoint of the axis A1
CartesianData STRUCT_ Cartesian parameters and joint position
Transformation
CartesianDa-
ta_V1
xPosition LREAL x position
xVelocity LREAL x velocity
xAcceleration LREAL x acceleration
yPosition LREAL y position
yVelocity LREAL y velocity
yAcceleration LREAL y acceleration
zPosition LREAL z position
zVelocity LREAL z velocity
zAcceleration LREAL z acceleration
aPosition LREAL A-position (orientation)
aVelocity LREAL A velocity (orientation)
aAcceleration LREAL A acceleration (orientation)
LinkConstellation DWORD Joint position area
3.8.2.3 Program example for a user-defined kinematics systems

The following describes a example for the user transformation in the MC-Transformation
[OB98] (Page 132) of a 2D kinematics with the name "KinematicsUserDefined2D". For these
kinematics, two transformation parameters were defined under "Technology object >
Configuration > Geometry".
The interaction of system performance and user transformation is displayed in the figure in
section "User transformation (Page 130)".

Basics
The following table shows the declaration of the tags used:
Tag Declaration Data type Description

KinematicsObject Input DB_ANY Reference to the technology object
TransformationType Input DInt Transformation direction
0 Forward transformation
1 Inverse transformation
FunctionResult Output DInt Transformation result
0 Successful
<0 Error
TransformationParam- InOut Variant Reference to the system data block "TransformationParam-
eters eter" in the MC-Transformation [OB98]
P Temp REF_TO Temporary tag for the casting command
TO_Struct_
Transformation
Parameter_V1
GearRatioA1 Temp LReal Temporary tag for read the defined transformation parame-
ters
GearRatioA2 Temp LReal Temporary tag for read the defined transformation parame-
ters
InvalidCast Constant DInt Return value for an unsuccessful casting command
The program example is structured as follows:

● Casting command for access to the system data block "TransformationParameter"
● Evaluation of the technology object
● Read the defined transformation parameters
● Evaluation of the transformation direction
● Calculation of the Cartesian coordinates from the axis positions of the kinematics axes
(forward transformation)
● Calculation of the axis positions of the kinematics axes from the Cartesian coordinates
(backward transformation)
First, the example program is explained step by step. The program code is summarized in
the section "Program example".

Basics
Casting command for access to the system data block "TransformationParameter"

The casting command enables access the transformation parameters defined in the
configuration.
The variant pointer is passed on to the temporary variable using the casting command.
It is then tested whether the casting command was successful. The meaning of the specified
InOut "Transformation Parameter" has the expected structure of the type
TO_Struct_TransformationParameters_V1.
If the casting command was not successful, the calculation is canceled and the tag
"FunctionResult" gets the value "InvalidCast".
IF #P = NULL THEN
#FunctionResult := #InvalidCast;
RETURN;
END_IF;
Evaluation of the technology object

An IF query is used to evaluate whether the user-defined kinematics requires the
transformation defined below.
IF #KinematicsObject = "KinematicsUserDefined2D" THEN
Read the defined transformation parameters

First, the transformation parameters defined in the configuration are read out. Two gears
ratios were defined in this example.
#GearRatioA1 := "KinematicsUserDefined2D".Kinematics.Parameter[1];
Evaluation of the transformation direction

The transformation direction is evaluated in the next step. If the tag "TransformationType"
has the value "0", the forward transformation is calculated. If the tag has the value "1", the
backward transformation is calculated.
IF #TransformationType = 0 THEN

Basics
Calculation of the Cartesian coordinates from the axis positions of the kinematics axes (forward
transformation)
In the forward transformation, Cartesian data (position, velocity and acceleration) are
calculated from the axis data. The forward transformation is first calculated in x direction and
then in z direction.
#P^.CartesianData.xPosition := #P^.AxisData.a1Position * #GearRatioA1;

#P^.CartesianData.xVelocity := #P^.AxisData.a1Velocity * #GearRatioA1;
#P^.CartesianData.xAcceleration := #P^.AxisData.a1Acceleration * #GearRatioA1;
#P^.CartesianData.zPosition := #P^.AxisData.a2Position * #GearRatioA2;

#P^.CartesianData.zVelocity := #P^.AxisData.a2Velocity * #GearRatioA2;
#P^.CartesianData.zAcceleration := #P^.AxisData.a2Acceleration * #GearRatioA2;
The specification of the arm positioning space is not required in this example. The
corresponding tag is set to zero.
#P^.CartesianData.LinkConstellation := 16#0000;
If the transformation is successful, the tag "FunctionResult" receives the value "0".
#FunctionResult := 0;
Calculation of the axis positions of the kinematics axes from the Cartesian coordinates (backward
transformation)
In the backward transformation, axis data (position, velocity and acceleration) are calculated
from the Cartesian data. The backward transformation is first calculated for axis A1 and then
for axis A2.
ELSIF #TransformationType = 1 THEN
#P^.AxisData.a1Position := #P^.CartesianData.xPosition / #GearRatioA1;

#P^.AxisData.a1Velocity := #P^.CartesianData.xVelocity / #GearRatioA1;
#P^.AxisData.a1Acceleration := #P^.CartesianData.xAcceleration / #GearRatioA1;
#P^.AxisData.a2Position := #P^.CartesianData.zPosition / #GearRatioA2;

#P^.AxisData.a2Velocity := #P^.CartesianData.zVelocity / #GearRatioA2;
#P^.AxisData.a2Acceleration := #P^.CartesianData.zAcceleration / #GearRatioA2;
If the transformation is successful, the tag "FunctionResult" receives the value "0".
END_IF;
END_IF;

Basics
Program example
The program example is summarized with Commentary in the following section:
SCL
//Caste of the variant "TransformationParameters" to the referenced datatype
//"TO_Struct_TransformationParameter_V1".
//This has to be done in order to access the variant pointer, which references
//the "TransformationParameters" where the "AxisData" and "CartesianData" for
//the calculation of user transformation are stored.
//Check if cast of "TransformationParameters" was successfull. Otherwise abort calcula-

tion.
IF #P = NULL THEN
#FunctionResult := #InvalidCast;
RETURN;
END_IF;
//Check if "KinematicsUserDefined2D" needs transformation.

IF #KinematicsObject = "KinematicsUserDefined2D" THEN
//Read the user defined cartesian parameters.

//Calculate the forward transformation "AxisData" -> "CartesianData".

//The system fills the "AxisData" of "TransformationParameters" with values.
//To calculate the "CartesianData" evaluate "AxisData".
IF #TransformationType = 0 THEN
//Calculate the position, velocity and acceleration component for the x-vector.
#P^.CartesianData.xPosition := #P^.AxisData.a1Position * #GearRatioA1;
#P^.CartesianData.xVelocity := #P^.AxisData.a1Velocity * #GearRatioA1;
#P^.CartesianData.xAcceleration := #P^.AxisData.a1Acceleration * #GearRatioA1;
//Calculate the position, velocity and acceleration component for the z-vector.
#P^.CartesianData.zPosition := #P^.AxisData.a2Position * #GearRatioA2;
#P^.CartesianData.zVelocity := #P^.AxisData.a2Velocity * #GearRatioA2;
#P^.CartesianData.zAcceleration := #P^.AxisData.a2Acceleration * #GearRatioA2;
//Link constellation can be set to 0 here, hence it is not needed.

#P^.CartesianData.LinkConstellation := 16#0000;
//Transformation was successfull.


Basics
SCL
//Calculate the backward transformation "CartesianData" -> "AxisData".
//The system fills the "CartesianData" of "TransformationParameters" with values.
//To calculate the "AxisData" evaluate "CartesianData".
ELSIF #TransformationType = 1 THEN
//Calculate the position, velocity and acceleration component for the first axis.
#P^.AxisData.a1Position := #P^.CartesianData.xPosition / #GearRatioA1;
#P^.AxisData.a1Velocity := #P^.CartesianData.xVelocity / #GearRatioA1;
#P^.AxisData.a1Acceleration := #P^.CartesianData.xAcceleration / #GearRatioA1;
//Calculate the position, velocity and acceleration component for the second axis.
#P^.AxisData.a2Position := #P^.CartesianData.zPosition / #GearRatioA2;
#P^.AxisData.a2Velocity := #P^.CartesianData.zVelocity / #GearRatioA2;
#P^.AxisData.a2Acceleration := #P^.CartesianData.zAcceleration / #GearRatioA2;
//Transformation was successfull.

END_IF;
END_IF;
3.8.3 Tags: Kinematics transformation

The following tags of the kinematics technology object are relevant for the kinematics
transformation:
Tag Description
Status values
<TO>.StatusKinematics.Valid TRUE Transformation/Cartesian values valid
FALSE Transformation/Cartesian values invalid
<TO>.StatusKinematics.LinkConstellation Joint position
<TO>.FlangeInKcs Current transformation frame (with dynamics, setpoint reference)

Basics
3.9 Kinematics motions

With kinematics motions you move the kinematics through the three-dimensional space.
Plan the kinematics motion in advance. Take into consideration the following:
● Reachable points of the kinematics
● Zones
● Transformation areas
● Joint position spaces
● Software limit switches of axes
The orientation motion is the motion of the Cartesian orientation and is performed at the
same time for the kinematics motion. When motions are smoothed, the orientation motion is
also smoothed. When the kinematics motion stops, the orientation motion also stops.
Reference system
The target position and the target orientation you specify for a kinematics motion can relate
to the world coordinate system (WCS) or an object coordinate system (OCS).
3.9.1 Motion types
3.9.1.1 Linear motion

You can move a kinematics system with a linear motion. You define the linear motion using
the Motion Control instructions "MC_MoveLinearAbsolute" (Page 258) and
"MC_MoveLinearRelative" (Page 263). While the kinematics system is moved to an absolute
position with a "MC_MoveLinearAbsolute" job, it is moved relative to the current position with
a "MC_MoveLinearRelative" job. The kinematics system moves from the current position to
the defined target position with a linear motion.
3.9.1.2 Circular motion

You can move a kinematics system with a circular motion. You define the circular motion
using the Motion Control instructions "MC_MoveCircularAbsolute" (Page 269) and
"MC_MoveCircularRelative" (Page 277). While the kinematics system is moved to an
absolute position with a "MC_MoveCircularAbsolute" job, it is moved relative to the current
position with a "MC_MoveCircularRelative" job.

Basics
Definition of circular path ("CircMode")

With the "CircMode" parameter, you specify the definition of the circular path. Depending on
this parameter value, the circular path is calculated as follows:
● Via an intermediate point and the end point ("CircMode" = 0)
With the intermediate point, you specify a point on the circular path, via which the end
point is to be approached. The circular path is calculated from the starting, intermediate
and end points. Only circular paths less than 360° can be traversed here.
● Via the circle center and the angle in a main plane ("CircMode" = 1)
The end point of the circular path is calculated with the circle center and the angle. With
the "PathChoice" parameter, you specify whether the circular path is to be traversed in
positive or negative direction of rotation. With the "CirclePlane" parameter, you specify
the main plane in which the circular path is to be traversed.
● Via the circle radius and the end point in a main plane ("CircMode" = 2)
The circular path is calculated with the circle radius and the end point. This can yield up
to four possible circular paths. With the "PathChoice" parameter, you specify which of the
four possible circular paths is to be traversed. With the "CirclePlane" parameter, you
specify the main plane in which the circular path is to be traversed.
When defining the intermediate and end points, circle center and angle or circle radius and
end point, ensure that the information is consistent.
Orientation direction of the circular path ("PathChoice")

When the circular path is to be calculated using circle center and the angle, you use the
"PathChoice" parameter to define whether the circular path is to be traversed in positive or
negative direction of rotation.
① Positive direction of rotation ("PathChoice" = 0)

② End point
③ Circle center
④ Starting point
⑤ End point
⑥ Positive direction of rotation ("PathChoice" = 1)

Basics
When the circular path is to be calculated using the circle radius and the end point, you use
the "PathChoice" parameter to define which of the four possible circular paths is to be
traversed. A distinction is made here between the positive and negative direction of rotation
as well as between the longer and shorter circle segment.
① Longer positive circle segment ("PathChoice" = 2)

② Shorter positive circle segment ("PathChoice" = 0)
③ Starting point
④ End point
⑤ Shorter negative circle segment ("PathChoice" = 1)
⑥ Longer negative circle segment ("PathChoice" = 3)

Basics
3.9.1.3 Synchronous "point-to-point" motion

You can move a kinematics system with a synchronous "point-to-point" motion (sPTP
motion). With the sPTP motion you can move a kinematics time- and motion-optimized,
bypass single positions or change joint position spaces. The kinematics does not follow a
specified path, but approaches the specified end point via the shortest distance.
You can predetermine axis positions or Cartesian coordinates for an sPTP motion. The
single-axis motions are calculated from the start and target positions, which are moved
synchronously. All kinematics axes are moved simultaneously and reach the given target
position at the same time. The kinematics axis with the longest travel time determines the
travel time of the sPTP motion.
The kinematics motion of the kinematics is determined by the dynamics and motion of the
individual axes. The course of the TCP motion is derived from the travel motions and the
dynamics of the individual axes.
To reduce the travel time of a sequence of motion jobs, blending is supported between sPTP
motions and path motions.
A sequence of motion jobs can be, for example:
● Record product with defined motion
● Move product with sPTP motion as quickly as possible
● Place product with defined motion
Define the motion via the Motion Control instructions "MC_MoveDirectAbsolute" (Page 285)
and "MC_MoveDirectRelative" (Page 292).
Target position
Define a corresponding target position for the kinematics. Specify an absolute or relative
position for the orientation. While the kinematics system is moved to absolute position with a
"MC_MoveDirectAbsolute" job, it is moved relative to the current position with a
"MC_MoveDirectRelative" job.
The target positions can be specified Cartesian or axis-related. To do this, define the
corresponding reference coordinate system. Enter axis-related coordinates in the machine
coordinate system (MCS). Cartesian coordinates are defined in the world coordinate system
(WCS) or in one of the object coordinate systems (OCS). If you enter Cartesian coordinates,
you can also predetermine the arm positioning space and the arm position in the target
position.
Dynamics of the synchronous "point-to-point" motion

The dynamics of the synchronous point-to-point motion are determined by factors. These
factors are percental to the maximum values of velocity, acceleration, deceleration and jerk
that you have configured for the individual axes under "Technology object > Configuration >
Extended parameters > Dynamic default values".

Basics
3.9.2 Motion dynamics
3.9.2.1 Dynamics of kinematics motion and orientation motion

You specify the dynamic values (velocity, acceleration, jerk) of a kinematics motion for the
corresponding Motion Control instruction.
Dynamic defaults
If you do not specify any dynamic values for motion jobs (default value "-1.0"), the dynamic
defaults configured under "Technology object > Configuration > Extended parameters >
Dynamics" are used for the kinematics motion. For the orientation motion you can only
specify the dynamic values using the dynamic defaults.
If you change the dynamic defaults during an active motion, the changed values take effect
only in the next motion job.
Dynamic limits of the kinematics

The configured dynamic limits of the kinematics configured under "Technology object >
Configuration > Extended parameters > Dynamics" are taken into account during the motion
execution. The dynamics of a motion can be restricted so that the dynamic limits of the
kinematics are not exceeded. When you change the dynamic limits of the kinematics, the
changes take effect immediately for the kinematics motion and orientation motion.
Dynamic limits of the kinematics axes

When a motion job is transmitted, the dynamic limits of the kinematics axes configured under
"Technology object > Configuration > Extended parameters > Limits > Dynamic limits" are
only taken into account if the Dynamic adaptation is active. The dynamics of the motion can
be restricted so that the dynamic limits of the kinematics axes are not exceeded. When you
change the dynamic limits of the kinematics axes during an active motion, the changed
values only take effect with the next motion job.
Note
Dynamic adaptation in the user program
Dynamic adaptation is only active if it is activated in the user program.
Note

Basics
Dynamic adaptation
You set the dynamic adaptation under "Kinematics technology object > Configuration >
Extended parameters > Dynamics". When dynamic adaptation is active, a velocity profile is
calculated for the entire motion which takes into account the dynamic limits of the kinematics
axes and the kinematics (<TO>.StatusPath.DynamicAdaption). Velocity and acceleration are
included in the dynamic adaptation. Tangential and radial acceleration of the path is taken
into account in acceleration. The jerk is not limited for dynamic adaptation.
Note
Dynamic adaptation in the user program
Dynamic adaptation is only active if it is activated in the user program.
Note
The graphic below shows examples of a velocity curve with and without dynamic adaptation:
With dynamic adaptation

Without dynamic adaption
With dynamic adaptation without segmentation of the path, the velocity profile is calculated
taking into consideration the dynamic limits of the kinematics axes which apply for the entire
motion.
For dynamic adaptation with segmentation, the path is divided into individual equidistant
segments. For each of these segments, the velocity profile is calculated taking into
consideration the dynamic limits of the kinematics axes which apply for individual sections of
the motion. The dynamic response is therefore adapted for individual sections of a motion.

Basics
3.9.2.2 Override
You can specify a velocity override for the kinematics (<TO>.Override.Velocity) using the
technology object data block. You can specify a value between 0% and 200%. The velocity
override acts on the velocity of the tool center point (TCP) along the path. If you change the
velocity override of the kinematics, the change takes effect immediately for the kinematics
motion and orientation motion.
The setpoint velocity of the motion is the velocity specified for the Motion Control instruction
multiplied by the percentage value of the velocity override.
The axis-specific velocity override values do not take effect for kinematics motions.
3.9.3 Tags: Kinematics motions

The following technology object tags are relevant for motion control:
Tag Description
Status values
<TO>.StatusWord Status indicator for an active motion
<TO>.StatusPath.CoordSystem Coordinate system of the active motion job
0 World coordinate system
1, 2, 3 Object coordinate system 1, 2, 3
<TO>.Tcp Target coordinates of the kinematics motion in the world coordinate
system
x, y, z, A
<TO>.StatusPath.Velocity Current path velocity (setpoint reference)
<TO>.StatusPath.Acceleration Current path acceleration (setpoint reference)
<TO>.StatusPath.DynamicAdaption Dynamic adaptation
0 No dynamic adaptation
1 Dynamic adaptation with segmentation of the path
2 Dynamic adaptation without segmentation of the path
<TO>.StatusMotionQueue.NumberOfCommands Number of jobs in the job sequence
Override
<TO>.Override.Velocity Velocity override

Basics
Tag Description
Dynamic limits
<TO>.DynamicLimits.Path.Velocity Dynamic limitation for the maximum velocity of the path
<TO>.DynamicLimits.Path.Acceleration Dynamic limitation for the maximum acceleration of the path
<TO>.DynamicLimits.Path.Deceleration Dynamic limitation for the maximum deceleration of the path
<TO>.DynamicLimits.Path.Jerk Dynamic limitation for the maximum jerk of the path
<TO>.DynamicLimits.Orientation.Velocity Dynamic limitation for the maximum velocity of the Cartesian orienta-
tion
<TO>.DynamicLimits.Orientation.Acceleration Dynamic limitation for the maximum acceleration of the Cartesian
orientation
<TO>.DynamicLimits.Orientation.Deceleration Dynamic limitation for the maximum deceleration of the Cartesian
orientation
<TO>.DynamicLimits.Orientation.Jerk Dynamic limitation for the maximum jerk of the Cartesian orientation
Dynamic defaults
<TO>.DynamicDefaults.Path.Velocity Default setting of the velocity of the path
<TO>.DynamicDefaults.Path.Acceleration Default setting of the acceleration of the path
<TO>.DynamicDefaults.Path.Deceleration Default setting of the deceleration of the path
<TO>.DynamicDefaults.Path.Jerk Default setting of the jerk of the path
<TO>.DynamicDefaults.Orientation.Velocity Default setting of the velocity of the Cartesian orientation
<TO>.DynamicDefaults.Orientation.Acceleration Default setting of the acceleration of the Cartesian orientation
<TO>.DynamicDefaults.Orientation.Deceleration Default setting of the deceleration of the Cartesian orientation
<TO>.DynamicDefaults.Orientation.Jerk Default setting of the jerk of the Cartesian orientation
<TO>.DynamicDefaults.DynamicAdaption Default setting of the dynamic adaptation
1 Dynamic adaptation with segmentation of the path
2 Dynamic adaptation without segmentation of the path
<TO>.DynamicDefaults.MoveDirect.VelocityFactor Factor for the velocity of the axis motions in relation to the respective
maximum velocity of the axes with sPTP motion.
<TO>.DynamicDefaults.MoveDirect.AccelerationF Factor for the acceleration of the axis motions in relation to the re-
actor spective maximum acceleration of the axes with sPTP motion.
<TO>.DynamicDefaults.MoveDirect.DecelerationF Factor for the deceleration of the axis motions in relation to the re-
actor spective maximum deceleration of the axes with sPTP motion.
<TO>.DynamicDefaults.MoveDirect.JerkFactor Factor for the jerk of the axis motions in relation to the respective
maximum jerk of the axes with sPTP motion.

Basics
3.10 Conveyor Tracking

With conveyor tracking, the kinematics can follow a moving object coordinate system (OCS).
The OCS is connected to a leading-value-capable technology object which represents the
conveyor belt and is coupled in x direction.
Leading-value-capable technology objects are:
● Positioning axis
● Synchronous axis
● External encoder
● Leading axis proxy
Phases of conveyor tracking

The conveyor tracking proceeds in the following phases:
● Detect product position on the conveyor
● OCS is assigned to the product position
● Tool center point (TCP) approaches position in the OCS
● Move TCP in the OCS
● Finish moving the kinematics with the OCS
● Finish conveyor tracking

Basics
The following graphic shows the functionality of conveyor tracking using the example of a
kinematics and a conveyor belt:
The products are transported to the room via a conveyor belt. The product position on the
conveyor belt is recorded via a light barrier. The Motion Control instruction
"MC_TrackConveyorBelt" assigns this product position to the object coordinate system 1
(OCS1). With the next kinematics motion job, the TCP moves to the specified position in the
OCS1.
When this position is reached, the TCP follows the OCS1, the kinematics thus follows the
first product on the conveyor. Further product-related steps are now possible via further path
motion jobs with reference to the coupled OCS1.
The position of the pallet is defined by the OCS3 frame. A store the product on the pallet, a
motion job to the OCS3 is required.
As soon as the kinematics travels to the OCS3, another "MC_TrackConveyorBelt" job can
assign the OCS1 again and start the process again. Alternatively, another product can be
assigned to the OCS2 beforehand and later be used for conveyor tracking.

Basics
Detect product position on the conveyor

No OCS is yet coupled in this phase (<TO>.StatusConveyor[1..3].TrackingState = 0).
When a product reaches a defined position on the conveyor, the position is detected, for
example, via a measuring-input function with light barrier. The corresponding conveyor
position is stored temporarily.
OCS is assigned to the product position

In this stage the status changes to "OCS assigned"
(<TO>.StatusConveyor[1..3].TrackingState = 1).
To enable product tracking, the associated OCS frame must be known to the recorded
product position on the conveyor.
The OCS is assigned to a leading-value-capable technology object via a
"MC_TrackConveyorBelt" job with the "ConveyorBelt" parameter. The OCS is assigned to
the product with the OCS frame ("ConveyorBeltOrigin") and the product position
("InitialObjectPosition"). The OCS is now coupled in x direction of the technology object. The
OCS must be assigned to the product before the kinematics can follow the OCS.
The OCS can be moved in "TrackingState" = 1 or assigned to a different product or
technology object. You can move the object coordinate systems with the same or different
technology objects.
TCP approaches the position of the OCS

During this stage the status shows "TCP is approaching OCS"
With the next kinematics motion job, the TCP moves to the specified position in the OCS The
kinematics can be moved with the Motion Control instructions "MC_MoveLinearAbsolute" or
"MC_MoveCircularAbsolute". Program the approach by specifying an absolute target
position in the coupled OCS.
Individual orientation motions and dynamic adaptation are not possible in this phase. The
dynamics of the kinematics when approaching the position in the OCS results from the
dynamics of the motion job and the dynamics of the product motion on the conveyor belt.
The OCS cannot be shifted or assigned to another technology object.
Before starting the motion, the status is "TrackingState" = 1. During the motion the
"TrackingState" is = 2. When the motion is complete, the status changes to "TrackingState"
= 3.

Basics
Move TCP in the OCS

In this phase, the status is "TCP follows OCS" (<TO>.StatusConveyor[1..3].TrackingState =
3).
The TCP follows the technology object. The kinematics can now perform additional motions
within the coupled OCS.
The kinematics can now be moved with following jobs:
● "MC_MoveLinearAbsolute" job and "MC_MoveLinearRelative" job
● "MC_MoveCircularAbsolute" job and "MC_MoveCircularRelative" job
Moving onto the conveyor belt and the first motion on the belt is only possible without
blending. Blending is possible with other motions.
With a "MC_GroupInterrupt" job or a "MC_GroupStop" job, the path motion within the
coupled OCS is stopped. The kinematics continues to follow the OCS. The status "TCP
follows OCS" is retained.
With a "MC_GroupContinue" job, an interruption can be continued with a
"MC_GroupInterrupt" job.
The path motions on the conveyor belt are canceled with a "MC_GroupStop" job. The path
motion is restarted with a new job in the OCS.
Finish moving the kinematics with the OCS

In this stage the status changes to "OCS assigned"
The kinematics is typically guided away from the conveyor after the motions within the
coupled OCS have been completed.
Start a kinematics motion without reference to the coupled OCS either to a stationary
position or to another coupled OCS. This OCS can also be assigned to another conveyor.
With the start of this motion, the status of "TrackingState" = 3 changes to "TrackingState" =
1.
The original OCS is still coupled with the technology object and can be approached again by
the kinematics.
When a coupled OCS is approached again, the status changes according to the specified
phases of "TrackingState" = 1 up to "TrackingState" = 3.

Basics
Finish conveyor tracking

In this stage the status changes to "OCS not assigned"
To enable the OCS again for its stationary function, the coupling must be terminated. The
position of the OCS frame corresponds to the original configuration. The moving of the
kinematics with this OCS must first be completed (<TO>.StatusConveyor[1..3].TrackingState
= 1).
The coupling of the OCS with the technology object is canceled via a "MC_SetOcsFrame"
job or by a "MC_Reset" job with "Restart" = TRUE.
NOTICE
Product and machine damage
If the kinematics is coupled with a technology object, this leads to a motion abort. This can
lead to product and machine damage.
Terminate the motion of the leading-value-capable technology object.

Basics
3.11 Zone monitoring

The zone monitoring has the following purposes:
● Protection from collisions with mechanical installations
● Triggering of process-related actions (signal zones)
WARNING
No protection of personnel
The zone monitoring is not suitable for protection of personnel.
Implement suitable protective measures for protecting personnel, e.g. set up protective
fences, install safety doors, etc.
Zones are geometric bodies you can use to describe and subdivide the workspace of a
kinematics system. You can configure workspace zones and kinematics zones on the
kinematics technology object. Workspace zones describe the environment of a kinematics
system. Kinematics zones envelope the end point of a kinematics system (flange or tool).
The following graphic shows the zones of a kinematics system:
Work zone
Signal zone
Blocked zone
Flange zone and tool zone

Basics
Zone configuration
You can specify and activate/deactivate zones via the configuration of the kinematics
technology object or in your user program using Motion Control instructions.
Zone monitoring
The zone monitoring checks all activated workspace zones (work zones, signal zones,
blocked zones) for collision with all activated kinematics zones (flange zones, tool zones).
The zone monitoring monitors the zones for all motions of the kinematics system:
● Kinematics motions via the user program or kinematics control panel
● Single axis motions via the user program or axis control panel
The status of the zone monitoring is indicated in the diagnostics (Page 215) and in the tags
(Page 161) of the kinematics technology object.
If the zone monitoring detects a zone violation by a kinematics motion, the following
reactions occur:
Zone violation Reaction Description

Exiting the work zone Alarm with The kinematics technology object outputs a technology
stop alarm. The kinematics motion is stopped.
Entering an signal zone Alarm without The kinematics technology object outputs a technology
stop alarm. The kinematics motion will be continued.
Entering an blocked Alarm with The kinematics technology object outputs a technology
zone stop alarm. The kinematics motion is stopped. The kinematics
violates the zone by the length of the brake path at a mini-
mum.
The kinematics technology object outputs a technology alarm following zone violations by
single axis motions. The positioning axis/synchronous axis technology object outputs a
technology alarm. The single axis motion is not aborted. You can abort the single axis
motion in the application.
In addition to the zones of the kinematics technology object, you limit the travel space of the
kinematics by the software limit switches of the axes.

Basics
Retracting after a zone violation

Once you have acknowledged the technology alarm on the kinematics technology object,
you can move the kinematics system again.
NOTICE
Zone monitoring for violated zone deactivated after acknowledgment
After you have acknowledged the technology alarm on the kinematics technology object,
the zone monitoring is deactivated for the violated zone until the kinematics exits the
violated blocked zone / signal zone or enters the violated work zone again. You can move
the kinematics in all directions including again into the violated blocked zone / signal zone
or from the work zone.
Take into consideration the travel direction when retracting the kinematics.
Monitor retraction in the application. The zone monitoring status is still displayed in the data
block technology object.
After the kinematics has exited the violated blocked zone / signal zone again or entered the
violated work zone again, zone monitoring is activated again for this zone. A new technology
alarm is therefore triggered when the zone is violated again.
See also
Tags: Zone monitoring (Page 161)
3.11.1 Workspace zones

Workspace zones describe the environment of a kinematics system. You define workspace
zones in the world coordinate system (WCS) or in the object coordinate system (OCS). You
can configure and activate/deactivate up to ten workspace zones. The following table shows
the workspace zones of the kinematics technology object:
Workspace zone Description

Work zone Work zones define areas in which kinematics zones may move.
Signal zone Signal zones indicate the following:
• Kinematics zone is entering the signal zones
• Kinematics zone is located in the signal zone
Blocked zone Blocked zones define areas in which a kinematics zone must not enter.

Basics
Work zone
With work zones you limit the possible travel space of the kinematics or define several
possible work areas. You can specify several work zones. Only one work zone can be
activated at a given time. If no work zone is activated, the entire traversing space of the
kinematics is regarded as the work area.
Kinematics zones must be located within work zones. When a kinematics zone exits a work
zone, the kinematics technology object outputs the technology alarm 806 (alarm reaction:
Stop with maximum dynamic values of the kinematics). The axes involved in the kinematics
motion stop with the maximum dynamic values configured for the kinematics technology
object. All jobs in the job sequence are canceled.
Signal zone
Signal zones are areas within the traversing space of the kinematics. Signal zones indicate a
zone violation by a kinematics zone but do not trigger a stop of the kinematics motion. Signal
zones can be located outside the work zone to some extent.
When a kinematics zone violates an signal zone, the kinematics technology object outputs
the technology alarm 807 (no alarm reaction).
Blocked zone
Blocked zones are areas within the traversing space of the kinematics in which a kinematics
zone must not enter (e.g. control cabinet, protective wall). Blocked zones can be located
outside the work zone to some extent.
When a kinematics zone violates an blocked zone, the kinematics technology object outputs
the technology alarm 806 (alarm reaction: Stop with maximum dynamic values of the
kinematics). The axes involved in the kinematics motion stop with the maximum dynamic
values configured for the kinematics technology object. All jobs in the job sequence are
canceled.
3.11.2 Kinematics zones

Kinematics zones are related to the working point / flange of a kinematics and move with the
kinematics. The zone monitoring checks the kinematics zones for penetration with
workspace zones. With kinematics zones you expand the monitored area beyond the tool
center point (TCP). You can configure and activate/deactivate up to nine kinematics zones.
The following table shows the kinematics zones of the kinematics technology object:
Kinematics zone Reference system Description

Tool zone TCS Tool zones envelope the tool or parts of the tool.
Flange zone FCS Flange zones envelope the flange or parts of the flange.

Basics
Tool zone
You define tool zones in the tool coordinate system (TCS). The following graphic shows a
spherical tool zone:
Flange zone
You define flange zones in the flange coordinate system (FCS). The following graphic shows
a cylindrical flange zone:
In this example, a shift by the height of the flange zone in negative z direction of the FCS has
been defined.

Basics
3.11.3 Zone geometry

You can configure zones with the following geometric bodies:
● Sphere
● Cuboid
● Cylinder
You specify the position of the zero point of the zone coordinate system in the reference
coordinate system. You specify the dimensions and rotation of the body starting from this
zero point.
Sphere
You define a sphere starting from the zero point using the radius:
r Radius of the sphere

Basics
Cuboid
You define a cuboid starting from the zero point using the edge lengths in x, y and z
direction:
Lx Edge length in x direction of the zone coordinate system

Ly Edge length in y direction of the zone coordinate system
Lz Edge length in z direction of the zone coordinate system
Cylinder
You define a cylinder starting from the zero point using the radius of the base and the
cylinder height:
r Radius of the base of the cylinder

Lz Height of the cylinder in z direction of the zone coordinate system

Basics
3.11.4 Tags: Zone monitoring

The following tags of the kinematics technology object are relevant for the zone monitoring:
Tag Description
Zone configuration
<TO>.WorkspaceZone[1..10] Configuration of the workspace zones
<TO>.KinematicsZone[2..10] Configuration of the kinematics zones
The <TO>.KinematicsZone[1] zone is the tool center point (TCP) and is
always activated.
Status values
<TO>.StatusWorkspaceZone[1..10] Status of the workspace zones
<TO>.StatusKinematicsZone[2..10] Status of the kinematics zones
<TO>.StatusZoneMonitoring.WorkingZones Display of violated work zones
The bit numbers 1 to 10 correspond to the configured zone numbers.
<TO>.StatusZoneMonitoring.BlockedZones Display of violated blocked zones
<TO>.StatusZoneMonitoring.SignalizingZones Display of approached signal zones
<TO>.StatusZoneMonitoring.KinematicsZones Display of kinematics zones that violate workspace zones
The bit number 1 indicates the monitoring status of the TCP. The bit
numbers 2 to 10 correspond to the configured zone numbers.

Version overview 4
For S7-1500T Motion Control, a distinction is made between the version of the technology,
the technology objects and the Motion Control instructions.
The version of a technology object or a Motion Control instruction is indicated in the
properties of the technology object in the "General > Information" tab, "Version" field.
Compatibility list
The table below shows the compatibility of the technology version with the CPU version:
CPU Technology Technology object Motion Control instruction

V2.8 V5.0 Kinematics V5.0 MC_GroupInterrupt V5.0
MC_GroupContinue V5.0
MC_GroupStop V5.0
MC_MoveLinearAbsolute V5.0
MC_MoveLinearRelative V5.0
MC_MoveCircularAbsolute V5.0
MC_MoveDirectAbsolute V5.0
MC_MoveDirectRelative V5.0
MC_TrackConveyorBelt V5.0
MC_DefineWorkspaceZone V5.0
MC_DefineKinematicsZone V5.0
MC_SetWorkspaceZoneActive V5.0
MC_SetWorkspaceZoneInactive V5.0
MC_SetKinematicsZoneActive V5.0
MC_SetKinematicsZoneInactive V5.0
MC_DefineTool V5.0
MC_SetTool V5.0
MC_SetOcsFrame V5.0
MC_KinematicsTransformation V5.0
MC_InverseKinematicsTransformation
V5.0

Version overview
CPU Technology Technology object Motion Control instruction

V2.5 V4.0 Kinematics V4.0 MC_GroupInterrupt V4.0
MC_GroupContinue V4.0
MC_GroupStop V4.0
MC_MoveLinearAbsolute V4.0
MC_MoveLinearRelative V4.0
MC_DefineWorkspaceZone V4.0
MC_DefineKinematicsZone V4.0
MC_SetWorkspaceZoneActive V4.0
MC_SetWorkspaceZoneInactive V4.0
MC_SetKinematicsZoneActive V4.0
MC_SetKinematicsZoneInactive V4.0
MC_DefineTool V4.0
MC_SetTool V4.0
MC_SetOcsFrame V4.0
Version-dependent organization block MC-LookAhead [OB97]

If you change of a technology version V4.0 to ≥ V5.0, an organization block (OB) MC-
LockAhead [OB97] is automatically created.
When changing a technology version V4.0 to ≥ V5.0, you still have the same options as with
a technology version V4.0.
If you use multiple kinematics, only one MC-LockAhead [OB97] is used for all kinematics
used. The movement preparation of the kinematics technology object is calculated in the
MC-LookAhead [OB97] organization block.

Configuring 5
5.1 Adding a kinematics technology object
The following describes how to add a kinematics technology object in the project tree.
Requirement
A project with a CPU S7-1500T is created.
Procedure
To add a kinematics technology object, follow these steps:
1. Open the CPU's folder in the project navigator.
2. Open the "Technology Objects" folder.
3. Double-click "Add new object".
The "Add new object" dialog opens.
4. Select "TO_Kinematics". You can infer the function of the technology object from the
displayed description.
5. In the "Name" input field, adapt the name of the kinematics to your requirements.
6. To change the suggested data block number, select the "Manual" option.
7. To add your own information about the technology object, click "Additional information".
8. To open the configuration after adding the technology object, select the "Add new and
open" check box.
9. To add the technology object, click "OK".
Result
The new kinematics technology object was created and placed in the "Technology objects"
folder of the project tree.

Configuring
5.2 Configuring the kinematics technology object
5.2.1 Configuration - Basic Parameters

Configure the basic properties of the kinematics technology object in the "Basic Parameters"
configuration window.
Kinematics name
Define the name of the kinematics in this field. The technology object is listed under this
name in the project tree. The variables of the technology object can be used in the user
program under this name.
Kinematics type
Select the desired kinematics type (Page 35) in this drop-down list.
Units of measure
In the drop-down list, select the desired units of measure (Page 22) for the position, velocity,
angle and angular velocity of the kinematics.
If you wish to use six decimal places in the selected unit, select the check box "Use position
values with higher resolution".

Configuring
5.2.2 Configuration - Interconnections

Configure the axes of kinematics in the "Interconnections" configuration window.
Kinematics axes
You can interconnect a kinematics technology object with positioning axes and synchronous
axes which are already created in the project. In the drop-down list, select the desired axes
depending on the kinematics type (Page 35). You can directly call the configuration of the
selected technology object using the button. Configure the interconnected technology
objects as linear or rotary axes according to the kinematics type.
Depending on the kinematics type, the following kinematics axes are relevant:
Kinematics type Kinematics axis Kinematics axis Kinematics axis Orientation axis
A1 A2 A3 A4
2D x x - -
2D with orientation x x - x
3D x x x -
3D with orientation x x x x
x relevant
- Not relevant
See also
Interconnection rules (Page 20)

Configuring
5.2.3 Configuration - Geometry
5.2.3.1 Configuration - Geometry (Cartesian portal)

Configure the geometric parameters of kinematics in the "Geometry" configuration window.
Transformation parameters
In these fields, define the transformation parameters of the kinematics in the kinematics
coordinate system (KCS) depending on the kinematics type:
● Kinematics type "Cartesian portal 2D" and "Cartesian portal 2D with orientation"
Field Description
Length L1 Define the distance of the zero position of the A1 axis to the kinematics zero
point (KZP) in x direction of the KCS
point in z direction of the KCS
Flange length LF Define the distance of the flange coordinate system (FCS) from the axis A2 in
the negative z direction of the KCS in this field.
Field Description
point in x direction of the KCS in this field.
point in y direction of the KCS in this field.
point in z direction of the KCS in this field.
Flange length LF Define the distance of the flange coordinate system from the axis A3 in the
negative z direction of the KCS in this field.

Configuring
Representation in kinematics trace

In these fields, define the scaling in which the kinematics is displayed in the kinematics trace,
Field Description
x minimum Define the dimensioning of the kinematics in the negative x direction in this
field.
x maximum Define the dimensioning of the kinematics in the positive x direction in this
field.
z minimum Define the dimensioning of the kinematics in the negative z direction in this
field.
z maximum Define the dimensioning of the kinematics in the positive z direction in this
field.
Field Description
field.
field.
y minimum Define the dimensioning of the kinematics in the negative y direction in this
field.
y maximum Define the dimensioning of the kinematics in the positive y direction in this
field.
field.
field.
See also
Cartesian portal (Page 37)

Configuring
5.2.3.2 Configuration - Geometry (roller picker)

● Kinematics type "Roller picker 2D" and "Roller picker 2D with orientation"
Field Description
Radius R1 Define the cam radius for the axis A1 in this field.
Length L1 Define the distance of the flange coordinate system (FCS) to the kinematics
zero point (KZP) in x direction of the KCS on zero position of the axes A1 and
A2 in this field.
Length L2 Define the distance of the FCS to the kinematics zero point including the
flange length LF in z direction of the KCS on zero position of the axes A1 and
A2 in this field.
Flange length LF Define the flange length before the FCS in the negative z direction of the KCS
in this field.
● Kinematics type "Roller picker 3D (vertical)", and "Roller picker 3D with orientation
(vertical)" and "Roller picker 3D with orientation (horizontal)"
Field Description
Length L1 Define the distance of the FCS to the kinematics zero point in x direction of
the KCS in this field.
Length L2 For kinematics type "Roller picker 3D (vertical)" and "Roller picker 3D with
orientation (vertical)":
Define the distance of the A3 axis to the kinematics zero point in y direction of
For kinematics type "Roller picker 3D with orientation (horizontal)":
Define the distance of the FCS to the kinematics zero point in y direction of
Length L3 For kinematics type "Roller picker 3D (vertical)" and "Roller picker 3D with
orientation (vertical)":
Define the distance of the FCS to the kinematics zero point in z direction of
For kinematics type "Roller picker 3D with orientation (horizontal)":
Define the distance of the A3 axis to the kinematics zero point in z direction of
Flange length LF Define the flange length before the FCS in the negative z direction of the KCS
in this field.

Configuring

● Kinematics type "Roller picker 2D" and "Roller picker 2D with orientation"
Field Description
field.
field.
field.
field.
● Kinematics type "Roller picker 3D (vertical)", and "Roller picker 3D with orientation
(vertical)" and "Roller picker 3D with orientation (horizontal)"
Field Description
field.
field.
field.
field.
field.
field.
See also
Roller picker (Page 48)

Configuring
5.2.3.3 Configuration - Geometry (SCARA)

coordinate system (KCS):
● Kinematics type "SCARA 2D with orientation"
Field Description
Length L1 Define the distance of the A1 axis to the kinematics zero point (KZP) in z
Length L2 Define the distance of the A1 axis to the A2 axis in x direction of the KCS in
this field.
● Kinematics type "SCARA 3D with orientation"
Field Description
Length L1 Define the distance of the A1 axis to the kinematics zero point (KZP) in z
this field.
this field.
Mechanical axis coupling

The kinematics transformation compensates for the configured mechanical axis couplings. If
you set a mechanical axis coupling for a first axis to a second axis, the setting "Modulo" must
not be activated for the first axis.
You can configure the following mechanical axis couplings for the kinematics "SCARA 2D
with Orientation":
You can configure the following mechanical axis couplings for the kinematics "SCARA 3D
with Orientation":
Enter the desired coupling factor in the "Compensation factor" fields.

Configuring

In these fields, define for the "SCARA 2D with Orientation" and the "SCARA 3D with
Orientation" in which scaling the kinematics is displayed in the kinematics trace:
Field Description
z minimum Define the dimensioning of the kinematics in the negative z direction in this field.
z maximum Define the dimensioning of the kinematics in the positive z direction in this field.
See also
SCARA (Page 63)
5.2.3.4 Configuration - Geometry (articulated arm)

● Kinematics type "Articulated arm 2D" and "Articulated arm 2D with orientation"
Field Description
Length L1 Define the distance of the A1 axis from the kinematics zero point (KZP) in z
Length L2 Define the distance of the A1 axis from the kinematics zero point in x direction
of the KCS
Length L3 Define the distance of the A2 axis from the A1 axis in this field.
Length L4 Define the distance of the forced coupler point from the A2 axis in this field.
Flange length LF Define the distance of the flange coordinate system (FCS) from the forced
coupler point in the negative z direction of the KCS in this field.
● Kinematics type "Articulated arm 3D" and "Articulated arm 3D with orientation"
Field Description
Length L1 Define the distance of the A2 axis from the kinematics zero point in z direction
of the KCS in this field.
Length L2 Define the distance of the A2 axis from the kinematics zero point in x direction
of the KCS
Length L3 Define the distance of the A3 axis from the A2 axis in this field.
Length L4 Define the distance of the forced coupler point from the A3 axis in this field.
Flange length LF Define the distance of the FCS from the forced coupler point in the negative z
direction of the KCS in this field.

Configuring

You can configure the following mechanical coupled axes, depending on the kinematics
type:
● Kinematics type "Articulated arm 2D" and "Articulated arm 2D with orientation":
Mechanical coupling of axis A1 to axis A2
● Kinematics type "Articulated arm 3D" and "Articulated arm 3D with orientation":
Mechanical coupling of axis A2 to axis A3
Enter the required coupling factor in the "Compensation factor" field.
See also
Articulated arm (Page 72)

Configuring
5.2.3.5 Configuration - Geometry (delta picker)

● Kinematics type "Delta picker 2D" and "Delta picker 2D with orientation"
Field Description
Length L1 Define the length of the upper arms in this field.
Length L2 Define the length of the connecting rods in this field.
Flange length LF Define the distance of the flange coordinate system (FCS) from the lower
connecting plate in the negative z direction of the KCS in this field.
Distance D1 Define the distance of the axes to the middle of the upper connecting plate
(radius of the upper connecting plate) in this field.
Distance D2 In this field, you can define the distance of the hinge points of the connecting
rods to the lower connecting plate (radius of the lower connecting plate) in
this field.
● Kinematics type "Delta picker 3D" and "Delta picker 3D with orientation"
Field Description
Length L1 Define the length of the upper arms in this field.
Flange length LF Define the distance of the FCS from the lower connecting plate in the nega-
tive z direction of the KCS in this field.
Distance D1 Define the distance of the axes to the middle of the upper connecting plate
(radius of the upper connecting plate) in this field.
Distance D2 In this field, you can define the distance of the hinge points of the connecting
rods to the lower connecting plate (radius of the lower connecting plate) in
this field.
Angle A1 to A2 Define the angle between the axes A1 and A2 in this field.
See also
Delta picker (Page 90)

Configuring
5.2.3.6 Configuration - Geometry (cylindrical robot)

Field Description
Length L1 Define the distance of the zero position of the A2 axis from the kinematics zero
point (KZP) in z direction of the KCS
Length L2 Define the distance of the A3 axis from the kinematics zero point in y direction of
the KCS

You can configure the following mechanical axis coupling for the kinematics type "Cylindrical
robot 3D with orientation":
Enter the required coupling factor in the "Compensation factor" field.

In these fields, define the scaling in which the kinematics is displayed in the kinematics trace:
Field Description
z minimum Define the dimensioning of the kinematics in the negative z direction in this field.
z maximum Define the dimensioning of the kinematics in the positive z direction in this field.
A3 maximum Define the maximum traversing length of the A3 axis in this field.
See also
Cylindrical robot (Page 103)

Configuring
5.2.3.7 Configuration - Geometry (tripod)

Field Description
Flange length LF Define the distance of the flange coordinate system (FCS) from the lower con-
necting plate in the negative z direction of the KCS in this field.
Distance D1 Define the distance of the upper hinge points of the connecting rods to the cen-
ter of the upper connecting plate in this field.
Distance D2 Define the distance of the lower hinge points of the connecting rods to the center
of the lower connecting plate in this field.
Angle for A1 to xy Define the angle between the upper connecting plate (xy plane of the KCS) and
plane of the KCS the rail of the axis A1 (0.0° ≤ γ < 90.0°) in this field.
See also
Tripod (Page 113)

Configuring
5.2.3.8 Configuration - Geometry (user-defined)

In this table, define the start values of the parameters 1 to 32 of the kinematics
(<TO>.Kinematics.Parameter[1..32]).

● Kinematics type "User-defined 2D" and "User-defined 2D with orientation"
Field Description
field.
field.
field.
field.
● Kinematics type "User-defined 3D" and "User-defined 3D with orientation"
Field Description
field.
field.
field.
field.
field.
field.
See also
User transformation (Page 130)
User-defined kinematics systems (Page 121)

Configuring
5.2.4 Configuration - Conveyor tracking

In the "Conveyor tracking" configuration window, configure the conveyor tracking properties.
You can interconnect conveyor tracking with leading-value-capable technology objects.
● Positioning axis
● Synchronous axis
● External encoders
● Leading axis proxy
Possible technology objects

In the table column "Possible technology objects", add all leading-value-capable technology
objects that you need in the instruction as leading-value-capable values for conveyor
tracking.
An object coordinate system can only be coupled with a leading-value-capable technology
object whose technology object is defined in this table.
Type of coupling
In the "Type of coupling" column, select whether the leading value of the leading-value-
capable technology object is to be coupled via a setpoint or actual value. With external
encoders, only the selection of the actual value is available.

Configuring
5.2.5 Extended parameters
5.2.5.1 Configuration - Dynamics

In the "Dynamics" configuration window, configure the default values for the dynamics, the
dynamic limits and the dynamic adaptation of the kinematics motion and the orientation
motion.
Presets and limits

In order to define the default values for the kinematics motion, select the entry "Path" in the
"Settings" drop-down list. In order to define the default values for the orientation motion,
select the entry "Orientation motion" in the "Settings" drop-down list.
Define the default values of the dynamics in the "Velocity", "Acceleration", "Deceleration" and
"Jerk" fields. Kinematics motion jobs triggered in the user program are executed with these
default values if no separate dynamics values are defined for the jobs.
Define the default values of the dynamic limits in the "Maximum velocity", "Maximum
acceleration", "Maximum deceleration" and "Maximum jerk" fields.
Dynamic adaptation
Select the default for the dynamics adaptation in the drop-down list. When dynamic
adaptation is active, a velocity profile is calculated for the entire motion which takes into
account the dynamic limits of the axes and the kinematics .
Mode Description
Do not limit The dynamic limits of the axes are not taken into consideration.
Limit with segmentation of The path is divided into segments. For each of these segments, the
the path dynamic is adapted in such a way that the dynamic limits of the axes
are not exceeded.
Limit without segmentation The dynamic is adapted in such a way that the dynamic limits of the
of the path axes are not exceeded over the entire path.
See also
Dynamics of kinematics motion and orientation motion (Page 145)
5.2.5.2 Configuration - Kinematics coordinate system

In the "Kinematics coordinate system" configuration window, configure the KCS frame
(Page 29) and therefore the position of the kinematics coordinate system (KCS) in the world
coordinate system (WCS).

Configuring
Kinematics zero point in the WCS

In these fields, define the position of the kinematics coordinate system:
Field Description
x position Define the shift of the KCS in x direction of the WCS in this field.
y position Define the shift of the KCS in y direction of the WCS in this field.
z position Define the shift of the KCS in z direction of the WCS in this field.
Rotation A Define the rotation of the KCS around the z axis in this field.
Rotation B Define the rotation of the KCS around the y axis in this field.
Rotation C Define the rotation of the KCS around the x axis in this field.
See also
Coordinate systems and frames (Page 25)
5.2.5.3 Configuration - Object coordinate systems

In the "Object coordinate system" configuration window, configure the OCS frames
(Page 29) and therefore the position of the object coordinate system (OCS) in the world
coordinate system (WCS).
Object coordinate system (OCS)

Select the object coordinate system to be defined in this drop-down list. You can define up to
three tool object coordinate systems.
OCS in the world coordinate system (WCS)

In these fields, define the position of the selected object coordinate system:
Field Description
x position Define the shift of the OCS in x direction of the WCS in this field.
y position Define the shift of the OCS in y direction of the WCS in this field.
z position Define the shift of the OCS in z direction of the WCS in this field.
Rotation A Define the rotation of the OCS around the z axis in this field.
Rotation B Define the rotation of the OCS around the y axis in this field.
Rotation C Define the rotation of the OCS around the x axis in this field.
See also

Configuring
5.2.5.4 Configuration- Tools

In the "Tools" configuration window, configure the tool frames (Page 29) and also the
position of the tool center point (TCP) of the tools in the flange coordinate system (FCS).
Tools
Select the tool to be defined in this drop-down list. You can define up to three tools.
Tool center point in the FCS

In these fields, define the position of the tool center point of the selected tool:
Field Description
x position Define the shift of the TCP in x direction of the FCS in this field.
y position Define the shift of the TCP in y direction of the FCS in this field.
z position Define the shift of the TCP in z direction of the FCS in this field.
Rotation A Define the rotation of the TCP around the z axis in this field.
See also
5.2.5.5 Configuration - Zones

Configure the workspace zones and kinematics zones of the technology object in the
"Zones" configuration window.
The configuration window is divided into the following areas:
● Graphic view
● Tabular editor
– Workspace zones
– Kinematics zones
Graphic view
The workspace zones or the kinematics zones, which you define in the corresponding
tabular editor, are displayed in the graphic view. You can rotate the view and zoom in and
out using the mouse.

Configuring
The toolbar at the top of the graphical editor provides you with buttons for the following
functions, depending on the respective tabular editor:
Button Function Description

Fit to screen size The view is displayed adapted to the size of the window.
Show / hide grid The grid lines of the coordinate system are hid-
den/displayed.
Select the coordi- Select a coordinate system.
nate system.
Select tool Select a tool.
Show 2D view The 2D view is shown.
Show 3D view The 3D view is shown.
Show xy plane The xy plane is displayed.
Show xy plane The xy plane is displayed rotated around the x-axis.

rotated
Show xz plane The xz plane is displayed.
Show xz plane The xz plane is displayed rotated around the z-axis.

rotated
Show xz plane The xz plane is displayed rotated around the x-axis.
rotated
Show xz plane The xz plane is displayed rotated around the x-axis and the
rotated z-axis.
Show yz plane The yz plane is displayed.
Show yz plane The yz plane is displayed rotated around the z-axis.

rotated
Show yz plane The yz plane is displayed rotated around the y-axis.
rotated
Show yz plane The yz plane is displayed rotated around the y-axis and the
rotated z-axis.

Configuring
Workspace zones
Workspace zones (Page 156) describe the environment of a kinematics system. You can
configure up to ten workspace zones in the table.
Column Description
Visible You show and hide the zone in the top view using the symbol in this column.
Number This column displays the zone number.
Status Select the activation status of the zone in this column.
Active Zone monitoring is activated for the zone.
You can deactivate the zone in your user program via an
"MC_SetWorkspaceZoneInactive" job (Page 311).
Inactive Zone monitoring is deactivated for the zone.
You can activate the zone in your user program via an
"MC_SetWorkspaceZoneActive" job (Page 309).
Invalid The zone is not defined.
You can define the zone in your user program via an
"MC_DefineWorkspaceZone" job (Page 303).
Zone type Select the type of the zone in this column.
Work zone Work zones define areas in which kinematics zones may
move.
You can specify several work zones. Only one work zone
can be activated at a given time, however. If no work zone
is activated, the entire traversing space of the kinematics is
regarded as the work area.
Blocked zone Blocked zones define areas in which a kinematics zone
must not enter.
Signal zone Signal zones are areas within the traversing space of the
kinematics. Signal zones indicate a zone violation by a
kinematics zone but do not trigger a stop of the kinematics
motion.
Geometry Select the geometry of the zone (Page 159) in this column.
Sphere
Cuboid
Cylinder
Length x With a cuboid-shaped zone, define the length of the zone in x direction in this
column.
Length y With a cuboid-shaped zone, define the width of the zone in y direction in this
column.
Length z With a cuboid-shaped zone, define the height of the zone in z direction in this
column.
With a cylindrical zone, define the height of the zone in z direction in this column.
Radius With a spherical zone, define the radius of the zone in this column.
With a cylindrical zone, define the radius of the zone in this column.

Configuring
Column Description
CS Select the reference coordinate system in this column.
WCS World coordinate system
OCS 1 Object coordinate system 1
x Define the position of the zone in x direction in this column.
y Define the position of the zone in y direction in this column.
z Define the position of the zone in z direction in this column.
A Define the rotation of the zone around the z-axis in this column (not relevant for
a spherical zone). Enter a value between -180.0° and 179.999°.
B Define the rotation of the zone around the y-axis in this column (not relevant for
C Define the rotation of the zone around the x-axis in this column (not relevant for

Configuring
Kinematics zones
Kinematics zones (Page 157) are related to the working point / flange of a kinematics system
and move with the kinematics. The zone monitoring checks the kinematics zones for
penetration with workspace zones. You can configure up to ten kinematics areas in the table.
Column Description
Visible You show and hide the zone in the top view using the symbol in this column.
Number This column displays the zone number.
Status Select the activation status of the zone in this column.
Active Zone monitoring is activated for the zone.
You can deactivate the zone in your user program via an
"MC_SetKinematicsZoneInactive" job (Page 315).
Inactive Zone monitoring is deactivated for the zone.
You can activate the zone in your user program via an
"MC_SetKinematicsZoneActive" job (Page 313).
Invalid The zone is not defined.
You can define the zone in your user program via an
"MC_DefineKinematicsZone" job (Page 306).
Zone type Select the type of the zone in this column.
Flange zone Flange zones envelope the flange or parts of the flange.
Tool zone Tool zones envelope the tool or parts of the tool.
Geometry Select the geometry of the zone (Page 159) in this column.
Sphere
Cuboid
Cylinder
Length x With a cuboid-shaped zone, define the length of the zone in x direction in this
column.
Length y With a cuboid-shaped zone, define the width of the zone in y direction in this
column.
Length z With a cuboid-shaped zone, define the height of the zone in z direction in this
column.
With a cylindrical zone, define the height of the zone in z direction in this column.
Radius With a spherical zone, define the radius of the zone in this column.
With a cylindrical zone, define the radius of the zone in this column.
CS Select the reference coordinate system in this column.
FCS Flange coordinate system (FCS)
TCS Tool coordinate system
x Define the position of the zone in x direction in this column.
y Define the position of the zone in y direction in this column.
z Define the position of the zone in z direction in this column.

Configuring
Column Description
A Define the rotation of the zone around the z-axis in this column (not relevant for
B Define the rotation of the zone around the y-axis in this column (not relevant for
C Define the rotation of the zone around the x-axis in this column (not relevant for
Online view
When you click on the symbol, values of the workspace zones and the kinematics zones
at the current point in time are read back from the CPU. You can display two additional rows
for each zone in the table using the symbol in the "Number" column. These three lines
contain the following values:
Line Identifier in the "Num- Description

ber" column.
1 Number of the zone This line contains the current values of the zone.
2 This line contains the start values of the CPU.
3 This line contains the start values in the project. You

can edit the values.
See also
Zone monitoring (Page 154)
5.2.5.6 Configuration - Job sequence

In "Job sequence" configuration window you configure the maximum number of jobs in the
Job sequence (Page 191) .
Maximum number of jobs

In the "Maximum number of jobs" field, enter the maximum number of jobs that the job
sequence can contain. By default, the job sequence can contain up to five jobs. The job
sequence can contain a maximum of ten jobs.
Note
Multiple jobs in the job sequence
The more jobs the job sequence contains, the longer the calculation of the motion jobs takes.

Configuring
5.3 Copying a kinematics technology object
5.3 Copying a kinematics technology object

The following describes how to copy a kinematics technology object in the project tree.
Requirement
● A project with a CPU S7-1500T is created.
● A kinematics technology object is created in the project.
Procedure
To copy a kinematics technology object, follow these steps:
3. Select the kinematics technology object to be copied.
4. To also copy the interconnected axes, select them as well. To select multiple axes, press
and hold down the <Ctrl> key.
5. Select "Copy" in the shortcut menu.
6. Select the "Technology objects" folder.
7. Select "Paste" in the shortcut menu.
Result
The selected kinematics technology object, together with any selected interconnected axes,
are copied and created in the "Technology objects" folder of the project tree.

Configuring
5.4 Deleting a kinematics technology object
5.4 Deleting a kinematics technology object

The following describes how to delete a kinematics technology object in the project tree.
Requirement
● A project with a CPU S7-1500T is created.
● A kinematics technology object is created in the project.
Procedure
To delete a kinematics technology object, follow these steps:
3. Select the kinematics technology object to be deleted.
4. Select the "Delete" command in the shortcut menu.
The "Confirm delete" dialog is opened.
5. To delete the technology object, click "Yes".
Result
The selected kinematics technology object has been deleted. The axes interconnected to the
kinematics technology object are retained.

Configuring
5.5 Toolbar of the configuration
5.5 Toolbar of the configuration

The following functions are available in the toolbar of the function view:
Symbol Function Explanation

Show online values Displays the current values read back from the
CPU.
Couples the function view and parame- Enables the targeted toggling between the pa-
ter view for the objects selected in the rameter view and function-based view.
navigation
Collapse/expand all nodes and objects Collapses or expands all nodes and objects of
the navigation or the data structure in the current-
ly active view.
Collapse/expand the nodes below the Collapses or expands the marked nodes and
marked node objects of the navigation or the data structure in
the currently active view.

Programming 6
The "Programming" section contains general information on supplying and evaluating the
Motion Control instructions.
You can find an overview of the Motion Control instructions for the kinematics technology
object in the "Functions (Page 17)" section.
You can use Motion Control instructions in the user program to transmit jobs to the
technology object. You define the job with the input parameters of the Motion Control
instructions. The current job status is indicated in the output parameters.
Because the kinematics technology object groups the kinematics axes, you can assign the
kinematics technology object directly to the input parameter "AxesGroup".
You cannot enable the kinematics technology object itself using an "MC_Power" command
or home it using an "MC_Home" job. For kinematics motions, the interconnected axes must
be enabled ("MC_Power.Enable" = TRUE).
You can acknowledge errors of the kinematics technology object with an "MC_Reset" job or
by restarting the technology object.

Programming
6.1 Job sequence
6.1 Job sequence

Motion-relevant jobs are entered in the job sequence of the kinematics technology object.
The following jobs enter the job sequence:
Job Brief description

Kinematics motions
"MC_MoveLinearAbsolute Position kinematics with linear path motion
(Page 258)"
"MC_MoveLinearRelative Relative positioning of kinematics with linear path motion
(Page 263)"
"MC_MoveCircularAbsolute Position kinematics with circular path motion
(Page 269)"
"MC_MoveCircularRelative Relative positioning of kinematics with circular path motion
(Page 277)"
"MC_MoveDirectAbsolute Absolute movement of kinematics with synchronous "point-to-
(Page 285)" point" motion
"MC_MoveDirectRelative Relative movement of kinematics with synchronous "point-to-
(Page 292)" point" motion
Zones
"MC_DefineWorkspaceZone Define workspace zone
(Page 303)"
"MC_DefineKinematicsZone Define kinematics zone
(Page 306)"
"MC_SetWorkspaceZoneActive Activate workspace zone
(Page 309)"
"MC_SetWorkspaceZoneInactive Deactivate workspace zone
(Page 311)"
"MC_SetKinematicsZoneActive Activate kinematics zone
(Page 313)"
"MC_SetKinematicsZoneInactive Deactivate kinematics zone
(Page 315)"
Coordinate systems
"MC_SetOcsFrame (Page 321)" Redefine object coordinate systems

Programming
6.1 Job sequence
The jobs are processed in the same order in which they were entered in the job sequence.
The order of the jobs cannot be changed subsequently. If another motion job is added to the
job sequence, all jobs in the job sequence will be recalculated. The kinematics motion jobs
do not cancel each other. Because all jobs in the job sequence are taken into account for
preparing the motion and calculation of the velocity profile, even jobs with short traversing
lengths and blend motions with higher velocities can be traversed than what is possible for
individual motions. The current job is also included in the new calculation so that the current
job can be blended with the next job.
You can also interrupt execution of the jobs with an "MC_GroupInterrupt" job, fill the job
sequence and then continue execution with an "MC_GroupContinue" job.
By default, the job sequence can contain up to five jobs. You can change the maximum
number of jobs (Page 186) in "Technology object > Configuration > Extended parameters
>Job sequence". The job sequence can contain a maximum of ten jobs.
See also
"MotionQueue" tag (kinematics) (Page 342)
Interrupting, continuing and stopping kinematics motions (Page 194)

Programming
6.2 Motion status and remaining distance
6.2 Motion status and remaining distance

You can obtain the status and the remaining distance of a motion job from the parameters of
the corresponding Motion Control instruction.
Status of a motion job

You can identify the status of a motion job based on the "Busy" and "Active" parameters.
When the job is transmitted, the "Busy" parameter is set to TRUE and the job is added to the
job sequence. As long as the job is still in the job sequence, the "Active" parameter is set to
FALSE. As soon as the job is active in the motion control, the "Active" parameter is set to
TRUE. If the motion job is completed, the parameters "Busy" and "Active"are set to FALSE
and the parameter "Done" to TRUE.
All inactive jobs in the job sequence are recalculated if another motion job is added to the job
sequence. The current job is also included in the new calculation so that the current job can
be blended with the next job. If a motion control is interrupted by a "MC_GroupInterrupt" job,
the jobs in the job sequence are only calculated when the motion control is continued with an
"MC_GroupContinue" job.
Remaining distance of a motion job

You can obtain the remaining distance of a motion job from the "RemainingDistance"
parameter. If the motion is not being blended, the "RemainingDistance" parameter contains
the distance to the target position on the path. If the active motion is being blended with the
next motion, the "RemainingDistance" parameter contains the distance to the beginning of
the blending segment on the path. If only the orientation axis is being moved in a motion job
(reorientation), the "RemainingDistance" parameter contains the value "-1.0".

Programming
6.3 Interrupting, continuing and stopping kinematics motions
6.3 Interrupting, continuing and stopping kinematics motions

You can interrupt and continue active kinematics motions or stop them and thus also cancel
queued motion jobs.
Interruption of kinematics motions

With the Motion Control instruction "MC_GroupInterrupt (Page 250)", you interrupt the
execution of the motion for the kinematics technology object. With the "Mode" parameter,
you specify the dynamic behavior. The kinematics can be stopped either with the dynamics
of the motion job to be interrupted or with the maximum dynamics. The current path is not
exited when the kinematics is stopped. If the kinematics is already at a standstill, the motion
control is also interrupted for subsequent motion jobs.
The kinematics technology object is in "Interrupted" status (<TO>.StatusWord.X17).
For path planning, you can interrupt execution of the jobs, fill the job sequence (Page 191)
and then continue execution of the commands.
Continuation of kinematics motions

With the Motion Control instruction "MC_GroupContinue (Page 252)", you continue a
kinematics motion that was previously interrupted with a "MC_GroupInterrupt" job. The
kinematics motion can also be continued if the kinematics has not yet come to a standstill
following the "MC_GroupInterrupt" job.
The "MC_GroupContinue" job only has an effect if the kinematics technology object is in
"Interrupted" status (<TO>.StatusWord.X17).
Stopping of kinematics motions

With the Motion Control instruction "MC_GroupStop (Page 255)", you stop the Motion
Control of the kinematics technology object. In so doing, both the active motion job as well
as all queued jobs in the job sequence are canceled and the job sequence is emptied. If the
kinematics motion was already interrupted with an "MC_GroupInterrupt" job, this job is also
canceled. As long as the "Execute" parameter is set to TRUE, the following kinematics jobs
are rejected ("ErrorID" = 16#80CD).
With the "Mode" parameter, you specify the dynamic behavior. The kinematics can be
stopped either with the dynamics of the motion job to be stopped or with the maximum
dynamics. The current path is not exited when the kinematics is stopped.

Programming
6.4 Motion preparation using multiple jobs
6.4.1 Preliminary motion preparation

With technology version V5.0, the calculation of the motion preparation has changed. The
motion preparation is calculated in the organization block (OB) MC-LookAhead [OB97] and
no longer in the OB MC-Interpolator [OB92].
With the OB MC-LookAhead [OB97], all jobs from the job sequence are prepared in
advance. The dynamic values for path motions and orientation motions are transferred to the
job sequence. The dynamic values are only active when the job is executed.
For motion preparation, the current path motion job and the subsequent path motion jobs
must be taken into account to allow for blending of path motions. Path motions that you use
with blending are first processed in the OB MC-LookAhead[OB97] and then active in the OB
MC-Interpolator[OB92]. Motions with blending require a longer lead time and a longer
reaction time.
You can change the velocity override during a path motion, which immediately changes the
dynamics of the path motion.
In the OB MC-Interpolator [OB92], less time is needed for motion preparation and you can
set a shorter application cycle of the OB MC-Servo [OB91].
6.4.2 Connection of multiple kinematics motions with geometric transitions

Multiple motions can be appended to one another, in which case the kinematics comes to a
standstill between the individual motions. To achieve an uninterrupted motion control, the
individual motions can be blended with geometric transitions. You define the corresponding
parameters at the new motion job (A2), into which the previous job (A1) is to be blended.

Programming
Transitions of linear motions

With the Motion Control instructions "MC_MoveLinearAbsolute (Page 258)" and
"MC_MoveLinearRelative (Page 263)", you move a kinematics system with a linear motion.
You define the motion transition mode with the "BufferMode" parameter and the rounding
clearance with the "TransitionParameter[1]" parameter. The following table shows how these
parameters act on the motion transition based on two linear motions:
Rounding clearance Motion transition ("BufferMode") Description

("TransitionParame-
ter[1]")
Not relevant "BufferMode" = 1 Append motion
The active linear motion is completed and
the kinematics comes to a standstill. The
next linear motion is then executed.
d > 0.0 "BufferMode" = 2, 5 Blend motion

When the rounding clearance distance
from the target position is reached, the
active linear motion is blended with the
next linear motion.
Both motion jobs are blended at the lower
velocity when "BufferMode" = 2 and at the
higher velocity when "BufferMode" = 5.
d = 0.0 "BufferMode" = 2, 5 Blend motion

Because the rounding clearance is 0.0,
traversing is the same as when "Buffer-
Mode" = 1.
next linear motion is then executed.
d < 0.0 "BufferMode" = 2, 5 Blend motion

Because the rounding clearance is nega-
tive, the maximum rounding clearance is
used. When the rounding clearance dis-
tance from the target position is reached,
the active linear motion is blended with the
next linear motion.

Programming
Transitions of circular motions

With the Motion Control instructions "MC_MoveCircularAbsolute (Page 269)" and
"MC_MoveCircularRelative (Page 277)", you move a kinematics system with a circular
motion. You define the motion transition mode with the "BufferMode" parameter and the
rounding clearance with the "TransitionParameter[1]" parameter. The following table shows
how these parameters act on the motion transition based on a linear motion and a circular
motion:

("TransitionParame-
ter[1]")
circular motion is then executed.
d > 0.0 "BufferMode" = 2, 5 Blend motion

circular motion.

Programming

("TransitionParame-
ter[1]")
d = 0.0 "BufferMode" = 2, 5 Blend motion
Mode" = 1.
circular motion is then executed.
d < 0.0 "BufferMode" = 2, 5 Blend motion

used. When the rounding clearance dis-
tance from the target position is reached,
the active linear motion is blended with the
circular motion.

Programming
Transitions of synchronous "point-to-point" motion

With the Motion Control instructions "MC_MoveDirectAbsolute (Page 285)" and
"MC_MoveDirectRelative (Page 292)" you move a kinematics with a synchronous point-to-
point motion (sPTP motion). You define the motion transition mode with the "BufferMode"
parameter and the rounding clearance with the "TransitionParameter[1]" parameter.
The kinematics motion of the sPTP motion is displayed as an example. The motion of the
kinematics results from off the joint position of the individual axes and the dynamics of the
motion job.
The following table shows how these parameters act on the motion transition based on linear
motions and sPTP motions:

("TransitionParame-
ter[1]")
sPTP motion is then executed.
d > 0.0 "BufferMode" = 2, 5 Blending motion

sPTP motion.

Programming

("TransitionParame-
ter[1]")
d = 0.0 "BufferMode" = 2, 5 Blending motion
Mode" = 1.
The active sPTP motion is completed and
the kinematics come to a standstill. An
sPTP motion is then executed.
d < 0.0 "BufferMode" = 2, 5 Blending motion

used. When the distance to the target
position is reached, the running sPTP
motion is blended with another sPTP mo-
tion.
To enable constant rounding between sPTP motion and path motions, note the following:
● Set a sufficiently large rounding clearance.
● Avoid small curvature radii in the resulting contour of the TCP.
● Set the dynamic response of the path motion and the sPTP motion similarly.
● Set the dynamic adaptation for the path motion.
● Set factors < 1.0 for the dynamic response of the sPTP motion.
For more information on rounding sPTP motion, refer to the FAQ entry 109771154
(https://support.industry.siemens.com/cs/ww/en/view/109771154) in the Siemens Industry
Online Support.

Programming
6.5 Interaction of kinematics motions and single axis motions
Maximum rounding clearance

The maximum rounding clearance is used if the value of the "TransitionParameter[1]"
parameter is < 0.0. The maximum rounding clearance is calculated as half the shorter path
distance of the two motions.
Requirement Maximum rounding clearance

L1 > L2 dmax = ½ · L2
L1 < L2 dmax = ½ · L1
L1 Path length of the first job

L2 Path length of the second job
6.4.3 Dynamic behavior when motions are appended/blended

You define the dynamic behavior for the transition of kinematics motions with the
"BufferMode" and "DynamicAdaption" parameters.
Multiple motions can be appended to one another, in which case the kinematics comes to a
standstill between the individual motions ("BufferMode" = 1). To achieve an uninterrupted
motion, the individual motions can be blended with a blending segment. The consecutive
motions can be blended at the lower velocity ("BufferMode" = 2) or at the higher velocity
("BufferMode" = 5).
Dynamic adaptation
For active dynamic adaptation with segmentation, the path including the blending segment is
subdivided into additional segments ("DynamicAdaption" = 1). For each of these segments,
the velocity profile is calculated taking into consideration the dynamic limits of the axes which
apply for individual sections of the motion. The dynamic response is therefore adapted for
individual sections of a motion.
With active dynamic adaptation without segmentation of the path, the velocity profile is
calculated taking into consideration the dynamic limits of the axes which apply for the entire
motion ("DynamicAdaption" = 2).
Velocity and acceleration are included in the dynamic adaptation. Tangential and radial
acceleration of the path is taken into account in acceleration. The jerk is not limited for
dynamic adaptation.
If the dynamic adaptation is deactivated, the dynamic limits of the axes are not taken into
account ("DynamicAdaption" = 0).

Kinematics motions are only possible if no single axis motions are active on the kinematics
axes. Single axis motions have an overriding effect on kinematics motions. The motion of the
corresponding axis is overridden by the single-axis motion and the job sequence is cleared.
The other kinematics axes stop with the maximum dynamics.

Programming
The following functions are permitted during an active kinematics motion:

● Torque reduction on the axes/Travel to fixed stop ("MC_TorqueLimiting")
When the fixed stop is reached, the kinematics motion is aborted.
● Setting of an additive torque ("MC_TorqueAdditive")
● Setting of the upper and lower torque limit ("MC_TorqueRange")
● Sensor switchover ("MC_SetSensor")
The following functions are rejected during an active kinematics motion:
● Overlaid motion on the axes ("MC_MoveSuperimposed")
● Homing of the axes ("MC_Home")

Commissioning 7
7.1 Function and structure of the kinematics control panel
With the kinematics control panel, you assume master control for a kinematics technology
object and control the motions of the kinematics or the individual axes.
WARNING
Uncontrolled axis motions
During operation with the kinematics control panel, the kinematics can execute uncontrolled
motions (e.g. due to incorrect configuration of the drive or technology object). In addition,
when a leading axis is moved with the kinematics control panel, any synchronized following
axis is also moved.
Therefore, take the following protective measures before operation with the kinematics
control panel:
• Ensure that the EMERGENCY OFF switch is within the reach of the operator.
• Enable the hardware limit switches.
• Enable the software limit switches.
• Ensure that following error monitoring is enabled.
• Make sure that no following axis is coupled to the axis to be moved.
Note
You can find kinematics control panel of the kinematics technology object in the project tree
under "Technology object > Commissioning".
The kinematics control panel is divided into the following areas:
● Master control
● Kinematics
● Operating mode
● Control
● Status
● Current position values

Commissioning
Elements of the kinematics control panel

The following table shows the elements of the kinematics control panel:
Area Element Description

Master control In the "Master control" area, you assume master control for the technology object or
return it to your user program.
"Activate" button With the "Activate" button, you establish an online connection to the CPU and take
over master control for the selected technology object.
• To take over master control, the technology object must be disabled in the user
program.
• With the takeover of the master control of the kinematics, the master control of all
axes interconnected with the kinematics is taken over.
The master control can only be assumed with a kinematics control panel if axis
control panel of the interconnected axes is active.
• Any synchronized following axis is moved as well when a leading axis is moved
with the kinematics control panel.
• When you click the "Activate" button, a warning message is displayed. In the
warning, you can adapt the sign-of-life monitoring (100 to 60000 ms).
If the master control of the kinematics control panel is lost repeatedly without a di-
rect error message, the online connection to the CPU may be impaired because
the communication load is too high. In this case, the following message is entered
in the alarm display log: "Commissioning error. Sign-of-life failure between con-
troller and TIA Portal".
To eliminate this error, adapt the sign-of-life monitoring in the warning.

• Until master control is returned, the user program has no influence on the func-
tions of the technology object. Motion Control jobs from the user program to the
technology object are rejected with error ("ErrorID" = 16#8012: Kinematics control
panel enabled).
• When master control is taken over, the configuration of the technology object is
taken over. Changes to the configuration of the technology object do not take ef-
fect until master control has been returned. Therefore, make any necessary
changes before the takeover of master control.
• If master control has been taken over for the technology object, the kinematics
control panel and the axis control panels of the interconnected axes are blocked
for access by another instance of the TIA Portal (Team Engineering as of CPU
V1.5).
• If the online connection to the CPU is lost during operation with the kinematics
control panel, the kinematics or axis will be stopped at maximum deceleration af-
ter expiration of the sign of life monitoring. In this case, an error message is dis-
played ("ErrorID" = 16#8013) and the master control is passed back to the user
program.
• If the kinematics control panel is covered by a dialog, e.g. "Save As", during its
operation, the kinematics or axis is stopped at maximum deceleration and the
master control is returned to the user program.
If you change to another window within the TIA Portal, e.g. to the project tree,
during operation with the kinematics control panel, the master control and motion
of the kinematics or axis is maintained, provided that the kinematics control panel

Commissioning

is embedded in the TIA Portal. If the kinematics control panel is replaced by the
TIA Portal and you change to another window within the TIA Portal, e.g. to the
project tree, the master control is retained but the kinematics or axis is stopped at
maximum deceleration.
If you change to another window outside the TIA Portal during operation with the
kinematics control panel, the master control is retained but the kinematics or axis
is stopped at maximum deceleration.
"Deactivate" With the "Deactivate" button, you return master control to your user program.
button
Kinematics In the "Kinematics" area, you enable or disable the technology object.
"Enable" button With the "Enable" button, you release the interconnected axes of the selected kine-
matics technology object.
"Disable" button With the "Disable" button, you disable the interconnected axes of the selected kine-
matics technology object.
Operating mode Select the desired operating mode of the kinematics control panel in the "Operating
mode" drop-down list.
Control The "Control" area displays the parameters for traversing with the kinematics control
panel according to the selected operating mode.
Coordinate In the "Coordinate system" drop-down list, you select the desired coordinate system
system in which the kinematics will be moved.
("Jog" and "Jog to target position" modes only)
Active tool Select the required tool from the "Active tool" drop-down list.
"Customize If you select the check box, you can edit the values for acceleration, deceleration and
dynamics" check jerk.
box ("Jog" and "Jog to target position" modes only)
Acceleration Acceleration at which the kinematics is moved dependent on the kinematics type in x,
y and z direction and orientation.
Preassignment: 10% of the default value
You can only edit the values if the "Customize dynamics" check box is selected.
Deceleration Deceleration at which the kinematics is moved dependent on the kinematics type in
x, y and z direction and orientation.
Preassignment: 100% of default value
Jerk Jerk at which the kinematics is moved dependent on the kinematics type in x, y and z
direction and orientation.
Preassignment: 100% of default value

Commissioning

Velocity Velocity at which the kinematics is moved dependent on the kinematics type in x, y
and z direction and orientation.
Preassignment: 10% of the default value
You use the slider to adjust the velocity as a percentage between 0% and 200% of
the set velocity values. Alternatively, enter a velocity value in the field to the right of
the slider. (Default value 100%).
Target position Position to which the kinematics or axis is moved.
("Jog to target position" and "Single axes: Set home position" mode only)
Position at which the home position is set.
("Single axes: Set home position" mode only)
"Set" button With the "Set" button, you set a home position.
("Single axes: Set home position" mode only)
"Start" button With the "Start" button, you start a motion according to the selected operating mode.
("Jog to target position" and "Single axes: Homing" mode only)
"Forward" button With the "Forward" button, you start a motion in the positive direction according to the
selected operating mode.
"Backward" With the "Backward" button, you start a motion in the negative direction according to
button the selected operating mode.
Status The "Axis status" area displays the status of the axis and the status of the drive.
Valid The kinematic transformation is valid.
The status of the kinematic transformation is displayed in "Technology object Kine-
matics > Diagnostics", in the "Status and error bits" diagnostics window.
Enabled The technology object has been enabled. The axis can be moved with motion jobs.
Homed The technology object is homed.
Error An error occurred at the technology object.
Error messages are displayed in the Inspector window under "Diagnostics > Alarm
display".
Current position The "Current position values" area shows the actual values of the axis.
values Coordinate Coordinate system in which the kinematics or an axis is currently being moved.
system In the drop-down list on the right, you can select an additional coordinate system in
order to display the actual position of the active tool in this coordinate system.
x position The current position and rotation of the tool center point in the set coordinate system.
y position
z position
Rotation A

Commissioning
Note
No transfer of the parameters
The configured parameter values are discarded when master control is returned. If
necessary, transfer the values to your configuration.
If you have changed configuration values during operation with the kinematics control panel,
these changes have no effect on the operation of the kinematics control panel.
Operating mode
The following table shows the operating modes of the kinematics control panel:
Operating mode Description

Jog With the "Forward" button, you move an axis by jogging in the positive direction. With the "Back-
ward" button, you move an axis by jogging in the negative direction. The respective axis moves
as long as you keep the "Forward" or "Backward" button pressed.
Jog to target position With the "Start" button, you move the kinematics or an axis by jogging to the position specified
under "Target position". The motion direction of the Cartesian orientation is not limited to the posi-
tive direction here. The orientation axis is moved with the "Shortest distance" mode.
The kinematics moves as long as you keep the "Start" button pressed. When the target position is
reached, the kinematics stops automatically.
The specified position relates to the coordinate system that is selected in the "Coordinate system"
drop-down list.
Single axes: Set home With the "Set" button, you set the home position of the respective axis to the value specified un-
position der "Target position". The "Homed" status is set for the corresponding axis.
The specified position relates to the machine coordinate system (MCS) that is preset in the "Co-
ordinate system" drop-down list with this operating mode.
This function corresponds to direct homing (absolute).
Homing is not possible with an absolute encoder. The technology object is not referenced when
this mode is used with an absolute encoder.
Single axes: Homing With the "Start" button, you move an axis by jogging to the predefined home position. The respec-
tive axis moves as long as you keep the "Start" button pressed. When the home position is
reached, the axis stops automatically.

Commissioning
7.2 Using the kinematics control panel
7.2 Using the kinematics control panel

Requirement
● The project is created and downloaded to the CPU.
● The CPU is in RUN operating state.
● The interconnected axes of the kinematics are disabled by your user program
("MC_Power.Enable" = FALSE).
● The kinematics control panel for the technology object is not being used by another
instance of the TIA Portal (Team Engineering as of CPU V1.5).
● The drives are ready.
Procedure
To control the kinematics or the kinematics axes with the kinematics control panel, follow
these steps:
1. To assume master control for the technology object and to establish an online connection
to the CPU, click the "Activate" button in the "Master control" area.
A warning message is displayed.
2. If necessary, adapt the sign-of-life monitoring and click "OK".
3. To enable the technology object, click the "Enable" button in the "Kinematics" area.
4. In the drop-down list in the "Operating mode" area, select the desired function of the
5. Select the reference coordinate system depending on the set operating mode in the
"Control" area in the "Coordinate system" drop-down list.
6. In the "Control" area, specify the appropriate parameter values for your job.
7. Depending on the set operating mode, click the "Set", "Start", "Forward" or "Backward"
button to start the job.
8. Repeat steps 4 through 7 for additional jobs.
9. To disable the technology object, click the "Disable" button in the "Axis" area.
10.To return master control to your user program, click the "Deactivate" button in the "Master
control" area.

Diagnostics 8
The "Diagnostics" section is limited to describing the diagnostics view of the Kinematics
technology object in the TIA Portal.
The description of the diagnostics concept for Motion Control can be found in the
"Diagnostics concept" section of the "S7-1500/S7-1500T Motion Control overview"
documentation (https://support.industry.siemens.com/cs/ww/en/view/109766459).
A comprehensive description of the system diagnostics of the S7-1500 CPU can be found in
the "Diagnostics" function manual
(https://support.automation.siemens.com/WW/view/en/59192926).

Diagnostics
8.1.1 Structure of the diagnostics

The diagnostics of the kinematics in "Technology object > Diagnostics" is divided into the
following areas:
● Graphic display
The graphic display shows the kinematics, the motion of the tool center point (TCP) and
the zones.
Note
You set the scaling of the kinematics in the kinematics trace under "Technology object >
Configuration > Geometry (Page 167)".
● Diagnostics window
The following diagnostics windows are available in the graphic display:
– Status and error bits (Page 212)
– Zones status (Page 215)
– Motion and Tools (Page 216)
– Positions (Page 218)

Diagnostics
Toolbar
The toolbar at the top of the graphical display provides you with buttons for the following
functions:

Monitor all Switches the live display of the kinematics on or off.
The kinematics trace establishes an online connection to the device. If
the online/offline trace configurations differ, the trace configuration is
loaded to the device.
Darker Changes the brightness of the graphic display according to your
needs
Select brightness
Lighter
Show 2D view Switches the view to the 2D view.
Focus TCP Switches the view to "Focus TCP"

During the path motion of the kinematics, the focus is always on the
TCP. In standstill, the view can be moved or rotated using the mouse.
Fit to screen size Centers the view and displays the entire kinematics.
Show coordinate system Shows or hides the selected coordinate system with grid lines.
Select coordinate system Select a coordinate system.
Show xz plane Shows the xz plane
Show xz plane rotated Shows the xz plane rotated around the z axis.
Show yz plane Shows the yz plane
Show yz plane rotated Shows the yz plane rotated around the z axis.
Show xy plane Shows the xy plane
Show xy plane rotated Shows the xy plane rotated around the z axis.

Diagnostics

Show model If you click on the arrow, the graphical view options of the kinematics
are shown.
If you click on the symbol, you change the graphical view of the kine-
matics.
Show kinematics Shows the kinematics.
Display simplified model Shows a simplified view of the kinematics.
Hide model Hides the view of the kinematics.
Highlight TCS Shows or hides the tool coordinate system (TCS).
Show/hide all zones Shows or hides all workspace zones and kinematics zones.
Status and error bits Shows or hides the diagnostics window "Status and error bits".
Zones status Shows or hides the diagnostics window "Status Zones".
Motion and tools Shows or hides the diagnostics window "Motion and Tools".
Positions Shows or hides the diagnostics window "Positions".
Operation of the graphic display

In the graphic display you have the following possible operations with the mouse:
● Rotate and zoom the coordinate system with displayed kinematics
● Display, hide and move the diagnostics window
If you change the scaling of the graphical display, the diagnostics windows keep their
position.
8.1.2 Status and error bits

With the diagnostics window "Status and error bits" in "Technology object > Diagnostics" you
monitor the status and error messages of the technology object in the TIA portal. The
diagnostic function is available in online operation.
The diagnostics window "Status and error bits" is shown in the graphic display of the
diagnostics. You can show the diagnostics window via the symbol of the toolbar and
move the window to a desired position within the graphic display.
The meaning of the status and error messages is described in the following tables. The
associated technology object tag is given in parentheses.

Diagnostics
"Kinematics status"
The following table shows the possible statuses of the kinematics:
Status Description
Error An error occurred at the technology object. Detailed information about the
error is available in the "Error" area and in the "<TO>.ErrorDetail.Number"
and "<TO>.ErrorDetail.Reaction" tags of the technology object.
(<TO>.StatusWord.X1 (Error))
Restart active The technology object is being reinitialized.
(<TO>.StatusWord.X2 (RestartActive))
Kinematics control The kinematics control panel is activated. The kinematics control panel has
panel active master control over the technology object. The kinematics cannot be con-
trolled from the user program.
(<TO>.StatusWord.X4 (ControlPanelActive))
Restart required Data relevant for the restart has been changed. The changes are applied
only after a restart of the technology object.
(<TO>.StatusWord.X3 (OnlineStartValuesChanged))
Valid Displays the status of the kinematic transformation.
The status of the kinematic transformation is displayed in "Technology
object Kinematics > Diagnostics" in the "Status and error bits" diagnostics
window.
"Error"
The following table shows the possible errors:
Error Description
System A system-internal error has occurred.
(<TO>.ErrorWord.X0 (SystemFault))
Configuration A configuration error has occurred.
One or more configuration parameters are inconsistent or invalid.
The technology object was incorrectly configured, or editable configuration
data was incorrectly modified during runtime of the user program.
(<TO>.ErrorWord.X1 (ConfigFault))
Transformation A transformation error has occurred.
(<TO>.ErrorWord.X4 (TransformationFault))
User program An error in user program at a Motion Control instruction or its use occurred.
(<TO>.ErrorWord.X2 (UserFault))
Job rejected A job cannot be executed.
A Motion Control instruction cannot be executed because necessary re-
quirements have not been met (e.g. technology object not homed).
(<TO>.ErrorWord.X3 (CommandNotAccepted))
Dynamic limitation The dynamic values are restricted to the dynamic limits.
(<TO>.ErrorWord.X6 (DynamicError))

Diagnostics
"Warnings"
The following table shows the possible warnings:
Warning Description
Configuration One or more configuration parameters are being internally adapted tempo-
rarily.
(<TO>.WarningWord.X1 (ConfigWarning))
Job rejected A job cannot be executed.
A Motion Control instruction cannot be executed because the necessary
requirements are not met.
(<TO>.WarningWord.X3 (CommandNotAccepted))
Dynamic limitation The dynamic values are restricted to the dynamic limits.
(<TO>.WarningWord.X6 (DynamicWarning))
"Motion status"
The following table shows the possible statuses of the kinematics motion:
Status Description
Done (no job running) No motion job is active for the technology object.
(<TO>.StatusWord.X6 (Done))
Linear motion active A linear motion job is active for the technology object.
(<TO>.StatusWord.X8 (LinearCommand))
Circular motion active A circular motion job is active for the technology object.
(<TO>.StatusWord.X9 (CircularCommand))
sPTP motion active A synchronous point-to-point motion job is active at the technology object.
(<TO>.StatusWord.X11 (DirectCommand))
Constant velocity The kinematics is being moved at constant velocity or is at a standstill.
(<TO>.StatusWord.X12 (ConstantVelocity))
Accelerating The kinematics is being accelerated.
(<TO>.StatusWord.X13 (Accelerating))
Decelerating The kinematics is being decelerated.
(<TO>.StatusWord.X14 (Decelerating))
Motion interrupted The active kinematics motion is interrupted by an "MC_GroupInterrupt"
command .
(<TO>.StatusWord.X17 (Interrupted))
Orientation movement An orientation motion is active for the technology object.
active (<TO>.StatusWord.X15 (OrientationMotion))
See also
"StatusWord" tag (kinematics) (Page 364)
"ErrorWord" tag (kinematics) (Page 366)
"WarningWord" tag (kinematics) (Page 368)

Diagnostics
8.1.3 Zones status

Using the diagnostics windows "Status Zones" in "Technology object > Diagnostics", you
monitor the status and error messages of the technology object in the TIA portal. The
diagnostic function is available in online operation.
The diagnostics window "Zones Status" is displayed in the graphic display of the diagnostics.
You can show the diagnostics window via the symbol of the toolbar and move the
window to a desired position within the graphic display.
The meaning of the status and error messages is described in the following tables. The
associated technology object tag is given in parentheses.
"Zones status"
The "Workspace zones" and "Kinematics zones" tables show the status of the individual
zones. The following symbols are displayed for this purpose:
Symbol Description
The zone is invalid.
The zone is inactive.
The zone is active.
The zone was violated.
You can show and hide all active zones via the Symbol of the toolbar in the graphic
display of the diagnostics. In addition, you can display and hide the zones via the
corresponding symbol .
See also
Structure of the diagnostics (Page 210)

Diagnostics
8.1.4 Motion and tools

You monitor the path motions and the tools of the technology object in the TIA portal using
the diagnostics window "Motion and Tools" in "Technology object > Diagnostics". The
diagnostics function is available in online operation.
The diagnostics window "Motion and Tools" is shown in the graphic display of the
diagnostics. You can show the diagnostics window via the symbol of the toolbar and
move the window to a desired position within the graphic display.
"Motion and Tools"

The following table describes the meaning of the parameters of the motions and tools:
Status Description
Dynamic values of the
kinematics
Limit path dynamics Display of dynamic values with or without configured dynamic adaptation.
to axis dynamics
Velocity Path velocity
(<TO>.StatusPath.Velocity)
Acceleration Path acceleration
(<TO>.StatusPath.Acceleration)
Override Percentage correction of the velocity specification
The setpoint velocity set in Motion Control instructions or from the kinemat-
ics control panel is superimposed with an override signal and corrected as
a percentage. Values from 0.0% to 200.0% are permissible for the velocity
correction.
(<TO>.Override.Velocity)
Job sequence
Job in the job se- Current number of jobs for the kinematics technology object in the job se-
quence quence.
(<TO>.StatusMotionQueue.NumberOfCommands)
Active tool
Active tool Current selected tool
Tool center point in In the "Tool center point in the FCS", the values of the current tool frames
the FCS are displayed in the flange coordinate system (FCS).
x position x coordinate
(<TO>.StatusTool.Frame[1].x)
y position y coordinate
(<TO>.StatusTool.Frame[1].y)
z position z coordinate
(<TO>.StatusTool.Frame[1].z)
Rotation A A coordinate
(<TO>.StatusTool.Frame[1].a)

Diagnostics
Status Description
Conveyor tracking
OCS1 … 3 Actively coupled OCS1, 2 or 3
Coupled technolo- Technology object for active conveyor tracking
gy object Leading-value-capable technology objects are:
• Synchronous axis
• External encoder
• Leading axis proxy
(<TO>.StatusConveyor.ConveyorBelt)
Conveyor position Conveyor position of the technology object
(<TO>.StatusConveyor.BeltPosition)
OCS x position Position of the OCS in x direction on the conveyor
(<TO>.StatusConveyor.ObjectPosition)
OCS status Conveyor tracking status
(<TO>.StatusConveyor.TrackingState)
OCS not assigned No OCS is assigned to a leading-value-capable tech-
nology object.
(<TO>.StatusConveyor[1..3].TrackingState = 0)
OCS assigned The OSC is assigned to a leading-value-capable tech-
nology object. The kinematics is waiting for the next
path motion job to the OCS.
TCP approaches The OSC is assigned to a leading-value-capable tech-
OCS nology object. The position specified in the OCS is
approached with the current path motion job of the
kinematics.
TCP follows OCS The OSC is assigned to a leading-value-capable tech-
nology object.
The position of the OCS is reached. The kinematics is
moved with the position of the OCS.
See also

Diagnostics
8.1.5 Positions
You monitor the position values of the technology object in the TIA Portal using the
diagnostics window "Positions" in "Technology object > Diagnostics". The diagnostic function
is available in online operation.
The diagnostics window "Positions" is shown in the graphical display of the diagnostics. You
can show the diagnostics window via the symbol of the toolbar and move the window to a
desired position within the graphic display.
"Positions"
The following table describes the meaning of the position information:
Status Description
World coordinate sys-
tem
Coordinate system Reference coordinate system
The world coordinate system (WCS) is preset in this field.
x position x coordinate of the TCP in the WCS
(<TO>.TcpInWcs.x.Position)
y position y coordinate of the TCP in the WCS
(<TO>.TcpInWcs.y.Position)
z position z coordinate of the TCP in the WCS
(<TO>.TcpInWcs.z.Position)
Rotation A A coordinate of the TCP in the WCS
(<TO>.TcpInWcs.a.Position)
Coordinate system Reference coordinate system
In the drop-down list you can select an additional coordinate system in
order to display the actual position of the active tool in this coordinate sys-
tem.
x position x coordinate of the active tool in the set coordinate system.
y position y coordinate of the active tool in the set coordinate system.
z position z coordinate of the active tool in the set coordinate system.
Rotation A A coordinate of the active tool in the set coordinate system.
Machine coordinate
system
A1 Axis A1
A2 Axis A2
A3 Axis A3
A4 Axis A4
See also

Kinematics trace 9
The kinematics trace offers the following functions:
● 3D visualization of the current motion of the tool center point (TCP) and the three object
coordinate systems (OCS)
● Recording, playing and saving kinematic motions
● Exporting and importing the recordings
You can find the kinematics trace of the kinematics technology object in the project tree
under "Technology object > Kinematics trace".
The kinematics trace is divided into two views:
● Configuration (Page 220)
● 3D visualization (Page 222)
See also
Graphic display and toolbar (Page 222)
Recording and playing kinematics motions (Page 228)
List of recordings (Page 226)

Kinematics trace
9.1 Configuration
9.1 Configuration
You specify the parameter values for the recording under "Technology object > Kinematics
trace > Configuration"
Sampling
The following table shows you the configuration options for the duration of a recording:
Parameter Description
Time of recording In this drop-down list, select the desired recording time between the
following OBs:
• MC-Servo
• MC-Interpolator
Record every In this drop-down list, select the desired value for the recording inter-
val.
For the MC-Servo you have the following options via a drop-down list:
• Specification in cycles
• Specification in seconds
Max. recording duration This field shows the calculated value of the maximum recording time.
If you change the recording interval in the field "Record all", the maxi-
mum recording time changes.
Use maximum recording If you activate this check box, the recording duration will be set to the
duration maximum possible recording duration.
Recording duration (a) In this drop-down list, select the desired type of recording duration
display for the recording:
• In seconds
• Number of measuring points

Kinematics trace
9.1 Configuration
Trigger
The following table shows you the configuration options for starting a recording:
Trigger mode In this drop-down list, select the desired trigger mode for your record-
ing:
• Record now
The recording starts immediately after the configuration is loaded.
• Trigger on tag
The system waits for a trigger event that triggers the recording.
Trigger tag In this field, select a tag of the data type "BOOL" as trigger tag.
Event In this drop-down list, select the desired trigger event to be used as
trigger event:
• Positive edge
• Falling edge
Pre-trigger In this drop down list, select a suitable pre-trigger for your recording:
• In seconds
• Number of measuring points
The "pre-trigger" is used to record measuring points already before
the beginning of the trigger event. As soon as the trigger event occurs,
the recording is displayed in the graphical view.
Traces
The following table shows you the configuration options for a recording a trace:
Tool center point (TCP) and If you activate this option, the coordinates of the TCP will be recorded.
kinematics You can follow the motions of the kinematics and the single-axis mo-
tions in the graphical view.
Tool center point (TCP) If you activate this option, the coordinates of the TCP will be recorded.
The motions of the kinematics and the single-axis motions are not
displayed.
OCS 1 Select the object coordinate systems (OCS) to be recorded.
OCS 2
OCS 3
Note
Recording multiple traces
The more traces you record, the lower the maximum recording duration and the number of
measuring points per trace.

Kinematics trace
9.2 3D visualization
9.2.1 Graphic display and toolbar

The traversing of the kinematics, the tool center point (TCP) and the object coordinate
systems (OCS) are displayed graphically under "Technology object > Kinematics Trace > 3D
Visualization".
The 3D visualization is divided into the following areas:
● Graphic display with toolbar
● Toolbar for playing recordings (Page 226)
● List of recordings (Page 226)
In the graphic display, you can record up to four traces simultaneously:
● TCP
● OCS 1
● OCS 2
● OCS 3
Note
You set the scaling of the kinematics in the kinematics trace under "Technology object >
Configuration > Geometry (Page 167)".

Kinematics trace
Toolbar
The toolbar of the kinematics trace provides you with buttons for the following functions:

Monitoring On/Off Starts monitoring the kinematics trace.
The kinematics trace establishes an online con-
nection to the device. If the online and offline
trace configurations differ, the trace configuration
is loaded into the device.
Start recording Starts the recording (Page 228) of the kinematics
trace.
Stop recording Finished the record of the kinematics trace.
Import recording from file Imports a selected recording (Page 230) from a
selected file folder.
Export selected recording to Exports a selected recording (Page 230) into a

file selected file folder.
Add selected recording to Adds a selected recording of the measurements
measurements under "Trace".

Kinematics trace
functions:

Switch to live display Switches the live display of the kinematics on or off.
With the live display you can view how the kinematics is
currently moving. This function is only available in online
mode.
Darker Changes the brightness of the graphic display.
Select brightness
Lighter
Focus on TCP Switches the view to "Focus TCP"

During the path motion of the kinematics, the focus is
always on the TCP. In standstill, the view can be moved
or rotated using the mouse.
Show coordinate system Shows or hides the selected coordinate system with grid
lines.

Kinematics trace

Show model If you click on the arrow, the graphical view options of the
kinematics are shown.
If you click on the symbol, you change the graphical view
of the kinematics.
Highlight TCS Shows or hides the tool coordinate system (TCS).

● Rotate display
● Zoom display
If you position the mouse pointer to one of the traces, the following values are displayed for
the corresponding position:
● Measuring point number
● Coordinates x, y, z and A

Kinematics trace
9.2.2 Toolbar for playing a recording

The toolbar for playing a recording, at the bottom of the graphical display, provides the
following functions via buttons:

Jump to start Jumps back to the start of the selected recording.
Step backward Jumps back step by step in the selected record-

ing.
Play Plays the selected recording.
Pause Pauses the selected recording.
Stop Pauses the selected recording at the current

position.
Step forward Jumps forward step-by-step in the selected re-
cording.
Jump to end Jumps to the end of the selected recording.
Adjust speed Adjusts the playback speed of the selected re-

cording using the speed slider.
9.2.3 List of recordings

If you have a recorded a recording, this is displayed in the list of recordings. The list of
recordings is displayed below the graphic display and is divided into two areas:
● Current recording
● Saved recording
A recording is displayed as a line in the tabular editor. If you expand a line, all traces in this
recording are displayed.
You also have the option of saving a current recording. A saved recording contains the
following data:
● Kinematics type
● Coordinates of:
– Kinematics
– Tool center point (TCP)
– Object coordinate systems (OCS)
● Valid online geometry at the time of the recording

Kinematics trace
Tools within the list of recordings

The following functions are available in the list of recordings:

Saving a recording Saves the current recorded recording in the tabu-
lar editor. The recording is added to the area
"Saved recording".
Delete recording Deletes the selected recording (Page 229) from
the list of recordings.
Trace is hidden The recording or the trace is hidden.
Shows the hidden recording or trace.
Traces of the recording are The traces of the recording are partially shown
shown and hidden and hidden.
Trace is shown The recording or the trace is shown.
Hides the recording or trace
See also

Kinematics trace
9.3 Recording and playing kinematics motions
9.3 Recording and playing kinematics motions

For the recording, use the values set under "Technology object > Kinematics trace >
Configuration". If you have switched on the live display via the symbol , the graphic
display shows the current position of the kinematics.
Requirements
● The kinematics trace was configured under "Technology object > Kinematics trace >
Configuration".
Record kinematics motion

To record a kinematics motion, proceed as follows:
1. To start a recording, click on the symbol on the toolbar.
If no online connection is available at this point, it is established automatically.
2. Move the kinematics.
3. To end the recording, click on the symbol on the toolbar.
The current recording and the configuration are kept until the "kinematics trace" has been
closed. When you start a new recording, the current recording is overwritten.
Play kinematics motion

To play a kinematics motion, proceed as follows:
1. If the live display is activated, switch off the live display by clicking the symbol .
2. To show the trace, click on this symbol of the corresponding recording.

The graphic display displays the complete trace of the recording.
3. To play the selected recording, click on the symbol at the bottom of the graphic
display.
The selected recording is played.
4. To adjust the playback speed, change the position of the speed slider in the toolbar for
playing a recording.
5. To pause a recording, click on the symbol in the toolbar for playing a recording.
6. To stop a record, click on the symbol in the toolbar for playing a recording.
See also
Configuration (Page 220)

Kinematics trace
9.4 Saving and deleting recordings
9.4 Saving and deleting recordings
Saving a recording
To adjust and save a recording, proceed as follows:
1. In the "Current recording" area, enter the name of the recording in the "Name" column.
2. In the "Color" column, select the desired colors for the traces.
3. If necessary, enter comments in the "Comment" column.
4. To save the current recording, click on the symbol in the "Current recording" area.
The record is inserted in the "Saved record" area in the tabular editor.
Note
Up to 20 recordings which can be saved
The tabular editor can save a maximum of 20 recordings.
To save additional recordings, delete the recording you no longer need.
Deleting saved recordings

To delete a recording, follow these steps:
1. To delete a recording, click on the symbol in the corresponding line in the "Saved
recordings" area.
The record is deleted.
Note
Traces cannot be deleted individually
You cannot delete traces individually. When you delete a recording, all included traces
are deleted.

Kinematics trace
9.5 Importing and exporting recordings

You have the option to export a recording as measurement, as *.ltr or *.csv file. The exported
file contains the TCP position values, the OCS position values and the configuration of the
kinematics technology object.
You can re-import an exported *.ltr file into the kinematics trace. The recordings saved under
measurements cannot be imported into the kinematics trace again.
Export record as file

To export a record, proceed as follows:
1. From the list of recordings, select the record to be exported.
2. Click on the symbol in the toolbar.
The "Export recording" dialog opens.
3. Select "*.csv" or "*.ltr" as file format.
4. Select the storage location.
5. Click on "Export recording".
The file is exported.
Import recording as file

To import a recording, proceed as follows:
The "Import recording" dialog opens.
2. In the corresponding folder, select the file you want to import.
3. Click on the "Import file" button.
The file is imported. The recording is displayed in the tabular editor under saved
recordings.

Kinematics trace
Save recording as measurement

With the trace you have extended evaluation options to analyze kinematics motion in detail.
To save the recording as a measurement, proceed as follows:
1. Select the current recording or a saved recording.
The "Save recording" dialog opens.
3. File the recording under "Traces > Measurements".
4. Under "Traces > Measurements", load the saved recording into the trace.
The recording is displayed in the trace. The recording contains the coordinates of the
TCP and the positions of the interconnected axes.
See also

Measuring 10
Open calibration under "Technology object > Calibration". Alternatively, specify an OCS
frame under "Technology object > Configuration > Extended parameters > OCS frames" and
click on the symbol .
With the calibration you determine the exact position of the object coordinate systems (OCS)
in the world coordinate system (WCS).
The following options are available for this:
● Check the position of an already defined OCS in the WCS.
● Redefine the position of an OCS frame in the WCS.
The procedure for determining the position of an OCS is identical for both options.
Different calibration methods are available for each kinematics type:
Calibration method 2D kinemat- 2D kinematics with 3D kinemat- 3D kinematics with

ics orientation ics orientation
Three-point (Page 234) - - x -
Two-point (Page 234) x - - x
One-point (Page 234) - x - -
Move and rotate (Page 238) - - x -
Move and rotate around y x - - -
(Page 241)
Move and rotate around z - - - x
(Page 241)
Plane (Page 244) - - x -

Measuring
10.1 Structure of the calibration
10.1 Structure of the calibration

During calibration you configure the calibration methods. The kinematics with the selected
calibration method is shown graphically in the graphic display. You can use the calibration in
offline and online instructions.
The calibration is divided into the following areas:
● Selecting the calibration method
● Graphic display with toolbar and keypad
● Kinematics control panel
Selecting the calibration method

In the area "Selection of the calibration method", select a calibration method for the
kinematics. You can assign an object coordinate system (OCS) to the calibration method.
Select an OCS from the kinematics and assign a calibration method to the OCS.
You can assign the following calibration methods:
● Three-point, two-point or one-point (Page 234)
● Move and rotate (Page 238)
● Move and rotate around y or z (Page 241)
● Plane (Page 244)
If you have selected a calibration method, you can configure the corresponding parameters.
If you have configured the parameters, you can transfer the values to the configuration or
reset the values again.
Graphic display with toolbar and keypad

The following configured parameters are shown graphically in the graphic display:
● Points ("Three-point", "Two-point" or "One-point" method)
● Planes ("Planes" method)
● Angle ("Move and rotate" method)
You operate the graphic display of the calibration via the toolbar. Offline, you can change the
position of the Kinematics in the graphic display using a keypad. By jogging on a coordinate
axis, you can navigate the positions of the kinematics in positive or negative x, y or z
direction.
Kinematics control panel

The functionality of the kinematics control panel is described in section "Commissioning
(Page 203)".

Measuring
10.2 "Three-point" / "two-point" / "one-point" calibration method

Use the following points methods to compare points in the world coordinate system (WCS)
and object coordinate system (OCS):
● Three-point
● Two-point
● One-point
The points methods are used, for example, to approach a pallet or a box.
To determine the position of an OCS, first define the points in the WCS. Then enter the
corresponding coordinates in the OCS for the configured points. With these methods, the
tool center point (TCP) of the kinematics must be able to reach the defined points.
Your entries are checked by comparing the points in the WCS with the points in the OCS.
The status of the check gives you feedback on the accuracy of your information. With the
one-point method, it is not necessary to consider the accuracy of the points.
To compare the actual position of an OCS in the WCS with your configured OCS frames,
move the kinematics to the corresponding points.
You have the following options for defining positions in the WCS:
● Enter values manually in the x, y and z coordinate fields.
● Apply the current position values of the TCP using the symbol
● Couple position values to the TCP via the symbol
Object coordinate system

Select an OCS from the drop-down list.
Calibration method
In the drop-down list, select a calibration method.
Depending of the kinematics type, the following calibration methods are available:

Three-point - - x -
Two-point x - - x
One-point - x - -

Measuring
Status display
The status indicator shows the progress and notes on input.
The entered values of the calibration are checked for the "three-point" and "two point"
methods. The distances between the points in the OCS are compared with the distances
between the points in the WCS. With the one-point method, a comparison of the points is not
necessary.
If the inputs are still incomplete, the status indicator is displayed in red. Depending of your
inputs, the status indicator shows the following:
● With the three-point method:
Angle of triangles in WCS and OCS, less than 20° degrees
● With the three-point and two-point method:
Deviation of the points in WCS and OCS to each other greater than 5%
If your entries are complete and correct, the status indicator appears green. You can accept
the values in the configuration.

Measuring
1. Configure first point

You define the first point for the following methods:
● Three-point
● Two-point
● One-point
In the "one-point" method, only the x and y coordinates are available to you
In this area, define the position of the first point in the WCS and OCS:
Field/Button Description
Position in the In these fields, define the coordinates in the WCS.
WCS
x In this field, define the position of the OCS in x direction of the WCS.
y In this field, define the position of the OCS in y direction of the WCS.
z In this field, define the position of the OCS in z direction of the WCS.
With this symbol next to the field "Position of the WCS", you apply all coordi-
nates of the position of the TCP. With this symbol next to the field of a coordi-
nate, you accept only the value of the corresponding coordinate.
Move the kinematics to a position. If you click on the symbol, the current position
value of the TCP is applied. During calibration, you can move the kinematics
offline via the keypad or online via the kinematics control panel.
With this symbol next to the field "Position of the WCS", you couple all coordi-
nates of the position to the TCP. With this symbol next to the field of a coordi-
nate, you couple only the value of the corresponding coordinate to the TCP.
When you click on the symbol, the symbol changes to and the position value
is coupled to the TCP. The corresponding fields of the coordinates are inactive.
In the corresponding fields of the coupled coordinates, the current value of the
TCP is displayed while moving the kinematics. During calibration, you can move
the kinematics offline via the keypad or online via the kinematics control panel.
With this symbol next to the field "Position of the WCS", you decouple all coordi-
nates of the position at the TCP. With this symbol next to the field of a coordi-
nate, you decouple only the value of the corresponding coordinate at the TCP.
When you click on the symbol, the symbol changes to and the corresponding
position value is coupled of the TCP is decoupled. The corresponding fields of
the coordinates can be edited again.
Position in OCS In these fields, define the coordinates in the OCS.
x position In this field, define the position of the calibration point in x direction in the OCS.
y position In this field, define the position of the calibration point in y direction in the OCS.
z position In this field, define the position of the calibration point in z direction in the OCS.

Measuring
2. Configure second point

You define the second point for the following methods:
● Three-point
● Two-point
in the "two-point" method, the z coordinate is taken from the first point.
In this area, define the position of the second point in the WCS and OCS. Proceed as
described under "Configure first point".
3. Configure third point

You define the third point for the "three-point" method.
In this area, define the position of the third point in the WCS and OCS. Proceed as described
under "Configure first point".
Apply values
If you have entered new values for the calibration and the "status indicator" is green, you can
click on the button "Apply values".
With the button "Apply values", you accept the values from the calibration into the
configuration. As soon as the values of the configuration match the values of the
measurement, the button is inactive.
Reset values
With the "Reset values" button, you reset the entered values of the calibration.
See also
Measuring (Page 232)

Measuring
10.3 "Move and rotate" calibration method

With the "Move and rotate" method, you shift the origin of the object coordinate system
(OCS) and rotate the OCS.
To begin with, define the OCS origin as first point. Move this point e.g. to the corner point of
a pallet. To define the rotation of the OCS, select a coordinate axis and an angle.
You have the following options to define positions in the world coordinate system (WCS):
● Apply the current position values of the tool center point (TCP) with the symbol .

Calibration method

Move and rotate - - x -
Status display
If your entries are still incomplete, the status indicator appears red.

Measuring
1. Shift of the OCS origin

Define the offset of the OCS in the WCS in this area:
WCS
2. Select the coordinate axis around which you want to rotate

In the drop-down list, select a coordinate axis around which you want to rotate.

Measuring
3. Rotate OCS
To align a coordinate axis in direction of the TCP, you have the following options:
● Align angle with this symbol in direction of the TCP.
● Couple angle with this symbol to the TCP.
In these fields, define the rotation around the selected coordinate axis:
Field Description
Rotation of the In this drop-down list, select a coordinate axis around which the OCS is to be
coordinate axis rotated.
Angle In this field, define the rotation of the coordinate axis to the TCP.
Move the kinematics to a position. When you click on the symbol, the angle to
the TCP is applied.
When you click on this symbol, the symbol changes to and the angle is cou-
pled to the TCP. The input field of the angle is inactive.
In the corresponding fields of the coupled coordinates, the angle of the coordi-
nate axis to the TCP is displayed when moving the kinematics.
When you click on this symbol, the symbol changes to and the angle of the
coordinate axis is decoupled from the TCP. The input field of the angle can be
edited again.
Apply values
Reset values
The "Reset values" button is used to reset the entered values.
See also

Measuring
10.4 "Move and rotate around y or z" calibration method

Use the "Move and rotate around y or z" method to move the origin of the object coordinate
system (OCS) and to rotate OCS.
a pallet. To define the rotation of the OCS, select a coordinate axis.

Calibration method

Move and rotate around y x - - -
Move and rotate around z - - - x
Status display

Measuring

Define the offset of the OCS in the WCS in this area:
WCS
is coupled to the TCP. The corresponding fields of the coordinates are grayed
out.

Measuring
2. Rotate OCS
To align a coordinate axis in direction of the TCP, you have the following options:
● Align angle with this symbol in direction of the TCP.
● Couple angle with this symbol to the TCP.
In these fields, define the rotation around the selected coordinate axis in the second point:
Field Description
Angle In this field, define the rotation of the axis to the TCP.
Move the kinematics to a position. During calibration, you can move the kinemat-
ics offline via the keypad or online via the kinematics control panel.
When you click on the symbol, the current rotation of the angle to the TCP is
applied. When you click on the symbol, the current rotation of the axis to the
TCP is applied.
When you click on the symbol, the symbol changes to and the angle is cou-
pled to the TCP. The corresponding field of the angle is inactive.
In the corresponding fields of the coupled coordinates, the angle of the coordi-
nate axis to the TCP is displayed when moving the kinematics. During calibra-
tion, you can move the kinematics offline via the keypad or online via the
When you click on the symbol, the symbol changes to and the angle of the
coordinates axis is decoupled from the TCP. The corresponding field of the an-
gle can be edited again.
Apply values
Reset values
See also

Measuring
10.5 "Plane" calibration method

With the "Plane" method you move the origin of the object coordinate system (OCS) and
determine the position and rotation of the OCS.
The "Plane" method can be used, for example, with a pallet that lies on an inclined plane.
a pallet. To define the position of the OCS, select a coordinate axis that you want to rotate in
the direction of the TCP.
To align the coordinate axis in the direction of the TCP, move the kinematics to a point along
an edge of the pallet. The position of the OCS is thus determined. The rotation of the OCS is
determined by clamping a plane between two coordinate axes.
● Couple position values to the TCP with the symbol

Calibration method

Plane - - x -
Status display

Measuring

In this area, define the position of the OCS in the WCS:
Position in the In these fields, define the coordinates of the OCS in the WCS.
WCS

Measuring
2. Rotate the coordinate axis toward the TCP

You have two options for aligning a coordinate axis in the direction of the TCP:
● Align the coordinate axis with this symbol in the direction of the TCP.
● Couple the coordinate axis to the TCP with this symbol
Use the buttons to define how the coordinate axis is adapted to the current position values of
the TCP:
Field Description
When you click on this symbol, the rotation of the selected coordinate axis to the
TCP is applied.
Move the kinematics to a position. During calibration, you can move the kinemat-
ics offline via the keypad or online via the kinematics control panel.
When you click on this symbol, the symbol changes to and the coordinate
axis is coupled to the TCP. During calibration, you can move the kinematics
When you click on this symbol, the symbol changes to and the coordinate
axis is decoupled from the TCP.

Measuring
3. Clamp plane over two coordinate axes

To clamp a plane with coordinate axes, you have the following options:
● Clamp plane with the symbol in the direction of the TCP.
● Clamp plane with the symbol via the traversing of the TCP
Use the buttons to define how the alignment of the planes is adapted to the current position
value of the TCP:
Plane In this drop-down list, select the coordinate axes via which the plane is to be
clamped.
Different coordinate axes are available for selection depending of the coordinate
axis that you have selected in the field "Rotation of the coordinate axis".
During calibration, you can move the kinematics offline via the keypad or online
via the kinematics control panel.
Move the kinematics to a position. If you click on this symbol, the current position
value of the TCP is applied.
During calibration, you can move the kinematics offline via the keypad or online
via the kinematics control panel.
When you click on this symbol, the symbol changes to and the clamped
plane is coupled to the TCP. The alignment of the planes changes when the
kinematics is moved.
When you click on this symbol, the symbol changes to and the clamped
plane is decoupled.
Apply values
Reset values
See also

Measuring
10.6 Graphic display and toolbar

In the graphic display with toolbar, the traversing of the kinematics and the tool center point
(TCP) is displayed graphically with the selected measuring method.
Toolbar
functions:

Show coordinate system Shows or hides the selected coordinate system with grid
lines.
Focus TCP Switches the view to "Focus TCP"

During the path motion of the kinematics, the focus is
always on the TCP. In standstill, the view can be moved
or rotated using the mouse.
Select tool Select a tool.

Measuring

Show/hide kinematics model If you click on the arrow, the graphical view options of the
kinematics are shown.
If you click on the symbol, you change the graphical view
of the kinematics.
Highlight zones Shows or hides the tool coordinate system (TCS).

The following values are displayed graphically depending of the configured calibration
method:
● Configured points in the world coordinate system (WCS) and in the object coordinate
system (OCS)
● Configured angle
● Guide lines are shown
● Offset of the OCS from the origin
● Current position of the TCP
● Active calibration point is graphically highlighted
● Rotate and zoom the coordinate system with displayed kinematics
● Change the position of the TCP with the keypad via the x, y or z coordinate axes

Instructions 11
11.1.1 MC_GroupInterrupt V5
11.1.1.1 MC_GroupInterrupt: Interrupt motion execution V5
Description
With the Motion Control instruction "MC_GroupInterrupt", you interrupt the execution of the
motion on a kinematics technology object. The interrupted kinematics motion can be
resumed with a "MC_GroupContinue" job.
If the kinematics is already at a standstill, the execution of the motion is also interrupted for
subsequent motion jobs. New motion jobs are then arranged as pending jobs in the job
sequence.
With the "Mode" parameter, you specify the dynamic behavior of the holding.
Applies to
● Kinematics
Requirement
● The technology object has been configured correctly.
● The interconnected axes are enabled.
Override response
The override response for "MC_GroupInterrupt" jobs is described in section "Override
response V5: Kinematics motion commands (Page 331)".

Instructions
Parameters
The following table shows the parameters of Motion Control instruction "MC_GroupInterrupt":
Parameter Declara- Data type Default Description

tion value
AxesGroup INPUT TO_Kinematics - Technology object
Execute INPUT BOOL FALSE TRUE Start job with a positive edge
Mode INPUT DINT 0 Mode for dynamic behavior
0 Stop with the dynamics of the motion
job to be interrupted
1 Stop with maximum dynamics of kine-
matics motion
Done OUTPUT BOOL FALSE TRUE Job is completed.
Busy OUTPUT BOOL FALSE TRUE The job is being processed.
Active OUTPUT BOOL FALSE TRUE The setpoints are calculated.
CommandAborted OUTPUT BOOL FALSE TRUE The job was aborted by another job
during execution.
Error OUTPUT BOOL FALSE TRUE An error occurred while processing the
job. The job is rejected. The cause of
the error can be found in the "ErrorID"
parameter.
ErrorID OUTPUT WORD 16#0000 Error ID (Page 383) for parameter "ErrorID"
See also
Error ID (kinematics) (Page 383)
Override response V5: Kinematics motion commands (Page 331)

Instructions
11.1.2 MC_GroupContinue V5
11.1.2.1 MC_GroupContinue: Continue motion execution V5
Description
With the Motion Control instruction "MC_GroupContinue", you continue a kinematics motion
that was previously interrupted with a "MC_GroupInterrupt" job. The kinematics motion can
also be continued if the kinematics has not yet come to a standstill following the
"MC_GroupInterrupt" job.
The "MC_GroupContinue" job has only an effect if the technology object is in "Interrupted"
state.
Applies to
● Kinematics
Requirement
Override response
● An "MC_GroupContinue" job is not aborted by any other Motion Control job.
● A new "MC_GroupContinue" job aborts a current "MC_GroupInterrupt" job.
● The override response for "MC_GroupContinue" jobs is described in section "Override

Instructions
Parameters
The following table shows the parameters of Motion Control instruction
"MC_GroupContinue":

tion value
parameter.
See also
11.1.2.2 MC_GroupContinue: Function chart V5
Function chart: Continue motion execution

Instructions
The kinematics is moved with an "MC_MoveLinearAbsolute" job (A1).

At time ①, the "MC_MoveLinearAbsolute" job is interrupted by an "MC_GroupInterrupt" job
(A2). The kinematics is in "Interrupted" state. With "Mode = 0" the motion is stopped with the
dynamics of the "MC_MoveLinearAbsolute" job. The completion of the "MC_GroupInterrupt"
job is reported via "Done_2".
At time ②, the "MC_MoveLinearAbsolute" job is continued by an "MC_GroupContinue" job
(A3).

Instructions
11.1.3 MC_GroupStop V5
11.1.3.1 MC_GroupStop: Stop motion V5
Description
With the Motion Control instruction "MC_GroupStop", you stop and abort an active motion on
the kinematics technology object. If the motion was already interrupted with an
"MC_GroupInterrupt", this is aborted. All still pending jobs in the job sequence are also
aborted by a "MC_GroupStop" job. As long as the "Execute" parameter is set to TRUE,
kinematics jobs are rejected ("ErrorID" = 16#80CD).
With the "Mode" parameter, you specify the dynamic behavior of the stop motion.
Applies to
● Kinematics
Requirement
Override response
The override response for "MC_GroupStop" jobs is described in section "Override response
V5: Kinematics motion commands (Page 331)".

Instructions
Parameters
The following table shows the parameters of Motion Control instruction "MC_GroupStop":

tion value
Mode INPUT DINT 0 Mode for dynamic behavior
0 Stop with the dynamics of the motion
job to be interrupted
1 Stop with maximum dynamics of kine-
matics motion
When dynamic adaptation is activated,
the dynamics of the motion can also be
reduced so that the dynamic limits of
the axes are not exceeded.
during execution.
parameter.
See also

Instructions
11.1.3.2 MC_GroupStop: Function chart V5
Function chart: Stop motion

Instructions

At time ①, the "MC_MoveLinearAbsolute" job is aborted by an "MC_GroupStop" job (A2).
The job abort is signaled via "Abort_1". With "Mode = 0" the motion is stopped with the
dynamics of the "MC_MoveLinearAbsolute" job. The completion of the "MC_GroupStop" job
is reported via "Done_2".
11.1.4 MC_MoveLinearAbsolute V5
11.1.4.1 MC_MoveLinearAbsolute: Position kinematics with linear path motion V5
Description
With the Motion Control instruction "MC_MoveLinearAbsolute", you move a kinematics with a
circular motion to an absolute position. Cartesian orientation is also used absolute.
Dynamic behavior during movement is defined with the parameters "Velocity",
"Acceleration", "Deceleration" and "Jerk". For the dynamics of the orientation motion, the
default values are configured in "Technology object > Configuration > Extended parameters
> Dynamic defaults".
● <TO>.DynamicDefaults.Orientation.Velocity
● <TO>.DynamicDefaults.Orientation.Acceleration
● <TO>.DynamicDefaults.Orientation.Deceleration
● <TO>.DynamicDefaults.Orientation.Jerk
Applies to
● Kinematics
Requirement
● A single axis job (e.g. "MC_MoveVelocity") is not active on any of the interconnected
axes.
Override response
With the "TransitionParameter[1]" parameter, you determine the distance from the target
point of the previous motion job at which the new motion job is superimposed.
The override response for "MC_MoveLinearAbsolute" jobs is described in section "Override

Instructions
Parameters
"MC_MoveLinearAbsolute":

tion value
Position INPUT ARRAY [1..4] OF - Absolute target coordinates in the specified
LREAL reference system
Position[1] INPUT LREAL 0.0 x-coordinate
Position[2] INPUT LREAL 0.0 y-coordinate
Position[3] INPUT LREAL 0.0 z-coordinate
Position[4] INPUT LREAL 0.0 A-coordinate
Velocity INPUT LREAL -1.0 Velocity
> 0.0 The specified value is used.
= 0.0 Not permitted
< 0.0 The value configured in "Technology
object > Configuration > Extended
parameters > Dynamic defaults" is
used.
(<TO>.DynamicDefaults.Path.Velocit
y)
Acceleration INPUT LREAL -1.0 Acceleration
= 0.0 Not permitted
used.
(<TO>.DynamicDefaults.Path.Accele
ration)
Deceleration INPUT LREAL -1.0 Deceleration
= 0.0 Not permitted
used.
(<TO>.DynamicDefaults.Path.Decele
ration)

Instructions

tion value
Jerk INPUT LREAL -1.0 Jerk
= 0.0 No jerk limitation
used.
(<TO>.DynamicDefaults.Path.Jerk)
DirectionA INPUT DINT 3 Motion direction of the Cartesian orientation
1 Positive direction
2 Negative direction
3 Shortest distance
CoordSystem INPUT DINT 0 Reference system of the specified target posi-
tion and target orientation
0 World coordinate system (WCS)
1 Object coordinate system 1 (OCS1)
BufferMode INPUT DINT 1 Motion transition
1 Append motion
The active motion sequence is com-
pleted and the kinematics comes to a
standstill. The movement of this job
is then executed.
2 Smooth with the lower velocity
When the blending distance is
reached, the current motion is blend-
ed with the motion of this job. The
lower velocity of the two jobs is used
here.
5 Smooth with the higher velocity
higher velocity of the two jobs is used
here.

Instructions

tion value
TransitionParameter INPUT ARRAY [1..5] OF Transition parameter
LREAL
TransitionParameter[1] INPUT LREAL -1.0 Rounding clearance
≥ 0.0 The specified value is used.
< 0.0 The maximum possible rounding
clearance is used.
TransitionParameter[2] INPUT LREAL - Reserved
DynamicAdaption INPUT DINT -1 Dynamic adaptation
<0 The configured setting in "Technolo-
gy object > Configuration > Extended
parameters > Dynamic" is used.
(<TO>.DynamicDefaults.DynamicAd
aption)
0 Without dynamic adaption
1 Dynamic adaptation with segmenta-
tion of the path
2 Dynamic adaptation without segmen-
tation of the path
FALSE When "Busy" = TRUE:
Job is waiting. (Typical: A preceding
job is still active.)
during execution.
Error OUTPUT BOOL FALSE TRUE An error occurred while processing
the job. The job is rejected. The
cause of the error can be found in the
"ErrorID" parameter.
RemainingDistance OUTPUT LREAL -1.0 Distance-to-go of the current job
See also
Linear motion (Page 141)
Connection of multiple kinematics motions with geometric transitions (Page 195)

Instructions
11.1.4.2 MC_MoveLinearAbsolute: Function chart V5
Function chart: Position kinematics with linear path motion

Instructions

At time ① an additional "MC_MoveLinearAbsolute" job (A2) is initiated. As the
"MC_MoveLinearAbsolute" jobs have no override effect on one another, the job A2 is
arranged in the job sequence.
At the point in time ②, completion of the A1 job is signaled via "Done_1" and the job A2 is
started. As "BufferMode = 2" is set for job A2, the motion transition is smoothed with the
lower velocity of both jobs. As soon as the target position is reached, the completion of the
A2 job is signaled via "Done_2".
11.1.5 MC_MoveLinearRelative V5
11.1.5.1 MC_MoveLinearRelative: Relative positioning of kinematics with linear path motion V5
Description
With the Motion Control instruction "MC_MoveLinearRelative", you can move a kinematics
with a linear path relative to the position which was present at the start of the job processing.
Cartesian orientation is also used relative.
Dynamic behavior during movement is defined with the parameters "Velocity",
Applies to
● Kinematics
Requirement
axes.
Override response

Instructions
The override response for "MC_MoveLinearRelative" jobs is described in section "Override

Parameters
"MC_MoveLinearRelative":

tion value
Distance INPUT ARRAY [1..4] OF - Relative target coordinates in the specified
LREAL reference system
Distance[1] INPUT LREAL 0.0 x-coordinate
Distance[2] INPUT LREAL 0.0 y-coordinate
Distance[3] INPUT LREAL 0.0 z-coordinate
Distance[4] INPUT LREAL 0.0 A-coordinate
= 0.0 Not permitted
used.
y)
= 0.0 Not permitted
used.
ration)

Instructions

tion value
= 0.0 Not permitted
used.
ration)
used.
CoordSystem INPUT DINT 0 Reference system of the specified target posi-
tion and target orientation
1 Append motion
is then executed.
here.
here.

Instructions

tion value
TransitionParameter INPUT ARRAY [1..5] OF - Transition parameter
LREAL
clearance is used.
DynamicAdaption INPUT DINT -1.0 Dynamic adaptation
aption)
tion of the path
tation of the path
during execution.
See also
Linear motion (Page 141)

Instructions
11.1.5.2 MC_MoveLinearRelative: Function chart V5
Function chart: Relative positioning of kinematics with linear path motion

Instructions
The kinematics is moved with an "MC_MoveLinearRelative" job (A1).

At time ① an additional "MC_MoveLinearRelative" job (A2) is initiated. As the
"MC_MoveLinearRelative" jobs have no override effect on one another, the job A2 is
higher velocity of both jobs. As soon as the target position is reached, the completion of the
A2 job is signaled via "Done_2".

Instructions
11.1.6 MC_MoveCircularAbsolute V5
11.1.6.1 MC_MoveCircularAbsolute: Position kinematics with circular path motion V5
Description
With the Motion Control instruction "MC_MoveCircularAbsolute", you can move a kinematics
with a circular motion to an absolute position. Cartesian orientation is also used absolute.
With the "CircMode" parameter, you specify the definition of the circular path:
● Via an intermediate point and the end point
With the "AuxPoint" parameter, you specify an intermediate point on the circular path, via
which the end point specified in the "EndPoint" parameter is to be approached. The
circular path is calculated via the starting, intermediate and end points. Only circular
paths less than 360° can be traversed here.
● Via the circle center and angle in a main plane
With the "AuxPoint" parameter, you define the center point of the circle. The end point of
the circular path is calculated via the angle specified in the parameter "Arc". With the
"PathChoice" parameter, you specify whether the circular path is to be traversed in
● Via the circle radius and the end point in a main plane
With the "EndPoint" parameter, you specify the end point and with "Radius" the radius of
the circular path. Depending on the radius, up to four possible circular paths can occur in
the plane defined with the "CirclePlane" parameter. With the "PathChoice" parameter,
you specify which of these circular paths is to be moved.
Dynamic behavior during Kinematics motion is defined with the parameters "Velocity",
Applies to
● Kinematics

Instructions
Requirement
axes.
Override response
The override response for "MC_MoveCircularAbsolute" jobs is described in section "Override
Parameters
"MC_MoveCircularAbsolute":

tion value
CircMode INPUT DINT 0 Definition of circular path
0 The position vector specified at the
"AuxPoint" parameter defines a point
on the circular path.
1 The position specified at the parame-
ter "AuxPoint" defines the circle cen-
ter.
2 The "Radius" and "EndPoint" param-
eters define the circle segment.
AuxPoint INPUT ARRAY [1..3] OF - Circular path auxiliary point
LREAL
• When "CircMode" = 0: Point on the circular
path
• When "CircMode" = 1: Center point of the
circular path
• When "CircMode" = 2: Not relevant
AuxPoint[1] INPUT LREAL 0.0 x-coordinate
AuxPoint[2] INPUT LREAL 0.0 y-coordinate
AuxPoint[3] INPUT LREAL 0.0 z-coordinate

Instructions

tion value
EndPoint INPUT ARRAY [1..4] OF - Target position in the specified reference sys-
LREAL tem
When "CircMode" = 1:
Only "EndPoint[4]" relevant (orientation axis)
EndPoint[1] INPUT LREAL 0.0 x-coordinate
EndPoint[2] INPUT LREAL 0.0 y-coordinate
EndPoint[3] INPUT LREAL 0.0 z-coordinate
EndPoint[4] INPUT LREAL 0.0 A-coordinate
PathChoice INPUT DINT 0 Orientation of the circular path
Not relevant
0 Positive direction of rotation
1 Negative direction of rotation
0 Shorter positive circle segment
1 Shorter negative circle segment
2 Longer positive circle segment
3 Longer negative circle segment
CirclePlane INPUT DINT 0 Main plane of the circular path
Not relevant
When "CircMode" = 1 and 2:
0 x-z plane
1 y-z plane
2 x-y plane
Radius INPUT LREAL 0.0 When "CircMode" = 2:
Radius of the circular movement
Arc INPUT LREAL 0.0 When "CircMode" = 1:
Angle of the circular movement
= 0.0 Not permitted
used.
y)

Instructions

tion value
= 0.0 Not permitted
used.
ration)
= 0.0 Not permitted
used.
ration)
used.
DirectionA INPUT DINT 3 Motion direction of the Cartesian orientation
3 Shortest distance
CoordSystem INPUT DINT 0 Reference system

Instructions

tion value
1 Append motion
is then executed.
here.
here.
LREAL
clearance is used.
DynamicAdaption INPUT DINT -1.0 Dynamic adaptation
aption)
tion of the path
tation of the path

Instructions

tion value
during execution.
See also
Circular motion (Page 141)

Instructions
11.1.6.2 MC_MoveCircularAbsolute: Function chart V5
Function chart: Position kinematics with circular path motion

In the function chart, sections A1 and A2 of the following kinematics motion are viewed:

Instructions

At time ① an "MC_MoveCircularAbsolute" job (A2) is initiated. As the
"MC_MoveCircularAbsolute" job has no overdrive effect, the job A2 is arranged in the job
sequence.
lower velocity of both jobs and the rounding clearance d1. The circular motion is determined
with "CircMode = 1" via the radius r and the end point (x2|y2|z2). As soon as the target
position is reached, the completion of the A2 job is signaled via "Done_2".

Instructions
11.1.7 MC_MoveCircularRelative V5
11.1.7.1 MC_MoveCircularRelative: Relative positioning of kinematics with circular path motion

V5
Description
With the Motion Control instruction "MC_MoveCircularRelative", you can move a kinematics
with a circular motion to a relative position. Cartesian orientation is also used relative.
With the "CircMode" parameter, you specify the definition of the circular path:
● Via an intermediate point and the end point
With the "AuxPoint" parameter, you specify an intermediate point on the circular path, via
which the end point specified in the "EndPoint" parameter is to be approached. The
circular path is calculated via the starting, intermediate and end points. Only circular
paths less than 360° can be traversed here.
● Via the circle center and angle in a main plane
With the "AuxPoint" parameter, you define the center point of the circle. The end point of
the circular path is calculated via the angle specified in the parameter "Arc". With the
"PathChoice" parameter, you specify whether the circular path is to be traversed in
● Via the circle radius and the end point in a main plane
With the "EndPoint" parameter, you specify the end point and with "Radius" the radius of
the circular path. Depending on the radius, up to four possible circular paths can occur in
the plane defined with the "CirclePlane" parameter. With the "PathChoice" parameter,
you specify which of these circular paths is to be moved.
Dynamic behavior during Kinematics motion is defined with the parameters "Velocity",
Applies to
● Kinematics

Instructions
Requirement
axes.
Override response
The override response for "MC_MoveCircularRelative" jobs is described in section "Override
Parameters
"MC_MoveCircularRelative":

tion value
CircMode INPUT DINT 0 Definition of circular path
0 The position vector specified at the
"AuxPoint" parameter defines a point
on the circular path.
1 The position specified at the parame-
ter "AuxPoint" defines the circle cen-
ter.
2 The "Radius" and "EndPoint" param-
eters define the circle segment.
AuxPoint INPUT ARRAY [1..3] OF - Circular path auxiliary point
LREAL
• When "CircMode" = 0: Point on the circular
path
• When "CircMode" = 1: Center point of the
circular path
• When "CircMode" = 2: Not relevant
Coordinate relative to the starting point
AuxPoint[1] INPUT LREAL 0.0 x-coordinate
AuxPoint[2] INPUT LREAL 0.0 y-coordinate
AuxPoint[3] INPUT LREAL 0.0 z-coordinate

Instructions

tion value
EndPoint INPUT ARRAY [1..4] OF - Target position relative to the starting point in
LREAL the specified reference system
When "CircMode" = 1: Only EndPoint[4] rele-
vant (orientation axis)
EndPoint[1] INPUT LREAL 0.0 x-coordinate
EndPoint[2] INPUT LREAL 0.0 y-coordinate
EndPoint[3] INPUT LREAL 0.0 z-coordinate
EndPoint[4] INPUT LREAL 0.0 A-coordinate
PathChoice INPUT DINT 0 Orientation of the circular path
Not relevant
0 Positive direction of rotation
1 Negative direction of rotation
0 Shorter positive circular path
1 Shorter negative circular path
2 Longer positive circular path
3 Longer negative circular path
CirclePlane INPUT DINT 0 Main plane of the circular path
Not relevant
When "CircMode" = 1 and 2:
0 x-z plane
1 y-z plane
2 x-y plane
Radius INPUT LREAL 0.0 When "CircMode" = 2:
Radius of the circular movement
Arc INPUT LREAL 0.0 When "CircMode" = 1:
Angle of the circular movement
= 0.0 Not permitted
< 0.0 The velocity configured in "Technol-
ogy object > Configuration > Extend-
ed parameters > Dynamic defaults" is
used.
y)

Instructions

tion value
= 0.0 Not permitted
used.
ration)
= 0.0 Not permitted
used.
ration)
used.

Instructions

tion value
1 Append motion
is then executed.
here.
here.
LREAL
clearance is used.
DynamicAdaption INPUT DINT -1 Dynamic adaptation
aption)
tion of the path
tation of the path

Instructions

tion value
during execution.
See also
Circular motion (Page 141)

Instructions
11.1.7.2 MC_MoveCircularRelative: Function chart V5
Function chart: Relative positioning of kinematics with circular path motion

In the function chart, sections A1 and A2 of the following kinematics motion are viewed:

Instructions
The kinematics is moved with an "MC_MoveLinearRelative" job (A1).

At time ① an "MC_MoveCircularRelative" job (A2) is initiated. As the
"MC_MoveCircularRelative" job has no overdrive effect, the job A2 is arranged in the job
sequence.
lower velocity of both jobs and the rounding clearance d1. The circular motion is determined
with "CircMode = 2" via the radius r and the end point (x2|y2|z2). As soon as the target
position is reached, the completion of the A2 job is signaled via "Done_2".

Instructions
11.1.8 MC_MoveDirectAbsolute V5
11.1.8.1 MC_MoveDirectAbsolute: Absolute movement of kinematics with synchronous "point-

to-point" motion V5
Description
With the Motion Control instruction "MC_MoveDirectAbsolute", you can move the kinematics
with a synchronous "point-to-point" motion (sPTP motion) to absolute positions. All
kinematics axes are moved at the same time. The axes start the movement at the same time
and reach the target position at the same time.
The movement path of the tool center point (TCP) results from the dynamic values of the
axes. The kinematics axis with the longest movement time determines the movement time of
the motion. The position of the TCP results from the positions of the kinematics axes.
You can also move the orientation of the kinematics to an absolute position. You specify this
with the "PositionMode" parameter.
Dynamic behavior during movement is defined by means of factors with the parameters
"VelocityFactor", "AccelerationFactor", "DecelerationFactor" and "JerkFactor". The factors
relate as percentages to the maximum dynamic values of the corresponding axis configured
in "Technology object > Configuration > Extended parameters > Dynamic limits".
Applies to
● Kinematics
Requirement
axes.
Override response
The override response for "MC_MoveDirectAbsolute" jobs is described in section "Override

Instructions
Parameters
"MC_MoveDirectAbsolute":

tion value
Position INPUT ARRAY [1..4] OF - When "CoordSystem" = 100:
LREAL Absolute axis positions
When "CoordSystem" = 0, 1, 2 or 3 and
"PositionMode" = 1:
Absolute target coordinates in the specified
reference system
"PositionMode" = 2:
Absolute Cartesian position and relative Carte-
sian orientation
Position[1] INPUT LREAL 0.0 When "CoordSystem" = 100 (MCS):
Position of the axis A1
"PositionMode" = 1 or 2:
x-coordinate
y-coordinate
z-coordinate
Position of orientation axis A4
A-coordinate

Instructions

tion value
VelocityFactor INPUT LREAL -1.0 Factor for the velocity of axis movements in
relation to the respective maximum velocity of
the axes ("DynamicLimits.MaxVelocity")
Permitted value range: -1.0 < Factor ≤ 1.0
< 0.0 The velocity factor configured in
"Technology object > Configuration >
Extended parameters > Dynamic
defaults" is used.
(<TO>.DynamicDefaults.MoveDirect.
VelocityFactor)
> 0.0 The specified factor is used.
1.0 The maximum velocity of the axes is
used.
AccelerationFactor INPUT LREAL -1.0 Factor for the acceleration of axis movements
in relation to the respective maximum accelera-
tion of the axis
("DynamicLimits.MaxAcceleration")
< 0.0 The acceleration factor configured in
Parameter view > DynamicDefaults >
MoveDirect" is used.
AccelerationFactor)
1.0 The maximum acceleration of the
axes is used.
DecelerationFactor INPUT LREAL -1.0 Factor for the deceleration of the axis move-
ments in relation to the respective maximum
deceleration of the axis
("DynamicLimits.MaxDeceleration")
< 0.0 The deceleration factor configured in
DecelerationFactor)
1.0 The maximum deceleration of the
axes is used.

Instructions

tion value
JerkFactor INPUT LREAL -1.0 Factor for the jerk of axis movements in rela-
tion to the respective maximum jerk of the axis
("DynamicLimits.MaxJerk")
Permitted value range: -1.0 <Factor ≤ 0.0 and
0.1 < Factor ≤ 0.9
< 0.0 The jerk configured in "Technology
object > Configuration > Parameter
view > DynamicDefaults >
JerkFactor)
0.0 The maximum jerk of the axes is
used.
LinkConstellation INPUT DWORD 16#FFFF Target joint position space (Page 352)
FFFF #FFFF Keep current joint position space
FFFF
100 Machine coordinate system (MCS)
BufferMode (Page 195) INPUT DINT 1 Motion transition
1 Append motion
is then executed.
2 Smooth with the lower velocity.
here.
here.

Instructions

tion value
TransitionParameter INPUT ARRAY [1..5] OF - Rounding clearance
LREAL
clearance is used.
PositionMode INPUT DINT 1 Use of the "Position" parameter
1 Absolute Cartesian position and
absolute Cartesian orientation
2 Absolute Cartesian position and
relative Cartesian orientation
DirectionA INPUT DINT 3 When "PositionMode" = 1:
Motion direction of the Cartesian orientation
3 Shortest distance
ExecutionTimeStatus OUTPUT LREAL 0.0 Display of execution progress
Value range: 0.0 … 1.0
The job is completed with "ExecutionTime
Status" = 1.0.
during execution.
See also

Instructions
11.1.8.2 MC_MoveDirectAbsolute V5: Function chart
Function chart: Absolute movement of kinematics with synchronous "point-to-point" motion

Instructions
The kinematics is moved with an "MC_MoveDirectAbsolute" job (A1).

At time ①, an additional "MC_MoveDirectAbsolute" job (A2) is initiated. As the
"MC_MoveDirectAbsolute" jobs have no override effect on one another, the job A2 is
At time ②, completion of the job A1 is signaled via "Done_1" and the job A2 is started. As
"BufferMode" = 2 is set for job A2, the motion transition is blended with the lower velocity of
the two jobs. As soon as the target position is reached, the completion of the A2 job is
signaled via "Done_2".

Instructions
11.1.9 MC_MoveDirectRelative V5
11.1.9.1 MC_MoveDirectRelative: Relative movement of kinematics with synchronous "point-to-

point" motion V5
Description
With the Motion Control instruction "MC_MoveDirectRelative", you can move the kinematics
with a synchronous "point-to-point" motion to relative positions. All kinematics axes are
moved at the same time. The axes start the movement at the same time and reach the target
position at the same time.
The movement path of the tool center point (TCP) results from the dynamic values of the
axes. The kinematics axis with the longest movement time determines the movement time of
the motion. The position of the TCP results from the positions of the kinematics axes.
You can also move the orientation of the kinematics to a relative position.
Dynamic behavior during movement is defined by means of factors with the parameters
"VelocityFactor", "AccelerationFactor", "DecelerationFactor" and "JerkFactor". The factors
relate as percentages to the maximum dynamic values of the corresponding axis configured
in "Technology object > Configuration > Extended parameters > Dynamic limits".
Applies to
● Kinematics
Requirement
axes.
Override response
The override response for "MC_MoveDirectRelative" jobs is described in section "Override

Instructions
Parameters
The following table shows the parameters of the Motion Control instruction:

tion value
Distance INPUT ARRAY [1..4] OF - When "CoordSystem" = 100:
LREAL Relative axis positions
When "CoordSystem" = 0, 1, 2 or 3:
Relative target coordinates in the specified
reference system
Distance[1] INPUT LREAL 0.0 When "CoordSystem" = 100:
Relative position of the axis A1
x-coordinate
y-coordinate
z-coordinate
A-coordinate
VelocityFactor INPUT LREAL -1.0 Factor for the velocity of axis movements in
relation to the respective maximum velocity of
the axes ("DynamicLimits.MaxVelocity")
< 0.0 The velocity factor configured in
VelocityFactor)
1.0 The maximum velocity of the axes is
used.

Instructions

tion value
AccelerationFactor INPUT LREAL -1.0 Factor for the acceleration of axis movements
in relation to the respective maximum accelera-
tion of the axis
("DynamicLimits.MaxAcceleration")
< 0.0 The acceleration factor configured in
AccelerationFactor)
1.0 The maximum acceleration of the
axes is used.
DecelerationFactor INPUT LREAL -1.0 Factor for the deceleration of the axis move-
ments in relation to the respective maximum
deceleration of the axis
("DynamicLimits.MaxDeceleration")
< 0.0 The deceleration factor configured in
DecelerationFactor)
1.0 The maximum deceleration of the
axes is used.
JerkFactor INPUT LREAL -1.0 Factor for the jerk of axis movements in rela-
tion to the respective maximum jerk of the axis
("DynamicLimits.MaxJerk")
Permitted value range: -1.0 <Factor ≤ 0.0 and
0.1 < Factor ≤ 0.9
< 0.0 The jerk configured in "Technology
object > Configuration > Parameter
view > DynamicDefaults >
JerkFactor)
0.0 The maximum jerk of the axes is
used.
LinkConstellation INPUT DWORD 16#FFFF Target joint position space (Page 352)
FFFF #FFFF Keep current joint position space
FFFF

Instructions

tion value
100 Machine coordinate system (MCS)
BufferMode (Page 195) INPUT DINT 1 Motion transition
1 Append motion
is then executed.
here.
here.
TransitionParameter INPUT ARRAY [1..5] OF - Rounding clearance
LREAL
clearance is used.
ExecutionTimeStatus OUTPUT LREAL 0.0 Display of execution progress
Value range: 0.0 … 1.0
The job is completed with
"ExecutionTimeStatus" = 1.0.
0.0 The job has not yet been executed.
> 0.0 The job is being executed.
1.0 The job was executed.

Instructions

tion value
during execution.
See also
11.1.9.2 MC_MoveDirectRelative V5: Function chart
Function chart: Relative movement of kinematics with synchronous "point-to-point" motion

Instructions
The kinematics is moved with an "MC_MoveDirectRelative" job (A1).

At time ①, an additional "MC_MoveDirectRelative" job (A2) is initiated. As the
"MC_MoveDirectRelative" jobs have no override effect on one another, the job A2 is
At time ②, completion of the job A1 is signaled via "Done_1" and the job A2 is started. As
"BufferMode" = 5 is set for job A2, the motion transition is blended with the higher velocity of
the two jobs. As soon as the target position is reached, the completion of the A2 job is
signaled via "Done_2".

Instructions
11.1.10 MC_TrackConveyorBelt V5
11.1.10.1 MC_TrackConveyorBelt: Start conveyor tracking V5
Description
With the motion control instruction "MC_TrackConveyorBelt", an OCS is assigned via the
parameter "ConveyorBelt" to a leading value capable technology object which represents the
conveyor belt. The OCS is assigned to a known belt position.
The OCS is assigned with the OCS frame ("ConveyorBeltOrigin") and the product position
("InitialObjectPosition") to a product on the conveyor. The OCS is then coupled with the
product in the x-direction.
With the next kinematics motion job, the kinematics moves to the specified position in the
OCS and couples with the conveyor.
Applies to
● Kinematics
Requirement
● The technology objects have been configured correctly.
● You have selected a kinematics type that can execute path motion jobs.
● There is no active single axis job (e.g. "MC_MoveVelocity") on the interconnected axes.
Override response
● A "MC_SetOcsFrame" job cancels the tracking of the OCS with a leading value-capable
technology object.
● The override response for "MC_TrackConveyorBelt" jobs is described in section "Override

Instructions
Parameters
"MC_TrackConveyorBelt":

tion value
AxesGroup INPUT TO_Kinematics - Kinematics technology object
ConveyorBelt INPUT TO_PositioningAxis - Leading value capable technology object to which
TO_SynchronousAxis the OCS is coupled:
TO_ExternalEncoder Leading value capable technology objects are:
TO_LeadingAxisProxy • Positioning axis
ConveyorBeltOrigin INPUT TO_Struct_Kinematics - OCS frame for conveyor reference position
_Frame
InitialObjectPosition INPUT TO_Struct_Kinematics 0.0 Position difference between OCS reference posi-
_Frame tion and conveyor position
CoordSystem INPUT DINT 1 Number of the tracked OCS
1 OCS1
2 OCS2
3 OCS3
during execution.
parameter.
See also

Instructions
11.1.10.2 MC_TrackConveyorBelt V5: Function chart
Function chart: Start conveyor tracking

Instructions

Instructions
A "MC_MeasuringInput" job (A1) is used to record the position of a product at the time ①.
The recorded position is reported via "Done_1".
With a "MC_TrackConveyorBelt" job (A2), an OCS is assigned via the parameter
"ConveyorBelt" to a leading value capable technology object, which represents the conveyor
belt. The OCS is assigned to a known conveyor position. The OCS is assigned with the OCS
frame ("ConveyorBeltOrigin") and the product position ("InitialObjectPosition") to a product
on the conveyor. The OCS is then coupled with the product in the x-direction.
The status of conveyor tracking ("<TO_Kin_1>.StatusConveyor[1].TrackingState") changes
from 0 to 1. When the kinematics moves to the product position, the conveyor tracking status
changes from 1 to 2. When the kinematics follow the product position, the status of the belt
tracking changes from 2 to 3.
At the times ② and ③, additional products are recorded on the conveyor and the OCS is
reassigned with additional "MC_TrackConveyorBelt" jobs.

Instructions
11.2 Zones
11.2 Zones
11.2.1 MC_DefineWorkspaceZone V5
11.2.1.1 MC_DefineWorkspaceZone: Define workspace zone V5
Description
With the Motion Control instruction "MC_DefineWorkspaceZone", you define a workspace
zone in relation to the world coordinates system or an object coordinates system. The zones
(<TO>.WorkspaceZone[1..10]) defined under "Technology object > Configuration >
Extended parameters > Zones" are not hereby changed are available again after a restart of
the technology object. The "<TO>.StatusWorkspaceZone" tag of the technology object data
block contains the currently effective workspace zones.
The "MC_DefineWorkspaceZone" job interjects itself in the job sequence on the Kinematics
technology object and therefore effective for the following motion jobs.
With the "GeometryType" and "GeometryParameter" parameters, you specify the zone
geometry type and zone size. You use the "ZoneType" parameter to define a workspace
zone as work zone, blocked zone or signal zone. You can define up to ten workspace zones.
While several of the defined blocked zones and signal zones can be active simultaneously,
only one area of the defined work zones can be active.
Applies to
● Kinematics
Requirement
axes.
Override response
● The override response for "MC_DefineWorkspaceZone" jobs is described in section
"Override response V5: Kinematics motion commands (Page 331)".

Instructions
11.2 Zones
Parameter
"MC_DefineWorkspaceZone":

tion value
Execute INPUT BOOL FALSE TRUE The job is accepted in the job se-
quence.
ZoneType INPUT DINT 0 Zone type
0 Blocked zone
1 Work zone
2 Signal zone
ZoneNumber INPUT DINT 1 Zone number
1 Zone 1
2 Zone 2
3 Zone 3
4 Zone 4
5 Zone 5
6 Zone 6
7 Zone 7
8 Zone 8
9 Zone 9
10 Zone 10
ReferenceSystem INPUT DINT 0 Reference system
Frame INPUT TO_Struct_Kinematics - Shifting of the zone zero point in relation to the
_Frame reference system
GeometryType INPUT DINT 0 Zone geometry type
0 Cuboid
1 Sphere
2 Cylinder

Instructions
11.2 Zones

tion value
GeometryParameter INPUT ARRAY [1..3] OF - Geometric parameters
LREAL
GeometryParameter[1] INPUT LREAL 0.0 Length x
When "GeometryType" = 1 or 2:
Radius
GeometryParameter[2] INPUT LREAL 0.0 Length y
When "GeometryType" = 2:
Height
GeometryParameter[3] INPUT LREAL 0.0 Length z
during execution.
See also
MC_SetWorkspaceZoneActive: Activate workspace zone V5 (Page 309)
MC_SetWorkspaceZoneInactive: Deactivate workspace zone V5 (Page 311)

Instructions
11.2 Zones
11.2.2 MC_DefineKinematicsZone V5
11.2.2.1 MC_DefineKinematicsZone: Define kinematics zone V5
Description
With the Motion Control instruction "MC_DefineKinematicsZone", you define a kinematics
zone in relation to the tool and flange coordinate system. The zones
(<TO>.KinematicsZone[2..10]) defined under "Technology object > Configuration > Extended
parameters > Zones" are not hereby changed are available again after a restart of the
technology object. The "<TO>.StatusKinematicsZone" tag of the technology object data
block contains the currently effective kinematics zones.
The "MC_DefineKinematicsZone" job is added to the queue of the job sequence and is
therefore effective for subsequent motion jobs.
With the "GeometryType" and "GeometryParameter" parameters, you specify the zone
geometry type and size. You can define up to nine kinematics zones. Kinematics zone 1 is
the tool center point (TCP) and cannot be changed.
Applies to
● Kinematics
Requirement
axes.
Override response
● The override response for "MC_DefineKinematicsZone" jobs is described in section

Instructions
11.2 Zones
Parameters
"MC_DefineKinematicsZone":

tion value
quence.
2 Zone 2
3 Zone 3
4 Zone 4
5 Zone 5
6 Zone 6
7 Zone 7
8 Zone 8
9 Zone 9
10 Zone 10
ReferenceSystem INPUT DINT 0 Reference system
0 Flange coordinate system (FCS)
1 Tool coordinate system (TCS)
Frame INPUT TO_Struct_Kinematics - Shifting of the zone zero point in relation to the
_Frame reference system
GeometryType INPUT DINT 0 Zone geometry type
0 Cuboid
1 Sphere
2 Cylinder
GeometryParameter INPUT ARRAY [1..3] OF - Geometric parameters
LREAL
GeometryParameter[1] INPUT LREAL 0.0 Length x
When "GeometryType" = 1 or 2:
Radius
GeometryParameter[2] INPUT LREAL 0.0 Length y
When "GeometryType" = 2:
Height
GeometryParameter[3] INPUT LREAL 0.0 Length z

Instructions
11.2 Zones

tion value
during execution.
See also
MC_SetKinematicsZoneActive: Activate kinematics zone V5 (Page 313)
MC_SetKinematicsZoneInactive: Deactivate kinematics zone V5 (Page 315)

Instructions
11.2 Zones
11.2.3 MC_SetWorkspaceZoneActive V5
11.2.3.1 MC_SetWorkspaceZoneActive: Activate workspace zone V5
Description
The "MC_SetWorkspaceZoneActive" Motion Control instruction is used to activate the
workspace zone which you have defined under "Technology object > Configuration >
Extended parameters > Zones" of via an "MC_DefineWorkspaceZone" job With the
"ZoneNumber" parameter, you enter the number of the zone to be activated.
The "MC_SetWorkspaceZoneActive" job is added to the queue of the job sequence and is
The "<TO>.StatusWorkspaceZone[1..10].Active" tags of the technology object data block
contain the current activation status of the zones. While several of the defined blocked zones
and signal zones can be active simultaneously, only one area of the defined work zones can
be active.
Applies to
● Kinematics
Requirement
axes.
● The zone to be activated is defined.
Override response
● The override response for "MC_SetWorkspaceZoneActive" jobs is described in section

Instructions
11.2 Zones
Parameter
"MC_SetWorkspaceZoneActive":

tion value
1 Zone 1
2 Zone 2
3 Zone 3
4 Zone 4
5 Zone 5
6 Zone 6
7 Zone 7
8 Zone 8
9 Zone 9
10 Zone 10
during execution.
parameter.
See also
MC_DefineWorkspaceZone: Define workspace zone V5 (Page 303)
MC_SetWorkspaceZoneInactive: Deactivate workspace zone V5 (Page 311)

Instructions
11.2 Zones
11.2.4 MC_SetWorkspaceZoneInactive V5
11.2.4.1 MC_SetWorkspaceZoneInactive: Deactivate workspace zone V5
Description
You use Motion Control instruction "MC_SetWorkspaceZoneInactive" to deactivate an active
workspace zone. With the "Mode" parameter, you can deactivate a specific zone, all zones
of a type or all zones.
The "MC_SetWorkspaceZoneInactive" job is added to the queue of the job sequence and is
The "<TO>.StatusWorkspaceZone[1..10].Active" tags of the technology object data block
contain the current activation status of the zones.
Applies to
● Kinematics
Requirement
axes.
● The zone to be deactivated is defined.
Override response
● The override response for "MC_SetWorkspaceZoneInactive" jobs is described in section

Instructions
11.2 Zones
Parameters
"MC_SetWorkspaceZoneInactive":

tion value
1 Zone 1
2 Zone 2
3 Zone 3
4 Zone 4
5 Zone 5
6 Zone 6
7 Zone 7
8 Zone 8
9 Zone 9
10 Zone 10
Mode INPUT DINT 0 Set zones of a zone type to inactive
0 Set a specific zone to inactive
1 Set all workspace zones to inactive
2 Set all blocked zones to inactive
3 Set all signal zones to inactive
4 Set workspace to inactive.
during execution.
parameter.
See also
MC_DefineWorkspaceZone: Define workspace zone V5 (Page 303)
MC_SetWorkspaceZoneActive: Activate workspace zone V5 (Page 309)

Instructions
11.2 Zones
11.2.5 MC_SetKinematicsZoneActive V5
11.2.5.1 MC_SetKinematicsZoneActive: Activate kinematics zone V5
Description
The "MC_SetKinematicsZoneActive" Motion Control instruction is used to activate the zone
monitoring for a defined kinematics zone which you have defined under "Technology object
> Configuration > Extended parameters > Zones" of via an "MC_DefineKinematicsZone" job
With the "ZoneNumber" parameter, you enter the number of the kinematics zone to be
activated.
The "MC_SetKinematicsZoneActive" job is added to the queue of the job sequence and is
The "<TO>.StatusKinematicsZone[2..10].Active" tags of the technology object data block
contain the current activation status of the kinematics zones.
Applies to
● Kinematics
Requirement
axes.
● The kinematics zone to be activated is defined.
Override response
● The override response for "MC_SetKinematicsZoneActive" jobs is described in section

Instructions
11.2 Zones
Parameters
"MC_SetKinematicsZoneActive":

tion value
2 Zone 2
3 Zone 3
4 Zone 4
5 Zone 5
6 Zone 6
7 Zone 7
8 Zone 8
9 Zone 9
10 Zone 10
during execution.
parameter.
See also
MC_DefineKinematicsZone: Define kinematics zone V5 (Page 306)
MC_SetKinematicsZoneInactive: Deactivate kinematics zone V5 (Page 315)

Instructions
11.2 Zones
11.2.6 MC_SetKinematicsZoneInactive V5
11.2.6.1 MC_SetKinematicsZoneInactive: Deactivate kinematics zone V5
Description
You use Motion Control instruction "MC_SetKinematicsZoneInactive" to deactivate an active
kinematics zone. With the "Mode" parameter, you can deactivate a specific kinematics zone
or all kinematics zones.
The "MC_SetKinematicsZoneInactive" job is added to the queue of the job sequence and is
The "<TO>.StatusKinematicsZone[2..10].Active" tags of the technology object data block
contain the current activation status of the kinematics zones.
Applies to
● Kinematics
Requirement
axes.
● The kinematics zone to be deactivated is defined.
Override response
● The override response for "MC_SetKinematicsZoneInactive" jobs is described in section

Instructions
11.2 Zones
Parameters
"MC_SetKinematicsZoneInactive":

tion value
2 Zone 2
3 Zone 3
4 Zone 4
5 Zone 5
6 Zone 6
7 Zone 7
8 Zone 8
9 Zone 9
10 Zone 10
Mode INPUT DINT 0 Set zones to inactive
0 Set a specific zone to inactive
1 Set all zones to inactive
during execution.
parameter.
See also
MC_DefineKinematicsZone: Define kinematics zone V5 (Page 306)
MC_SetKinematicsZoneActive: Activate kinematics zone V5 (Page 313)

Instructions
11.3 Tools
11.3 Tools
11.3.1 MC_DefineTool V5
11.3.1.1 MC_DefineTool: Redefine tool V5
Description
You redefine the tool frame of the tool 1 job with the "MC_DefineTool" Motion Control
instruction. The start values stored in the system are not overwritten. Tool 1 is active by
default.
The "MC_DefineTool" job is not added to the queue of the job sequence of the kinematics
technology object and therefore takes effect immediately. The "MC_DefineTool" job can be
executed only if the kinematics is in standstill.
The configurable coordinates depend on the kinematics type used:
Kinematics type Configurable coordinates

2D without orientation x, z1)
with orientation z, a2)
3D without orientation x, y, z3)
with orientation x, y, z, a
1) The parameters "y" and "a" are pre-defined with the value "0.0".
2) The parameters "x" and "y" are pre-defined with the value "0.0".
3) The parameter "a" can only be defined with the value "0.0".
The following tags of the technology object data block contain the current coordinates of the
tool frame 1:
● <TO>.StatusTool.Frame[1].x
● <TO>.StatusTool.Frame[1].y
● <TO>.StatusTool.Frame[1].z
● <TO>.StatusTool.Frame[1].a
Applies to
● Kinematics

Instructions
11.3 Tools
Requirement
axes.
● The kinematics is at a standstill.
● The kinematics is not in "Interrupted" state.
● No kinematics motion is active.
Override response
● An "MC_DefineTool" job cannot be aborted by any other Motion Control job.
● A new "MC_DefineTool" job does not abort any active Motion Control jobs.
Parameters
The following table shows the parameters of Motion Control instruction "MC_DefineTool":

tion value
Frame INPUT TO_Struct_Kinematics - Coordinates in relation to the FCS
_KinematicsFrame
during execution.
parameter.
See also

Instructions
11.3 Tools
11.3.2 MC_SetTool V5
11.3.2.1 MC_SetTool: Change active tool V5
Description
With the "MC_SetTool" Motion Control instruction, you activate a tool. With the "ToolNumber"
parameter, you specify the tool number. The "MC_SetTool" job can be executed only if the
kinematics is in standstill. Tool 1 is active by default.
The "<TO>.StatusTool.ActiveTool" tag of the technology object data block contains the tool
number of the currently active tool.
Applies to
● Kinematics
Requirement
axes.
● The kinematics is at a standstill.
● The kinematics is not in "Interrupted" state.
● No kinematics motion is active.
Override response
● An "MC_SetTool" job cannot be aborted by any other Motion Control job.
● A new "MC_SetTool" job does not abort any active Motion Control jobs.

Instructions
11.3 Tools
Parameters
The following table shows the parameters of Motion Control instruction "MC_SetTool":

tion value
ToolNumber INPUT DINT 1 Number of the tool to be activated.
1 Tool 1
2 Tool 2
3 Tool 3
during execution.
parameter.
See also

Instructions
11.4 Coordinate systems
11.4.1 MC_SetOcsFrame V5
11.4.1.1 MC_SetOcsFrame: Redefine object coordinate systems V5
Description
With the "MC_SetOcsFrame" Motion Control instruction, you define the position of an object
coordinate system (OCS) in relation to the world coordinate system (WCS). The initial values
stored in the technology object data block are not overwritten in the process.
The "MC_SetOcsFrame" job is added to the queue of the job sequence and is therefore
effective only for subsequent motion jobs.
The following tags of the technology object data block contain the current coordinates of the
object coordinate systems:
● <TO>.StatusOcsFrame[1..3].x
● <TO>.StatusOcsFrame[1..3].y
● <TO>.StatusOcsFrame[1..3].z
● <TO>.StatusOcsFrame[1..3].a
● <TO>.StatusOcsFrame[1..3].b
● <TO>.StatusOcsFrame[1..3].c
Applies to
● Kinematics
Requirement
axes.
Override response
The override response for "MC_SetOcsFrame" jobs is described in section "Override

Instructions
Parameters
The following table shows the parameters of Motion Control instruction "MC_SetOcsFrame":

tion value
quence.
Frame INPUT TO_Struct_Kinematics - Coordinates in relation to the WCS
_Frame
OcsNumber INPUT DINT 1 Object coordinate system
Done OUTPUT BOOL FALSE TRUE Job is completed. The new values are
active for the display and the motion.
during execution.
parameter.
See also

Instructions
11.4.2 MC_KinematicsTransformation V5
11.4.2.1 MC_KinematicsTransformation: Convert axis coordinates to Cartesian coordinates V5
Description
With the Motion Control instruction "MC_KinematicsTransformation", you convert the
setpoints of positions, velocity and acceleration of the kinematics axes to Cartesian
coordinates, velocity and acceleration of the tool center point (TCP). The active tool is
hereby taken into consideration. The instruction is for information purposes only - the
kinematics is not moved.
With the instruction, you can determine the Cartesian position, orientation, velocity and
acceleration of the axis values.
Applies to
● Kinematics
Requirement
Override response
● An "MC_KinematicsTransformation" job cannot be aborted by any other Motion Control
job.
● A new "MC_KinematicsTransformation" job does not abort any active Motion Control jobs.

Instructions
Parameters
"MC_KinematicsTransformation":

tion value
Enable INPUT BOOL FALSE TRUE The calculation is performed syn-
chronously.
AxesPosition INPUT ARRAY[1..4] OF - Positions of the kinematics axes
LREAL
AxesPosition[1] INPUT LREAL 0.0 Position of the axis A1
AxesVelocity INPUT ARRAY[1..4] OF - Velocity of kinematics axes
LREAL
AxesVelocity[1] INPUT LREAL 0.0 Velocity of axis A1
AxesVelocity[4] INPUT LREAL 0.0 Velocity of the axis A4
AxesAcceleration INPUT ARRAY[1..4] OF - Acceleration of the kinematics axes
LREAL
AxesAcceleration[1] INPUT LREAL 0.0 Acceleration of axis A1
AxesAcceleration[4] INPUT LREAL 0.0 Acceleration of the axis A4
CoordSystem INPUT DINT 0 Reference system of the tool center point
(TCP)
Valid OUTPUT BOOL FALSE TRUE The output parameters are valid.
FALSE The output parameters are invalid.

Instructions

tion value
Position OUTPUT ARRAY[1..4] OF - Cartesian position of the TCP in the reference
LREAL system
Position[1] OUTPUT LREAL 0.0 x-coordinate
Position[2] OUTPUT LREAL 0.0 y-coordinate
Position[3] OUTPUT LREAL 0.0 z-coordinate
Position[4] OUTPUT LREAL 0.0 A-coordinate
Velocity OUTPUT ARRAY[1..4] OF - Cartesian velocity of the TCP
LREAL
Velocity[1] OUTPUT LREAL 0.0 Velocity in x direction
Velocity[2] OUTPUT LREAL 0.0 Velocity in y direction
Velocity[3] OUTPUT LREAL 0.0 Velocity in z direction
Velocity[4] OUTPUT LREAL 0.0 Velocity of rotation A
Acceleration OUTPUT ARRAY[1..4] OF - Cartesian acceleration of the TCP
LREAL
Acceleration[1] OUTPUT LREAL 0.0 Acceleration in x direction
Acceleration[2] OUTPUT LREAL 0.0 Acceleration in y direction
Acceleration[3] OUTPUT LREAL 0.0 Acceleration in z direction
Acceleration[4] OUTPUT LREAL 0.0 Acceleration of rotation A
LinkConstellation OUTPUT DINT 0 Joint position information
0 Positive joint position space
1 Negative joint position space
See also
11.4.3 MC_InverseKinematicsTransformation V5
11.4.3.1 MC_InverseKinematicsTransformation: Convert Cartesian coordinates to axis

coordinates V5
Description
With the Motion Control instruction "MC_InverseKinematicsTransformation", you convert
Cartesian coordinates, velocity and acceleration of the tool center point (TCP) to the
setpoints of positions, velocity and acceleration of the kinematics axes. The active tool is
hereby taken into consideration. The instruction is for information purposes only - the
kinematics is not moved.
You can use the instruction to test, for example, whether specific Cartesian positions can be
reached with the kinematics or whether software limit switches of the axes are violated with
kinematics movements.

Instructions
Applies to
● Kinematics
Requirement
Override response
● An "MC_InverseKinematicsTransformation" job cannot be aborted by any other Motion
Control job.
● A new "MC_InverseKinematicsTransformation" job does not abort any active Motion
Control jobs.
Parameters
"MC_InverseKinematicsTransformation":

tion value
Enable INPUT BOOL FALSE TRUE The calculation is performed syn-
chronously.
Position INPUT ARRAY[1..4] OF - Cartesian position of the TCP in the reference
LREAL system
Position[1] INPUT LREAL 0.0 x-coordinate
Position[2] INPUT LREAL 0.0 y-coordinate
Position[3] INPUT LREAL 0.0 z-coordinate
Position[4] INPUT LREAL 0.0 A-coordinate
Velocity INPUT ARRAY[1..4] OF - Cartesian velocity of the TCP
LREAL
Velocity[1] INPUT LREAL 0.0 Velocity in x direction
Velocity[2] INPUT LREAL 0.0 Velocity in y direction
Velocity[3] INPUT LREAL 0.0 Velocity in z direction
Velocity[4] INPUT LREAL 0.0 Velocity of rotation A
Acceleration INPUT ARRAY[1..4] OF - Cartesian acceleration of the TCP
LREAL
Acceleration[1] INPUT LREAL 0.0 Acceleration in x direction
Acceleration[2] INPUT LREAL 0.0 Acceleration in y direction
Acceleration[3] INPUT LREAL 0.0 Acceleration in z direction
Acceleration[4] INPUT LREAL 0.0 Acceleration of rotation A

Instructions

tion value
CoordSystem INPUT DINT 0 Reference system of the tool center point
(TCP)
LinkConstellation INPUT DINT 0 Joint position information
0 Positive joint position space
1 Negative joint position space
Valid OUTPUT BOOL FALSE TRUE The output parameters are valid.
FALSE The output parameters are invalid.
AxesPosition OUTPUT ARRAY[1..4] OF - Positions of the kinematics axes
LREAL
AxesPosition[1] OUTPUT LREAL 0.0 Position of the axis A1
AxesVelocity OUTPUT ARRAY[1..4] OF - Velocity of kinematics axes
LREAL
AxesVelocity[1] OUTPUT LREAL 0.0 Velocity of axis A1
AxesVelocity[4] OUTPUT LREAL 0.0 Velocity of the axis A4
AxesAcceleration OUTPUT ARRAY[1..4] OF - Acceleration of the kinematics axes
LREAL
AxesAcceleration[1] OUTPUT LREAL 0.0 Acceleration of axis A1
AxesAcceleration[4] OUTPUT LREAL 0.0 Acceleration of the axis A4
See also

Instructions
11.5 Override response of Motion Control jobs V5
11.5.1 Override response V5: Homing and motion jobs

The following table shows how a new Motion Control job affects active homing and motion
jobs:
⇒ Active job MC_Home MC_Home MC_Halt MC_Stop MC_Move- MC_MotionIn-

⇓ New job "Mode" = ("Mode" = 3, MC_Move- Superimposed Velocity
2, 8, 10 5) Absolute MC_MotionIn-
MC_Move- Position
Relative
MC_Move-
Velocity
MC_MoveJog
MC_Home A A A - A A
"Mode" = 3, 5
MC_Home A - - - - -
"Mode" = 9
MC_Halt - A A - A A
MC_MoveAbsolute
MC_MoveRelative
MC_MoveVelocity
MC_MoveJog
MC_MotionInVelocity
MC_MotionInPosition
MC_MoveSuper- - - - - A -
imposed
MC_Stop A A A B A A
MC_GearIn - A A - A -
MC_GearInPos - - - - - -
MC_CamIn
waiting1)
MC_GearInPos - A A - A -
MC_CamIn
active2)
MC_LeadingValueAd - - - - - -
ditive
A The running job is aborted with "CommandAborted" = TRUE.

B An "MC_Stop" job is aborted by another "MC_Stop" job with a stop response that is the same or higher.
- No effect. Running job continues to be executed.
1) The status "Busy" = TRUE, "StartSync" = FALSE, "InSync" = FALSE corresponds to a waiting synchronous operation.
2) The status "Busy" = TRUE, "StartSync" or "InSync" = TRUE corresponds to an active synchronous operation.

Instructions
Note
Fixed stop
With an active force and torque limitation with "MC_TorqueLimiting", running jobs are
aborted if the drive is held at the fixed stop with "InClamping" = TRUE.

Instructions
11.5.2 Override response V5: Synchronous operation jobs

The following table shows how a new Motion Control job affects the motion of the axis on
active synchronous operation jobs:
⇒ Active job MC_GearIn MC_GearInPos MC_GearInPos MC_Phasing- MC_Leading-

⇓ New job MC_CamIn MC_CamIn Absolute ValueAdditive
waiting1) active2) MC_Phasing-

Relative
MC_Home A - - - -
"Mode" = 3, 5
MC_Halt A - A A -
MC_MoveAbsolute A - A A -
MC_MoveRelative
MC_MoveVelocity
MC_MoveJog
MC_MotionInVelocity A A A - -
MC_MotionInPosition
MC_MoveSuperimposed - - - - -
MC_Stop A A A A A
MC_GearIn A A A A -
MC_GearInPos - A - - -
MC_CamIn
waiting1)
MC_GearInPos A A A A -
MC_CamIn
active2)
MC_PhasingAbsolute - - - A -
MC_PhasingRelative
MC_LeadingValueAdditive - - - - A

1) A waiting synchronous operation job ("Busy" = TRUE, "StartSync" = FALSE, "InSync" = FALSE) does not abort any
active jobs. Abort with an "MC_Power" job is possible.
2) The status "Busy" = TRUE, "StartSync" or "InSync" = TRUE corresponds to active synchronous operation.
Note
Fixed stop
With an active force and torque limitation with "MC_TorqueLimiting", running jobs are
aborted if the drive is held at the fixed stop with "InClamping" = TRUE.

Instructions
11.5.3 Override response V5: Measuring input jobs

The following table shows which new Motion Control jobs will override active measuring
input jobs:
⇒ Active job MC_MeasuringInput MC_MeasuringInputCyclic

⇓ New job
MC_Home A A
"Mode" = 2, 3, 5, 8, 9, 10
MC_Home - -
"Mode" = 0, 1, 6, 7, 11, 12
MC_MeasuringInput A A
MC_MeasuringInputCyclic
MC_AbortMeasuringInput

11.5.4 Override response V5: Kinematics motion commands

Single axis jobs are not overridden by kinematics jobs.
The following table shows how a new Motion Control job affects active kinematics motion
jobs:
⇒ Active job MC_MoveLinearAbsolute MC_GroupInterrupt MC_GroupStop

⇓ New job MC_MoveLinearRelative
MC_MoveCircularAbsolute
MC_MoveCircularRelative
MC_MoveDirectAbsolute
MC_MoveDirectRelative
MC_TrackConveyorBelt
MC_DefineWorkspaceZone
MC_DefineKinematicsZone
MC_SetWorkspaceZoneActive
MC_SetWorkspaceZoneInactive
MC_SetKinematicsZoneActive
MC_SetKinematicsZoneInactive
MC_SetOcsFrame
MC_Home N N N
MC_MoveSuperimposed
MC_Halt A A A
MC_MoveAbsolute
MC_MoveRelative
MC_MoveVelocity

Instructions
⇒ Active job MC_MoveLinearAbsolute MC_GroupInterrupt MC_GroupStop

⇓ New job MC_MoveLinearRelative
MC_SetOcsFrame
MC_MoveJog
MC_Stop
MC_GearIn
MC_GearInPos
MC_CamIn
MC_MotionInVelocity
MC_MotionInPosition
MC_GroupStop A A N
MC_GroupInterrupt B A N
MC_GroupContinue
MC_MoveLinearAbsolute - - N
MC_MoveLinearRelative
MC_SetOcsFrame C, - - N

B Running job is interrupted or resumed.
C Synchronization of the OCS with the conveyor belt is aborted with "MC_SetOcsFrame" = TRUE.
N Not permitted. Running job continues to be executed. The new job is rejected.
- No effect. Running job continues to be executed. A new kinematics job is added to the job sequence.

Instructions

Appendix A
A.1 Tags of the kinematics technology object
A.1.1 Legend
Tag Name of the tag

Data type Data type of the tag
Values Value range of the tag - minimum value to maximum value
(L - linear specification R - rotary specification)
If no specific value is shown, the value range limits of the relevant data type apply or
the information under "Description".
W Effectiveness of changes in the technology data block
DIR Direct:
Values are changed via direct assignment and take effect at the start of the
next MC-Servo [OB91].
CAL At call of Motion Control instruction:
Values are changed directly and take effect at the start of the next
MC-Servo [OB91] after the call of the corresponding Motion Control instruc-
tion in the user program.
RES Restart:
Changes to the start value in the load memory are made using the extend-
ed instruction "WRIT_DBL" (write to DB in load memory). Changes will not
take effect until after restart of the technology object.
RON Read only:
The tag cannot and must not be changed during runtime of the user pro-
gram.
Description Description of the tag
Access to the tags is with "<TO>.<tag name>". The placeholder <TO> represents the name
of the technology object.

Appendix
A.1.2 "Tcp" tag (kinematics)

The tag structure "<TO>.Tcp.<Tag name>" contains the position of the tool center point
(TCP), the TCP frame in the World Coordinate System (WCS)
Tags
Legend (Page 334)
Tag Data type Values W Description

Tcp. TO_Struct_Kinematics_Status
KinematicsFrameTcp
x LREAL - RON x coordinate
1.79769E308 to
1.79769E308
y LREAL - RON y coordinate
1.79769E308 to
1.79769E308
z LREAL - RON z coordinate
1.79769E308 to
1.79769E308
a LREAL -180 to 180 RON A coordinate
See also
Tags: Coordinate systems and frames (Page 34)
A.1.3 "Kinematics" tag (kinematics)

The tag structure "<TO>.Kinematics.<Tag name>" contains the defined kinematics type.
Tags
Legend (Page 334)

Kinematics. TO_Struct_Kinematics_Kinematics
TypeOfKinematics DINT 1 to 34 RON Kinematics type
The configuration is performed using the function view.
1 Cartesian portal 2D
2 Cartesian portal 2D with orientation
3 Cartesian portal 3D
4 Cartesian portal 3D with orientation
5 Roller picker 2D
6 Roller picker 2D with orientation
7 Roller picker 3D (vertical)

Appendix

8 Roller picker 3D with orientation (vertical)
9 Roller picker 3D with orientation (horizontal)
10 SCARA 3D with orientation
11 Articulated arm 2D
13 Articulated arm 3D
15 Delta picker 2D
17 Delta picker 3D
19 Reserved
20 SCARA 2D with orientation
21 Cylindrical robot 3D
22 Cylindrical robot 3D with orientation
23 Tripod 3D
24 Tripod 3D with orientation
25 … Reserved
30
31 User-defined 2D
33 User-defined 3D
Parameter[1..32] ARRAY - RES Kinematics-specific parameters
[1..32] OF 1.0E12 to 1.0E
LREAL 12
See also
Tags: Cartesian portal (Page 47)
Tags: Delta picker (Page 102)
Tags: Roller picker (Page 61)
Tags: Articulated arm (Page 89)
Tags: Cylindrical robot (Page 112)
Tags: Tripod (Page 120)
Tags: SCARA (Page 71)
Tags: User-defined kinematics systems (Page 121)

Appendix
A.1.4 "KcsFrame" tag (kinematics)

The tag structure "<TO>.KcsFrame.<Tag name>" contains the frame of the Kinematic
Coordinate System (KCS) in the World Coordinate System (WCS).
Tags
Legend (Page 334)
Tag Data type Value range W Description

KcsFrame. TO_Struct_Kinematics_Frame
x LREAL -1.0E12 to 1.0E12 RES x coordinate
y LREAL -1.0E12 to 1.0E12 RES y coordinate
z LREAL -1.0E12 to 1.0E12 RES z coordinate
a LREAL RES A coordinate
0.0 With kinematics type "2D"
0.0 With kinematics type "2D with orientation"
-180.0 to 179.999 With kinematics type "3D"
-180.0 to 179.999 With kinematics type "3D with orientation"
b LREAL RES B coordinate
c LREAL RES C coordinate
See also

Appendix
A.1.5 "OcsFrame[1..3]" tag (kinematics)

The tag structure "<TO>.OcsFrame[1..3].<Tag name>" contains the frames of the Object
Coordinate Systems 1 to 3 (OCS) in the World Coordinate System (WCS).
Tags

OcsFrame[1..3]. ARRAY [1..3] OF
TO_Struct_Kinematics_Frame
b LREAL RES B coordinate
c LREAL RES C coordinate
See also
Legend (Page 334)

Appendix
A.1.6 "Tool[1..3]" tag (kinematics)

The tag structure "<TO>.Tool[1..3].<Tag name>" contains the tool frame in the Flange
Coordinate System (FCS).
Tags
Legend (Page 334)

Tool[1..3]. ARRAY [1..3] OF
TO_Struct_Kinematics_Tool
Frame. TO_Struct_Kinematics_Kinematics
Frame
x LREAL -1.0E12 to 1.0E12 RES x coordinate in the FCS
y LREAL -1.0E12 to 1.0E12 RES y coordinate in the FCS
z LREAL -1.0E12 to 1.0E12 RES z coordinate in the FCS
See also

Appendix
A.1.7 "DynamicDefaults" tag (kinematics)

The tag structure "<TO>.DynamicDefaults.<Tag name>" contains the configuration of the
dynamic presets. These settings will be used when you specify a dynamic value less than
0.0 for a Motion Control instruction. Changes to the default dynamics will be applied at the
next positive edge at the "Execute" parameter of a Motion Control instruction.
Tags
Legend (Page 334)

DynamicDefaults. TO_Struct_Kinematics_Dynamic
Defaults
Path. TO_Struct_Kinematics_Dynamics
Velocity LREAL 0.0 to 1.0E12 DIR Default setting of the velocity of the path
Acceleration LREAL 0.0 to 1.0E12 DIR Default setting of the acceleration of the path
Deceleration LREAL 0.0 to 1.0E12 DIR Default setting of the deceleration of the path
Jerk LREAL 0.0 to 1.0E12 DIR Default setting of the jerk of the path
Orientation. TO_Struct_Kinematics_Orientation
Dynamics
Velocity LREAL 0.0 to 1.0E12 DIR Default setting of the velocity of the Cartesian orientation
Acceleration LREAL 0.0 to 1.0E12 DIR Default setting of the acceleration of the Cartesian orien-
tation
Deceleration LREAL 0.0 to 1.0E12 DIR Default setting of the deceleration of the Cartesian orien-
tation
Jerk LREAL 0.0 to 1.0E12 DIR Default setting of the jerk of the Cartesian orientation
DynamicAdaption DINT 0 to 2 CAL Default setting of the dynamic adaptation
1 Dynamic adaptation with segmentation of the
path
2 Dynamic adaptation without segmentation of
the path
MoveDirect TO_Struct_Kinematics_MoveDirect
Dynamics
VelocityFactor LREAL 0.0 to 1.0E12 CAL Factor for the velocity of the axis motions in relation to
the respective maximum velocity of the axes with sPTP
motion.
AccelerationFactor LREAL 0.0 to 1.0E12 CAL Factor for the acceleration of the axis motions in relation
to the respective maximum acceleration of the axes with
sPTP motion.
DecelerationFactor LREAL 0.0 to 1.0E12 CAL Factor for the deceleration of the axis motions in relation
to the respective maximum deceleration of the axes with
sPTP motion.
JerkFactor LREAL 0.0 to 1.0E12 CAL Factor for the jerk of the axis motions in relation to the
respective maximum jerk of the axes with sPTP motion.

Appendix
See also
Tags: Kinematics motions (Page 147)
A.1.8 "DynamicLimits" tag (kinematics)

The tag structure "<TO>.DynamicLimits.<Tag name>" contains the configuration of the
dynamic limits. During Motion Control, no dynamic values greater than the dynamic limits are
permitted. If you have specified greater values in a Motion Control instruction, then motion is
performed using the dynamic limits, and a warning is indicated (alarm 501 to 503 - Dynamic
values are limited).
Tags
Legend (Page 334)

DynamicLimits. TO_Struct_Kinematics_Dynamic
Limits
Path. TO_Struct_Kinematics_Dynamics
Velocity LREAL 0.0 to 1.0E12 DIR Dynamic limitation for the maximum velocity of the path
Acceleration LREAL 0.0 to 1.0E12 DIR Dynamic limitation for the maximum velocity of the path
Deceleration LREAL 0.0 to 1.0E12 DIR Dynamic limitation for the maximum deceleration of the
path
Jerk LREAL 0.0 to 1.0E12 DIR Dynamic limitation for the maximum jerk of the path
Orientation. TO_Struct_Kinematics_Orientation
Dynamics
Velocity LREAL 0.0 to 1.0E12 DIR Dynamic limitation for the maximum velocity of the Car-
tesian orientation
Acceleration LREAL 0.0 to 1.0E12 DIR Dynamic limitation for the maximum velocity of the Car-
tesian orientation
Deceleration LREAL 0.0 to 1.0E12 DIR Dynamic limitation for the maximum deceleration of the
Cartesian orientation
Jerk LREAL 0.0 to 1.0E12 DIR Dynamic limitation for the maximum jerk of the Cartesian
orientation
See also

Appendix
A.1.9 "MotionQueue" tag (kinematics)

The tag structure "<TO>.MotionQueue.<Tag name>" contains the configuration of
parameters of the job sequence.
Tags
Legend (Page 334)

MotionQueue. TO_Struct_Kinematics_Motion
Queue
MaxNumberOfCom- DINT 1 to 10 RON Maximum number of commands in job sequence
mands The configuration takes place in "Technology object >
Configuration > Extended parameters > Job sequence".
See also
A.1.10 "Override" tag (kinematics)

The tag structure "<TO>.Override.<Tag name>" contains the configuration of override
parameters.
Tags
Legend (Page 334)

Override. TO_Struct_Kinematics_Override
Velocity LREAL 0.0 to 200.0 DIR Velocity override
See also

Appendix
A.1.11 "WorkspaceZone[1..10]" tag (kinematics)

The tag structure "<TO>.WorkspaceZone[1..10].<Tag name>" contains the parameter for the
workspace zones.
Tags
Legend (Page 334)

WorkspaceZone[1..10]. ARRAY [1..10] OF
TO_Struct_Kinematics_WorkSpace
Zone
Active BOOL - RES FALS Workspace zone deactivated
E
TRU Workspace zone activated
E
Valid BOOL - RES FALS Zone is not defined
E
TRU Zone is defined
E
Type DINT 0 to 2 RES Type of the workspace zone
0 Blocked zone
1 Work zone
2 Signal zone
ReferenceSystem DINT 0…3 RES Reference coordinate system for the workspace zone
0 WCS
1 OCS1
2 OCS2
3 OCS3
Frame. TO_Struct_Kinematics_Frame
a LREAL -180.0 to 179.999 RES A coordinate
b LREAL -90.0 to 90.0 RES B coordinate
c LREAL -180.0 to 179.999 RES C coordinate

Appendix

Geometry. TO_Struct_Kinematics_Zone
Geometry
Type DINT 0 to 2 RES Zone geometry
0 Cuboid
1 Sphere
2 Cylinder
Parameter[1..3] ARRAY 0.0 to 1.0E12 RES 1 Length x (cuboid) or radius (sphere, cylinder)
[1..3] OF 2 Length y (cuboid) or height (cylinder)
LREAL
3 Length z (cuboid)
See also

Appendix
A.1.12 "KinematicsZone[2..10]" tag (kinematics)

The tag structure "<TO>.KinematicsZone[2..10].<Tag name>" contains the parameters for
kinematic zones.
Tags
Legend (Page 334)

KinematicsZone[2..10]. ARRAY [2..10] OF
TO_Struct_Kinematics_Kinematics
Zone
Active BOOL - RES FAL Kinematics zone deactivated
SE
TR Kinematics zone activated
UE
Valid BOOL - RES FAL Zone is not defined
SE
TR Zone is defined
UE
ReferenceSystem DINT 0 to 1 RES Reference coordinate system for the kinematics zone
0 FCS
1 TCS
Frame. TO_Struct_Kinematics_Frame
a LREAL -180.0 to 179.999 RES A coordinate
b LREAL -90.0 to 90.0 RES B coordinate
c LREAL -180.0 to 179.999 RES C coordinate
Geometry. TO_Struct_Kinematics_ZoneGeometry
Type DINT 0 to 2 RES Zone geometry
0 Cuboid
1 Sphere
2 Cylinder
Parameter[1..3] ARRAY 0.0 to 1.0E12 RES 1 Length x (cuboid) or radius (sphere, cylinder)
LREAL
3 Length z (cuboid)
See also

Appendix
A.1.13 "StatusPath" tag (kinematics)

The tag structure "<TO>.StatusPath.<Tag name>" contains the parameters of the current
kinematics movement. With synchronous point-to-point motion (sPTP motion), the
parameters StatusPath.Velocity and StatusPath.Acceleration = 0.0.
Tags
Legend (Page 334)

StatusPath. TO_Struct_Kinematics_StatusPath
CoordSystem DINT 0…3 RON Coordinate system of the active motion job
0 World coordinate system
1, 2, Object coordinate system 1, 2, 3
3
Velocity LREAL -1.0E12 to 1.0E12 RON Current path velocity (setpoint reference)
Acceleration LREAL -1.0E12 to 1.0E12 RON Current path acceleration (setpoint reference)
DynamicAdaption DINT 0 to 2 RON Dynamic adaptation
1 Dynamic adaptation with segmentation of the
path
2 Dynamic adaptation without segmentation of
the path
See also

Appendix
A.1.14 "TcpInWcs" tag (kinematics)

The tag structure "<TO>.TcpInWcs.<Tag name>" contains the parameters for the tool center
point (TCP) in the World Coordinate System (WCS).
Tags
Legend (Page 334)

TcpInWcs. TO_Struct_Kinematics_Status
KinematicsFrameWithDynamics
x. TO_Struct_Kinematics_StatusMotion
Vector
Acceleration LREAL - RON Acceleration of path coordinate x
1.79769E308 to
1.79769E308
Position LREAL - RON Position of path coordinate x
1.79769E308 to
1.79769E308
Velocity LREAL - RON Velocity of path coordinate x
1.79769E308 to
1.79769E308
y. TO_Struct_Kinematics_StatusMotion
Vector
Acceleration LREAL - RON Acceleration of path coordinate y
1.79769E308 to
1.79769E308
Position LREAL - RON Position of path coordinate y
1.79769E308 to
1.79769E308
Velocity LREAL - RON Velocity of path coordinate y
1.79769E308 to
1.79769E308
z. TO_Struct_Kinematics_StatusMotion
Vector
Acceleration LREAL - RON Acceleration of path coordinate z
1.79769E308 to
1.79769E308
Position LREAL - RON Position of path coordinate z
1.79769E308 to
1.79769E308
Velocity LREAL - RON Velocity of path coordinate z
1.79769E308 to
1.79769E308

Appendix

a. TO_Struct_Kinematics_StatusMotion
Vector
Acceleration LREAL - RON Acceleration of rotation A
1.79769E308 to
1.79769E308
Position LREAL - RON Position of rotation A
1.79769E308 to
1.79769E308
Velocity LREAL - RON Velocity of rotation A
1.79769E308 to
1.79769E308
See also

Appendix
A.1.15 "TcpInOcs[1..3]" tag (kinematics)

The tag structure "<TO>.TcpInOcs[1..3].<Tag name>" contains the parameters for the tool
center point (TCP) in the Object Coordinate Systems 1 to 3 (OCS).
Tags
Legend (Page 334)

TcpInOcs[1..3]. ARRAY [1..3] OF
TO_Struct_Kinematics_Status
KinematicsFrameWithDynamicsOcs
x. TO_Struct_Kinematics_StatusMotion
VectorOcs
Acceleration LREAL - RON Acceleration of the x coordinate of the tool center point
1.79769E308 to in the object coordinate system 1 to 3
1.79769E308
Position LREAL - RON x coordinate of the tool center point in the object coor-
1.79769E308 to dinate system 1 to 3
1.79769E308
Velocity LREAL - RON Velocity of the x coordinate of the tool center point in
1.79769E308 to the object coordinate system 1 to 3
1.79769E308
y. TO_Struct_Kinematics_StatusMotion
VectorOcs
Acceleration LREAL - RON Acceleration of the y coordinate of the tool center point
1.79769E308
Position LREAL - RON y coordinate of the tool center point in the object coor-
1.79769E308
Velocity LREAL - RON Velocity of the y coordinate of the tool center point in
1.79769E308
z. TO_Struct_Kinematics_StatusMotion
VectorOcs
Acceleration LREAL - RON Acceleration of the z coordinate of the tool center point
1.79769E308
Position LREAL - RON z coordinate of the tool center point in the object coor-
1.79769E308
Velocity LREAL - RON Velocity of the z coordinate of the tool center point in
1.79769E308

Appendix

a. TO_Struct_Kinematics_StatusMotion
VectorOcs
Acceleration LREAL - RON Acceleration of the A coordinate of the tool center point
1.79769E308
Position LREAL - RON A coordinate of the tool center point in the object coor-
1.79769E308
Velocity LREAL - RON Velocity of the A coordinate of the tool center point in
1.79769E308
See also

Appendix
A.1.16 "StatusOcsFrame[1..3]" tag (kinematics)

The tag structure "<TO>.StatusOcsFrame[1..3].<Tag name>" contains the frames of the
Object Coordinate Systems 1 to 3 (OCS) in the World Coordinate System (WCS).
Tags
Legend (Page 334)

StatusOcsFrame[1..3]. ARRAY [1..3] OF
Frame
x LREAL - RON x coordinate in the WCS
1.79769E308 to
1.79769E308
y LREAL - RON y coordinate in the WCS
1.79769E308 to
1.79769E308
z LREAL - RON z coordinate in the WCS
1.79769E308 to
1.79769E308
a LREAL RON A coordinate in the WCS
- With kinematics type "3D"
180.0 to 179.99
9
- With kinematics type "3D with orientation"
180.0 to 179.99
9
b LREAL RON B coordinate in the WCS
180.0 to 179.99
9
c LREAL RON C coordinate in the WCS
180.0 to 179.99
9

Appendix
See also
A.1.17 "StatusKinematics" tag (kinematics)

The tag structure "<TO>.StatusKinematics.<Tag name>" contains the status of the
kinematics.
Tags
Legend (Page 334)

StatusKinematics. TO_Struct_Kinematics_Status
Kinematics
Valid BOOL - RON Validity of the transformation values
FALSE Invalid
TRUE Valid
LinkConstellation DWORD 0 to n RON Joint position
Bit 0 - - - Angle α1 of axis A1 in the front/rear area (standard ar-
ea/overhead area)
0 The zero point of the FCS is located in the front
area (standard area) of the joint position lines
for the axis A1.
α1 = arctan(yFCS/xFCS)
1 The zero point of the FCS is located in the rear
area (overhead area) of the joint position lines
for the axis A1.
α1 = -arctan(yFCS/xFCS)
Bit 1 - - - Angle α2 of axis A2 positive/negative taking into consid-
eration the mechanical axis coupling
0 α2 positive
1 α2 negative
Bit 2 - - - Angle α3 of axis A3 positive/negative taking into consid-
eration the mechanical axis coupling
0 α3 positive
1 α3 negative
See also
Tags: Kinematics transformation (Page 140)

Appendix
A.1.18 "FlangeInKcs" tag (kinematics)

The tag structure "<TO>.FlangeInKcs.<Tag name>" contains the parameters for the Flange
Coordinate System (FCS) in the Kinematics Coordinate System (KCS).
Tags
Legend (Page 334)

FlangeInKcs. TO_Struct_Kinematics_Status
FlangeInKcs
x. TO_Struct_Kinematics_Status
MotionVectorKcs
Acceleration LREAL - RON Acceleration of the x coordinate of the flange coordinate
1.79769E308 to system (FCS) in the kinematics coordinate system
1.79769E308 (KCS)
Position LREAL - RON x coordinate of the flange coordinate system in the kin-
1.79769E308 to ematics coordinate system
1.79769E308
Velocity LREAL - RON Velocity of the x coordinate of the flange coordinate
1.79769E308 to system in the kinematics coordinate system
1.79769E308
y. TO_Struct_Kinematics_Status
MotionVectorKcs
Acceleration LREAL - RON Acceleration of the y coordinate of the flange coordinate
1.79769E308
Position LREAL - RON y coordinate of the flange coordinate system in the kin-
1.79769E308
Velocity LREAL - RON Velocity of the y coordinate of the flange coordinate
1.79769E308
z. TO_Struct_Kinematics_Status
MotionVectorKcs
Acceleration LREAL - RON Acceleration of the z coordinate of the flange coordinate
1.79769E308
Position LREAL - RON z coordinate of the flange coordinate system in the kin-
1.79769E308
Velocity LREAL - RON Velocity of the z coordinate of the flange coordinate
1.79769E308

Appendix

a. TO_Struct_Kinematics_Status
MotionVectorKcs
Acceleration LREAL - RON Acceleration of the rotation A of the flange coordinate
1.79769E308
Position LREAL - RON Position of the rotation A of the flange coordinate system
1.79769E308 to in the kinematics coordinate system
1.79769E308
Velocity LREAL - RON Velocity of the rotation A of the flange coordinate system
1.79769E308 to in the kinematics coordinate system
1.79769E308
See also
A.1.19 "StatusTool" tag (kinematics)

The tag structure "<TO>.StatusTool.<Tag name>" contains the parameters for the tool.
Tags
Legend (Page 334)

StatusTool. TO_Struct_Kinematics_StatusTool
ActiveTool DINT 1 to 3 RON Currently active tool
Frame[1..1]. ARRAY [1..1] OF
KinematicsFrame
x LREAL - RON x coordinate of tool 1
1.79769E308 to
1.79769E308
y LREAL - RON y coordinate of tool 1
1.79769E308 to
1.79769E308
z LREAL - RON z coordinate of tool 1
1.79769E308 to
1.79769E308
a LREAL - RON A coordinate of tool 1
1.79769E308 to
1.79769E308
See also

Appendix
A.1.20 "StatusConveyor[1..3]" tag (kinematics)

The tag structure "<TO>.StatusConveyor[1..3].<Tag name>" contains the conveyor tracking
status.
Tags
Legend (Page 334)

StatusConveyor[1..3]. ARRAY [1..3] OF
TO_Struct_Kinematics_StatusConveyor
ConveyorBelt DB_ANY - RON Active leading-value-capable technology object to
which the object coordinate system (OCS) is cou-
pled:
BeltPostion LREAL - RON Position of the leading-value-capable technology
object.
ObjectPostion TO_STRUCT_ - RON Object position on the leading-value-capable tech-
Kinematics_ nology object.
StatusFrame
1.0E12 to 1.0E12
1.0E12 to 1.0E12
1.0E12 to 1.0E12
a LREAL -180.0 to 179.999 RON A coordinate
b LREAL -180.0 to 179.999 RON B coordinate
c LREAL -180.0 to 179.999 RON C coordinate

Appendix

TrackingState DINT 0…3 RON Conveyor tracking status
0 OCS not assigned
No OCS is assigned to a leading-value-
capable technology object.
1 OCS assigned
The OCS is assigned to a leading-value-
capable technology object. The kinematics is
waiting for the next path motion job to the
OCS.
2 TCP approaches OCS
The OSC is assigned to a leading-value-
capable technology object. The position speci-
fied in the OCS is approached with the current
path motion job of the kinematics.
3 TCP follows OCS
The OSC is assigned to a leading-value-
capable technology object.
The position of the OCS is reached. The kine-
matics is moved with the position of the OCS.

Appendix
A.1.21 "StatusWorkspaceZone[1..10]" tag (kinematics)

The tag structure "<TO>.StatusWorkspaceZone[1..10].<Tag name>" contains the status of
the workspace zones.
Tags
Legend (Page 334)

StatusWorkspace- ARRAY [1..10] OF
Zone[1..10]. TO_Struct_Kinematics_StatusWork
SpaceZone
Active BOOL - RON FALSE Workspace zone deactivated
TRUE Workspace zone activated
Valid BOOL - RON FALSE Zone is not defined
TRUE Zone is defined
Type DINT 0 to 2 RON Type of the workspace zone
0 Blocked zone
1 Work zone
2 Signal zone
ReferenceSystem DINT 0…3 RON Reference coordinate system for the workspace zone
0 WCS
1 OCS1
2 OCS2
3 OCS3
Frame. TO_Struct_Kinematics_Status
Frame
1.79769E308 to
1.79769E308
1.79769E308 to
1.79769E308
1.79769E308 to
1.79769E308
a LREAL - RON A coordinate
180.0 to 179.99
9
b LREAL -90.0 to 90.0 B coordinate
c LREAL - RON C coordinate
180.0 to 179.99
9

Appendix

Geometry. TO_Struct_Kinematics_Status
KinematicsZone
Type DINT 0 to 2 RON Zone geometry
0 Cuboid
1 Sphere
2 Cylinder
Parameter[1..3] ARRAY 0.0 to 1.0E12 RON 1 Length x (cuboid) or radius (sphere, cylinder)
LREAL
3 Length z (cuboid)
See also

Appendix
A.1.22 "StatusKinematicsZone[2..10]" tag (kinematics)

The tag structure "<TO>.StatusKinematicsZone[2..10].<Tag name>" contains the status of
the kinematics zones.
Tags
Legend (Page 334)

StatusKinematics ARRAY [2..10] OF
Zone[2..10]. TO_Struct_Kinematics_Status
KinematicsZone
Active BOOL - RON FALSE Kinematics zone deactivated
TRUE Kinematics zone activated
Valid BOOL - RON FALSE Zone is not present
TRUE Zone is present
ReferenceSystem DINT 0 to 1 RON Reference coordinate system for the kinematics zone
0 FCS
1 TCS
Frame. TO_Struct_Kinematics_StatusFrame
1.79769E308 to
1.79769E308
1.79769E308 to
1.79769E308
1.79769E308 to
1.79769E308
a LREAL - RON A coordinate
180.0 to 179.99
9
b LREAL -90.0 to 90.0 RON B coordinate
c LREAL - RON C coordinate
180.0 to 179.99
9
Geometry. TO_Struct_Kinematics_StatusZone
Geometry
Type DINT 0 to 2 RON Zone geometry
0 Cuboid
1 Sphere
2 Cylinder
Parameter[1..3] ARRAY 0.0 to 1.0E12 RON 1 Length x (cuboid) or radius (sphere, cylin-
[1..3] OF der)
LREAL 2 Length y (cuboid) or height (cylinder)
3 Length z (cuboid)

Appendix
See also
A.1.23 "StatusZoneMonitoring" tag (kinematics)

The tag structure "<TO>.StatusZoneMonitoring.<Tag name>" contains the status of the
violated zones.
Tags
Legend (Page 334)

StatusZoneMonitoring. TO_Struct_Kinematics_StatusZone
Monitoring
WorkingZones DWORD - RON Display of violated work zones
The bit numbers 1 to 10 correspond to the configured
zone numbers.
BlockedZones DWORD - RON Display of violated blocked zones
zone numbers.
SignalizingZones DWORD - RON Display of approached signal zones
zone numbers.
KinematicsZones DWORD - RON Display of kinematics zones that violate workspace
zones
The bit number 1 indicates the monitoring status of the
tool center point (TCP). The bit numbers 2 to 10 corre-
spond to the configured zone numbers.
See also

Appendix
A.1.24 "StatusMotionQueue" tag (kinematics)

The tag structure "<TO>.StatusMotionQueue.<Tag name>" contains the status of the job
sequence.
Tags
Legend (Page 334)

StatusMotionQueue. TO_Struct_Kinematics_Status
MotionQueue
NumberOfCommands DINT - RON Number of queued jobs in the job sequence
See also
A.1.25 "KinematicsAxis" tag (kinematics)

The tag structure "<TO>.KinematicsAxis.<Tag name>" contains the defined kinematics axes.
Tags
Legend (Page 334)

KinematicsAxis. TO_Struct_Kinematics_Kinematics
Axis
A1 DB_ANY - RON Technology object data block of the kinematics axis A1

Appendix
A.1.26 "Units" tag (kinematics)

The tag structure "<TO>.Units.<Tag name>" contains the configured technological units.
Tags
Legend (Page 334)

Units. TO_Struct_Kinematics_Units
LengthUnit UDINT - RON Unit for the position
1010 m
1013 mm
1536 mm1)
1011 km
1014 µm
1015 nm
1019 in
1018 ft
1021 mi
1537 °1)
LengthVelocityUnit UDINT - RON Unit for the velocity
1062 mm/s
1538 °/s1)
1061 m/s
1524 mm/min
1525 m/min
1526 mm/h
1063 m/h
1527 km/min
1064 km/h
1066 in/s
1069 in/min
1067 ft/s
1070 ft/min
1075 mi/h

Appendix

AngleUnit UDINT - RON Unit for the position of the orientation axis
1004 rad
1005 °
1537 °1)
AngleVelocityUnit UDINT - RON Unit for the velocity of the orientation axis
1521 °/s
1522 °/min
1539 °/s1)
1086 rad/s
1523 rad/min
1) Position values with higher resolution or six decimal places
See also
Units of measure (Page 22)

Appendix
A.1.27 "StatusWord" tag (kinematics)

The tag "<TO>.StatusWord" contains the status information of the technology object.
Information on the evaluation of the individual bits (e.g. bit 2 "RestartActive") can be found in
the "Evaluating StatusWord, ErrorWord and WarningWord" section of the "S7-1500/S7-
1500T Motion Control overview"
(https://support.industry.siemens.com/cs/ww/en/view/109766459) documentation.
Tags
Legend (Page 334)

StatusWord DWORD - RON Status information of the technology object
Bit 0 - - - Reserved
Bit 1 - - - "Error"
0 No error is present.
1 An error is present.
Bit 2 - - - "RestartActive"
0 No "Restart" is active.
1 A "Restart" is active. The technology object is
being reinitialized.
Bit 3 - - - "OnlineStartValuesChanged"
0 "Restart" tags unchanged
1 Change to "Restart" tags For the changes to
be applied, the technology object must be
reinitialized.
Bit 4 - - - "ControlPanelActive"
0 The kinematics control panel is deactivated.
1 The kinematics control panel is activated.
Bit 6 - - - "Done"
0 A motion job is in progress or the kinematics
control panel is activated.
1 No motion job is in progress and the kinemat-
ics control panel is deactivated.
Bit 8 - - - "LinearCommand"
0 No linear motion is active.
1 A linear motion is active.
Bit 9 - - - "CircularCommand"
0 No circular motion is active.
1 A circular motion is active.

Appendix

Bit 11 - - - "DirectCommand"
0 No synchronous point-to-point motion is active.
1 A synchronous point-to-point motion is active.
Bit 12 - - - "ConstantVelocity"
0 The path motion of the kinematics is accelerat-
ed or decelerated.
1 The setpoint velocity is reached. The path
motion of the kinematics is moving at this con-
stant velocity or is at a standstill.
Bit 13 - - - "Accelerating"
0 No acceleration operation of a path motion is
active.
1 An acceleration operation of a path motion is
active.
Bit 14 - - - "Decelerating"
0 No deceleration operation of a path motion is
active.
1 A deceleration operation of a path motion is
active.
Bit 15 - - - "OrientationMotion"
0 No orientation motion is active.
1 An orientation motion is active.
Bit 16 - - - "Stopping"
0 No "MC_GroupStop" job is active.
1 An "MC_GroupStop" job is running. The motion
of the kinematics technology object is aborted
Bit 17 - - - "Interrupted"
0 The motion of the kinematics technology object
is not interrupted.
1 The motion of the kinematics technology object
is interrupted with an "MC_GroupInterrupt" job.
The motion can be continued with a
"MC_GroupContinue" command.
Bit 18 - - - "Blending"
0 No blending segment is active.
1 A blending segment is active.
Bit 19 … - - - Reserved
Bit 31
See also
Function Manual "S7-1500T Motion Control V4.0 in the TIA Portal V15" section "Evaluating
StatusWord, WarningWord and ErrorWord"
(https://support.industry.siemens.com/cs/ww/en/view/109749263)

Appendix
A.1.28 "ErrorWord" tag (kinematics)

The tag "<TO>.ErrorWord" shows errors at the technology object (technology alarms).
Information on the evaluation of the individual bits (e.g. bit 3 "CommandNotAccepted") can
be found in the "Evaluating StatusWord, ErrorWord and WarningWord" section of the "S7-
1500/S7-1500T Motion Control overview"
(https://support.industry.siemens.com/cs/ww/en/view/109766459) documentation.
Tags
Legend (Page 334)

ErrorWord DWORD - RON
Bit 0 - - - "SystemFault"
A system-internal error has occurred.
Bit 1 - - - "ConfigFault"
Configuration error
One or more configuration parameters are inconsistent or
invalid.
Bit 2 - - - "UserFault"
Error in user program at a Motion Control instruction or
its use
Bit 3 - - - "CommandNotAccepted"
Command cannot be executed.
A Motion Control instruction cannot be executed because
the necessary requirements are not met.
Bit 4 - - - "TransformationFault"
Error in the kinematics transformation
Bit 6 - - - "DynamicError"
Specified dynamic values are limited to permissible val-
ues.
Bit 31
See also

Appendix
A.1.29 "ErrorDetail" tag (kinematics)

The tag structure "<TO>.ErrorDetail.<Tag name>" contains the alarm number and effective
local alarm reaction to the technology alarm currently pending at the technology object.
You can find a list of the technology alarms and alarm reactions in the "Technology alarms
(Page 371)" appendix.
Tags
Legend (Page 334)

ErrorDetail. TO_Struct_Kinematics_ErrorDetail
Number UDINT - RON Alarm number
Reaction DINT 0, 11, 12 RON Effective alarm reaction
0 No reaction (warnings only)
11 Stop with maximum dynamic values of the
kinematics
12 Stop with maximum dynamic values of the
axes

Appendix
A.1.30 "WarningWord" tag (kinematics)

The tag "<TO>.WarningWord" shows pending warnings at the technology object.
Information on the evaluation of the individual bits (e.g. bit 2 "UserFault") can be found in the
"Evaluating StatusWord, ErrorWord and WarningWord" section of the "S7-1500/S7-1500T
Motion Control overview" (https://support.industry.siemens.com/cs/ww/en/view/109766459)
documentation.
Tags
Legend (Page 334)

WarningWord DWORD - RON
Bit 0 - - - "SystemFault"
A system-internal error has occurred.
Bit 1 - - - "ConfigFault"
Configuration error
One or more configuration parameters are being internal-
ly adapted temporarily.
Bit 2 - - - "UserFault"
Error in user program at a Motion Control instruction or
its use
Bit 3 - - - "CommandNotAccepted"
Job cannot be executed
A Motion Control instruction cannot be executed because
the necessary requirements are not met.
Bit 6 - - - "DynamicWarning"
Specified dynamic values are limited to permissible val-
ues.
Bit 31
See also

Appendix
A.1.31 "ControlPanel" tag (kinematics)

The tag structure "<TO>.ControlPanel.<Tag name>" contains no data relevant to the user.
This tag structure is internally used.
Tags
Legend (Page 334)

ControlPanel. TO_Struct_Kinematics_Control
Panel
Input. TO_Struct_Kinematics_Control
PanelInput
TimeOut LREAL 100 to 60000 DIR -
EsLifeSign UDINT - DIR -
Command[1..2]. ARRAY [1..2] OF
TO_Struct_Kinematics_Control
PanelInput
ReqCounter UDINT - DIR -
Type UDINT - DIR -
Position[1..4] ARRAY - DIR -
[1..4] OF
LREAL
Velocity[1..2] ARRAY - DIR -
[1..2] OF
LREAL
Acceleration[1..2] ARRAY - DIR -
[1..2] OF
LREAL
Deceleration[1..2] ARRAY - DIR -
[1..2] OF
LREAL
Jerk[1..2] ARRAY - DIR -
[1..2] OF
LREAL
Param[1..9] ARRAY - DIR -
[1..9] OF
LREAL
CoordinateSystem UDINT - DIR -
ToolNumber UDINT - DIR -

Appendix

Output. TO_Struct_Kinematics_Control
PanelOutput
RtLifeSign UDINT - RON -
Command[1..2]. ARRAY [1..2] OF
TO_Struct_Kinematics_Control
PanelOutputCmd
AckCounter UDINT - RON -
Error BOOL - RON -
ErrorID WORD - RON -
Done BOOL - RON -
Aborted BOOL - RON -

Appendix
A.2 Technology alarms
A.2.1 Overview
The following table shows an overview of the technology alarms and the corresponding
alarm reactions. When a technology alarm occurs, evaluate the entire indicated alarm text, in
order to find the precise cause.
Legend
No. Number of the technology alarm

(corresponds to <TO>.ErrorDetail.Number)
Reaction Effective alarm reaction
(corresponds to <TO>.ErrorDetail.Reaction)
Error bit Bit that is set in <TO>.ErrorWord when the technology alarm occurs
A description of the bits can be found in the appendix (Page 366).
Warning bit Bit that is set in <TO>.WarningWord when the technology alarm occurs
A description of the bits can be found in the appendix (Page 368).
Restart To acknowledge the technology alarm, the technology object must be reinitialized (Re-
start).
Diagnostic buffer The alarm is entered in the diagnostics buffer.
Alarm text Displayed alarm test (limited)

Appendix
List of the technology alarms
No. Reaction Error bit Warning bit Restart Diagnostic Alarm text
buffer
101 Stop with maximum X1 - X X Configuration error.
dynamic values of the
axes
201 Stop with maximum X0 - X X Internal error.
axes
202 Stop with maximum X0 - X - Internal configuration error.
axes
203 Stop with maximum X0 - X - Internal error.
axes
204 Stop with maximum X0 - - - Commissioning error.
axes
304 Stop with maximum X2 - - - Velocity limit is zero.
axes
305 Stop with maximum X2 - - - • Limit value of the acceleration is zero.
• Limit value of the deceleration is zero.
axes
306 Stop with maximum X2 - - - Jerk limit is zero.
axes
501 No reaction (warn- - X6 - - Programmed velocity is limited.
ings only)
502 No reaction (warn- - X6 - - • Programmed acceleration is being limited.
ings only)
• Programmed deceleration is being limited.
503 No reaction (warn- - X6 - - Programmed jerk is limited.
ings only)
561 No reaction (warn- - X6 - - Programmed velocity of the orientation motion
ings only) is limited.
562 No reaction (warn- - X6 - - • Programmed acceleration of the orienta-
ings only) tion motion is limited.
• Programmed deceleration of the orienta-
tion motion is limited.
563 No reaction (warn- - X6 - - Programmed jerk of the orientation motion is
ings only) limited.
801 Stop with maximum X2 - - - Kinematics axis not ready.
axes
802 Stop with maximum X3 - - - Cannot calculate the geometry element.
axes

Appendix
No. Reaction Error bit Warning bit Restart Diagnostic Alarm text
buffer
803 Stop with maximum X4 - - - Error in the calculation of the transformation.
axes
804 Stop with maximum X2 - - - The kinematics motion cannot be stopped at
dynamic values of the the end.
axes
805 Stop with maximum X2 - - - Limitation of the path dynamics by the dynam-
dynamic values of the ics of the kinematics axes.
axes
806 Stop with maximum X2 - - - Collision with work or blocked zones occurred.
kinematics
807 No reaction (warn- - X2 - - Collision with work or blocked zones occurred.
ings only)
808 Stop with maximum X2 - - - Ambiguity due to multiple active work zones.
axes
809 Stop with maximum X2 - - - Path dynamic limit through dynamic of the
dynamic values of the orientation motion faulty.
axes
810 Stop with maximum X2 - - - The conveyor belt is not assigned or faulty.
axes
811 Stop with maximum X2 - - - Error when approaching the TCP to a object
dynamic values of the coordinate system.
axes
Alarm reaction
A technology alarm always contains an alarm reaction, which describes the effect on the
technology object. The alarm reaction is specified by the system.
The following table shows possible alarm reactions:
Alarm reaction Description

No reaction (warnings only) The processing of the Motion Control jobs will be continued. The active motion of
<TO>.ErrorDetail.Reaction = 0 the kinematics can be influenced, e.g. by limiting the current dynamic values to
the configured limit values.
Stop with maximum dynamic values of Active and queued motion jobs are canceled. The kinematics is decelerated with
the kinematics the maximum dynamic values configured under "Technology object > Configura-
<TO>.ErrorDetail.Reaction = 11 tion > Extended parameters > Dynamics" and brought to a standstill. The config-
ured maximum jerk is hereby taken into account.
Stop with maximum dynamic values of Active and queued motion jobs are canceled. The axes are decelerated with the
the axes maximum dynamic values configured under "Technology object > Configuration
<TO>.ErrorDetail.Reaction = 12 > Extended parameters > Limits > Dynamic limits", and brought to a standstill.
The configured maximum jerk is hereby taken into account.

Appendix
A.2.2 Technology alarms 101
Technology alarm 101

Alarm reaction: Stop with maximum dynamic values of the axes
Restart: Required
Alarm text Remedy

Configuration error.
Value in <tag> not allowed. Adjust the specified value.
Interconnection of axis <no.> missing. Interconnect the axis.
Interconnection of orientation axis missing.
Delta 2D picker: No formation of a closed parallel structure. Adjust the geometry data of the mechanics.
Delta 3D picker: No formation of a closed parallel structure.
Delta 3D picker: Angular offset does not permit a third arm.
Roll picker: Radius incorrect.
Invalid arm distances.
Limits for specifying orientations violated. Adjust the corresponding value.
A.2.3 Technology alarms 201 - 204

Restart: Required
Alarm text Remedy

Internal error. Contact customer service.

Restart: Required
Alarm text Remedy

Internal configuration error. Contact customer service.

Appendix

Restart: Required
Alarm text Remedy

Internal algorithm error. Contact customer service.

Restart: Required
Alarm text Remedy

Commissioning error.
Connection to the TIA Portal interrupted. Check the connection properties.

Appendix

Restart: Not required
Alarm text Remedy

Velocity limit is zero. Enter a value for the velocity (Dynamic
Limits.Path.Velocity) that does not equal zero in the
limits for dynamics.

Alarm text Remedy

Acceleration/deceleration limit is zero.
Acceleration Enter a value for the acceleration (Dynamic
Limits.Path.Acceleration) that does not equal zero in the
Deceleration Enter a value for the deceleration (Dynamic
Limits.Path.Deceleration) that does not equal zero in the

Alarm text Remedy

Jerk limit is zero. Enter a value for the JERK (DynamicLimits.Path.Jerk)
that does not equal zero in the limits for dynamics.

Appendix

Alarm reaction: No reaction (warnings only)
Alarm text Remedy

Programmed velocity is limited. • Check the value for the velocity of the Motion Control
instruction.
• Check the configuration of the dynamic limits.

Alarm text Remedy

Programmed acceleration/deceleration is limited.
Acceleration • Check the value for the acceleration of the Motion
Control instruction.
Deceleration • Check the value for the deceleration of the Motion
Control instruction.

Alarm text Remedy

Programmed jerk is limited. • Check the value for the jerk of the Motion Control
instruction.

Appendix

Alarm text Remedy

Programmed velocity of the orientation motion is limited. • Check the configuration of the velocity of the orienta-
tion motion.

Alarm text Remedy

Programmed acceleration/deceleration of the orientation motion
is limited.
Acceleration • Check the configuration of the acceleration of the
orientation motion.
Deceleration • Check the configuration of the deceleration of the
orientation motion.

Alarm text Remedy

Programmed jerk of the orientation motion is limited. • Check the configuration of the jerk of the orientation
motion.

Appendix

Alarm text Remedy

Kinematics axis <no.> not ready.
Axis not enabled. Enable the technology object.
Axis command programmed. To transmit another kinematics command, put the speci-
fied axis in a standstill.
Axis alarm. Check and acknowledge the technology alarms of the
specified kinematics axis.

Alarm text Remedy

Cannot calculate the geometry element.
Radius for "CircMode" = 2 less than half the path distance. Adjust the radius.
Starting point, intermediate point and/or end point are identi- Specify different values for starting point, intermediate
cal when "CircMode" = 0. point and end point.
Intermediate point cannot be reached when "CircMode" = 0. Adjust the intermediate point.
Starting point and end point are identical when "CircMode" = 2 Define different start and end points.
as well as "PathChoice" = 2 or 3 is specified.
Unable to execute dynamic adaptation. Switch off the dynamic adaptation.
Motion is not in the transformation area. Define the motions within the transformation area.
The selected transformation only works with sPTP motions. Select a "MC_MoveDirectAbsolute" instruction or
"MC_MoveDirectRelative" instruction for the transfor-
mation.

Appendix

Alarm text Remedy

Error calculating the transformation.
Transformation of the axis coordinates to the kinematics co- • Correct your specified motion with regard to the joint
ordinates resulted in an error. positioning space and the transformation areas:
With user-defined kinematics systems: • Position the kinematics axes with single-axis motions
"FunctionResult" of the MC-Transformation [OB98] in a permitted transformation area.
Transformation of the kinematics coordinates to the axis co- • For user transformation:
ordinates resulted in an error.
Check the calculation in the MC-Transformation
With predefined kinematics systems:
[OB98].
Additional info:
0 Cartesian position cannot be reached
1 Singular position
With user-defined kinematics systems:
"FunctionResult" of the MC-Transformation [OB98]

Alarm text Remedy

Kinematics motion cannot be stopped at end. Ensure that the path is sufficiently long.

Alarm text Remedy

Limitation of the path dynamics by the axis dynamics faulty.
Path velocity is limited to zero. Configure a larger path velocity for the kinematics axis.
Path acceleration or deceleration is limited to zero. Configure a larger path acceleration or deceleration for
the kinematics axis.

Appendix

Alarm reaction: Stop with maximum dynamic values of the kinematics
Alarm text Remedy

Collision with work or blocked zones occurred. Move the kinematics object from the work zone or
blocked zone.

Alarm text Remedy

Collision with work or blocked zones occurred. -

Alarm text Remedy

Ambiguity due to multiple active work zones.
<Number of the currently active zone> Activate only one work zone.

Alarm text Remedy

Path dynamic limit through dynamic of the orientation motion
faulty.
Velocity is limited to zero. Configure a higher maximum velocity for the axes in-
volved in the orientation motion.
Acceleration/deceleration is limited to zero. Configure a higher maximum acceleration or decelera-
tion for the axes involved in the orientation motion.

Appendix

Alarm text Remedy

The conveyor belt is not assigned or faulty. • Check the parameters of the
"MC_TrackConveyorBelt" job.
• Check the configuration of the leading-value-capable
technology object which represents the conveyor
belt.

Alarm text Remedy

Error when approaching the TCP to a object coordinate system. Check the parameters of the "MC_MoveLinearAbsolute"
or "MC_MoveCircularAbsolute" job.

Appendix
A.3 Error ID (kinematics)

Errors in Motion Control instructions are signaled using the "Error" and "ErrorID" parameters.
Under the following conditions, "Error" = TRUE and "ErrorID" = 16#8xxx are indicated for the
Motion Control instruction:
● Invalid status of the technology object that prevents execution of the job.
● Invalid parameter assignment of the Motion Control instruction that prevents execution of
the job.
● As a result of the alarm reaction to a technology object error.
The following tables show a list of all "ErrorIDs" that can be indicated for Motion Control
instructions. Besides the cause of the error, remedies for eliminating the error are also listed:

Appendix
16#0000 - 16#800F
ErrorID Description Remedy

16#0000 No error -
16#8001 A technology alarm (technology object error) In the technology data block, an error message is output at
occurred while processing the Motion Con- the "ErrorDetail.Number" tag.
trol instruction. You can find a list of the technology alarms and alarm reac-
tions in the Technology alarms (Page 374) appendix.
16#8002 Illegal specification of the technology object Check the specification of the technology object for the "Axis"
or "AxesGroup" parameter.
You can use a kinematics technology object only for the
"AxesGroup" parameter.
16#8003 Illegal velocity specification Specify a permissible value for the velocity for the "Velocity"
parameter.
16#8004 Illegal acceleration specification Specify a permissible value for the acceleration for the "Ac-
celeration" parameter.
16#8005 Illegal deceleration specification Specify a permissible value for the deceleration for the "De-
celeration" parameter.
16#8006 Illegal jerk specification Specify a permissible value for the jerk for the "Jerk" parame-
ter.
16#8007 Illegal direction specification Specify a permissible value for the motion direction for the
"DirectionA" parameter.
16#8008 Illegal specification of the relative target Specify permissible values for the relative target coordinate
coordinate for the "Distance" parameter.
16#8009 Illegal specification of the absolute target Specify a permissible value for the absolute target coordinate
coordinate in the "Position" parameter.
16#800A Illegal mode specification Specify a permissible value for the mode for the "Mode" pa-
rameter.
16#800D The job is not permitted in the current state. While a restart is being performed, the technology object
Restart is being executed. cannot perform any jobs.
During a restart of the kinematics technology object, all inter-
connected axes are reinitialized first. Then the kinematics
technology object is reinitialized. This may take up to one
second.
Wait until the technology object restart is complete.
16#800F The job cannot be executed because the Enable the technology object with "MC_Power.Enable" =
technology object is disabled. TRUE. Restart the job.

Appendix
16#8010 - 16#807F

16#8012 The job cannot be executed because the Return the master control to your user program. Restart the
kinematics control panel is active. job.
16#8014 No internal job memory available. The maximum possible number of Motion Control jobs has
been reached.
Reduce the number of jobs to be executed (parameter "Exe-
cute" = FALSE).
16#8015 Error acknowledgment with "MC_Reset" is Check the configuration of the technology object.
not possible. Error in the configuration of the
technology object.
16#80A0 - 16#8FFF

16#80B1 Illegal specification of the coordinate system Specify a permissible value for the coordinate system for the
"CoordSystem" parameter.
16#80B2 Illegal specification of the motion transition Specify a permissible value for the motion transition for the
"BufferMode" parameter.
16#80B3 Illegal specification of the rounding clear- Specify a permissible value for the rounding clearance for the
ance "TransitionParameter" parameter.
16#80B5 Illegal specification of the dynamic adapta- Specify a permissible value for the dynamic adaptation for the
tion "DynamicAdaption" parameter.
16#80B6 Illegal specification for the definition of the Specify a permissible value for the definition of the circular
circular path path for the "CircMode" parameter.
16#80B7 Illegal specification for the circular path Specify a permissible value for the circular path auxiliary point
auxiliary point for the "AuxPoint" parameter.
16#80B8 Illegal specification of the target position Specify a permissible value for the target position for the
"EndPoint" parameter.
16#80B9 Illegal specification of the orientation of the Specify a permissible value for the orientation of the circular
circular path path for the "PathChoice" parameter.
16#80BA Illegal specification for the main plane of the Specify a permissible value for the main plane of the circular
circular path path for the "CirclePlane" parameter.
16#80BB Illegal radius specification Specify a permissible value for the radius of the circular path
for the "Radius" parameter.
16#80BC Illegal angle specification Specify a permissible value for the angle of the circular path
for the "Arc" parameter.
16#80C1 Illegal specification of the zone type Specify a permissible value for the zone type for the "Zone-
Type" parameter.
16#80C2 Illegal specification of the zone position Specify a permissible value for the zone number for the
"ZoneNumber" parameter.
16#80C3 Illegal specification of the reference system Specify a permissible value for the reference system for the
"ReferenceSystem" parameter.
16#80C4 Illegal coordinate specification Specify permissible values for the coordinates for the "Frame"
parameter.
16#80C5 Illegal specification of the zone geometry Specify a permissible value for the zone geometry for the
"GeometryType" parameter.

Appendix

16#80C6 Illegal specification of the geometric param- Specify permissible values for the geometric parameters for
eters the "GeometryParameter" parameter.
16#80C7 The zone is not defined. Define a workspace zone using the
"MC_DefineWorkspaceZone" job or a kinematics zone using
the "MC_DefineKinematicsZone" job.
16#80C8 A tool cannot be redefined during a motion. End the active motion. Restart the "MC_DefineTool" job.
An active tool cannot be changed during a End the active motion. Restart the "MC_SetTool" job.
motion.
16#80CA Illegal specification of the tool number Specify a permissible value for the tool number for the "Tool-
Number" parameter.
16#80CB Illegal specification of the object coordinate Specify a permissible value for the object coordinate system
system for the "OcsNumber" parameter.
16#80CC The job cannot be executed because a End the current single-axis motion. Restart the job.
single-axis motion is active at a kinematics
axis.
16#80CD The job cannot be executed because an Set the "MC_GroupStop.Execute" parameter to FALSE. Re-
"MC_GroupStop" job is active. start the job.
16#80CE The job sequence is used to capacity. The maximum possible Motion Control jobs have been trans-
mitted.
16#80D1 Invalid value for the use of the parameter Enter a permissible value for use of the parameter "Position"
"Position" in the "PositionMode" parameter.
16#80D2 Illegal value for the target arm positioning Enter a permissible value for the target arm positioning space
space in the "LinkConstellation" parameter.
16#80D3 Illegal value for the positions of the kinemat- Enter a permissible value for the positions of the kinematics
ics axes axes at the parameter "AxesPosition".
16#80D4 Illegal value for the velocity of the kinemat- Specify a permissible value for the velocity of the kinematics
ics axes axes for the "AxesVelocity" parameter.
16#80D5 Illegal value for the acceleration of the kin- Specify a permissible value for the acceleration of the kine-
ematics axes matics axes for the "AxesAcceleration" parameter.
16#8FFF Unspecified error Contact your local Siemens representative or support center.
You will find your contact information for digital industries at:
https://www.siemens.com/automation/partner
(https://www.siemens.com/automation/partner)

Index
A F
Articulated arm FCS, 27
2D, 72 Flange coordinate system (FCS), 27
2D with orientation, 75 Flange zones, 158
3D, 78 FNP, 15
3D with orientation, 83 Frame definition, 31
AxesGroup, 16
J
B
Job sequence, 16, 191
Blocked zones, 155, 157 Joint position space, 124
C K
CircMode, 142 KCS, 26
Circular motion, 141 Kinematics, 15, 35
Circular path Adding, 164
Definition, 142 Circular motion, 141
Conveyor tracking, 149, 149 Configuration, 165
Coupling factor, 129 Conveyor tracking, 149
Cylindrical robot Coordinate systems, 25
3D, 103 Copying, 187
3D with orientation, 107 Degrees of freedom, 15
Deleting, 188
Diagnostics, 210, 212, 215, 216, 218
D Dynamic adaptation, 146
Dynamic defaults, 145
Delta picker
Dynamic limits, 145
2D, 90
Dynamic settings, 147
2D with orientation, 93
Frames, 25
3D, 95
Functions, 17
Interconnection rules, 20
Joint position space, 124
Kinematics control panel, 204
E
Linear motion, 141
Error ID, 383 Mechanical couplings, 129
ErrorID Motion, 141
List of ErrorIDs, 383 Point-to-point motion, 144
Errors in Motion Control instructions, 383 Simulation, 20
Singular positions, 128
Tags, 334
Term definition, 15
User transformation, 130
Zone monitoring, 154
Kinematics axes, 15

Index
Kinematics control panel, 204, 208 M

Kinematics coordinate system, 26
Machine coordinate system, 15
Kinematics motion, 141
MC_DefineKinematicsZone, 306
Circular motion, 197
MC_DefineTool, 317
continue, 194
MC_DefineWorkspaceZone, 303
Dynamics, 145
MC_GroupContinue, 252, 253
Interrupting, 194
MC_GroupInterrupt, 250
Linear motion, 196
MC_GroupStop, 255, 257
Motion transition, 196
MC_InverseKinematicsTransformation, 325
Motion transition dynamics, 201
MC_KinematicsTransformation, 323
Remaining distance, 193
MC_MoveCircularAbsolute, 269, 275
sPTP motion, 199
MC_MoveCircularRelative, 277, 283
Status, 193
MC_MoveDirectAbsolute, 285, 290
stop, 194
MC_MoveDirectRelative, 292, 296
Kinematics transformation, 122, 123
MC_MoveLinearAbsolute, 258, 262
Kinematics type
MC_MoveLinearRelative, 263, 267
Articulated arm 2D, 72
MC_SetKinematicsZoneActive, 313
Articulated arm 2D with orientation, 75
MC_SetKinematicsZoneInactive, 315
Articulated arm 3D, 78
MC_SetOcsFrame, 321
Articulated arm 3D with orientation, 83
MC_SetTool, 319
Cylindrical robot 3D, 103
MC_SetWorkspaceZoneActive, 309
Cylindrical robot 3D with orientation, 107
MC_SetWorkspaceZoneInactive, 311
Delta picker 2D, 90
MC_TrackConveyorBelt, 298, 300
Delta picker 2D with orientation, 93
MCS, 15
Delta picker 3D, 95
MC-Transformation-OB, 132
Delta picker 3D with orientation, 98
Mechanical couplings, 129
Portal 2D, 37
Motion transition, 196
Portal 2D with orientation, 39
Portal 3D, 41
Portal 3D with orientation, 44
O
Roller picker 2D, 48
Roller picker 2D with orientation, 50 Object coordinate system, 28
Roller picker 3D (vertical), 52 OCS, 28
Roller picker 3D with orientation (horizontal), 58 Orientation movement, 141
Roller picker 3D with orientation (vertical), 55
SCARA 2D with orientation, 63
SCARA 3D with orientation, 66 P
Tripod 3D, 113
PathChoice, 142
Tripod 3D with orientation, 117
Point-to-point motion, 144
User-defined, 121
Portal
Kinematics types, 35
2D, 37
Kinematics zero point, 15
Kinematics zones, 155, 157
3D, 41
KZP, 15
L
Linear motion, 141

Index
R U
Roller picker Unit of measure, 22
2D, 48 User transformation, 130
2D with orientation, 50 Example, 135
3D (vertical), 52 User-defined kinematics systems, 121
3D with orientation (horizontal), 58
3D with orientation (vertical), 55
Rotation conventions, 31 W
WCS, 26
Work zones, 155, 157
S
Workspace zones, 155, 156
S7-1500 Motion Control World coordinate system, 26
Technology alarms, 371
Unit of measure, 22
Versions, 162 Z
S7-1500T Motion Control
Zone geometry, 159
Commissioning, 208
Zone monitoring, 154
S7-1500T Motion Control instruction
Zones
Errors in Motion Control instructions, 383
Flange zones, 158
SCARA
Kinematics zones, 157
Signal zones, 157
Subentry, 154, 157
Signal zones, 155, 157
Tool zones, 158
Singular positions, 128
Work zones, 157
sPTP motion, 144
Workspace zones, 156
Synchronous point-to-point motion, 144
Zone geometry, 159
T
Tags
Kinematics technology object, 334
TCP, 15, 28
TCS, 28
Technology alarms
List of the technology alarms, 371
Technology data block
Tags of the kinematics technology object, 334
Technology object
Kinematics, 17, 18, 164
Tool center point, 15, 28
Tool coordinate system, 28
Tool zones, 158
Transformation area, 123
Transformation-OB, 132
Traversing range, 123
Tripod
3D, 113


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S7-1500T Kinematics functions V5.

0 in TIA Portal V16

TIA Portal V16

Siemens AG A5E42062707-AB Copyright © Siemens AG 2017 - 2019.

Purpose of the documentation

Required basic knowledge

Validity of the documentation

S7-1500T Kinematics functions V5.0 in TIA Portal V16

S7-1500T Kinematics functions V5.0 in TIA Portal V16

S7-1500T Kinematics functions V5.0 in TIA Portal V16

3.7.5 Articulated arm ...................................................................................................................... 72

S7-1500T Kinematics functions V5.0 in TIA Portal V16

4 Version overview ................................................................................................................................ 162

S7-1500T Kinematics functions V5.0 in TIA Portal V16

S7-1500T Kinematics functions V5.0 in TIA Portal V16

11.1.7.1 MC_MoveCircularRelative: Relative positioning of kinematics with circular path motion

S7-1500T Kinematics functions V5.0 in TIA Portal V16

S7-1500T Kinematics functions V5.0 in TIA Portal V16

S7-1500T Kinematics functions V5.0 in TIA Portal V16

S7-1500T Kinematics functions V5.0 in TIA Portal V16

S7-1500T Kinematics functions V5.0 in TIA Portal V16

2.2 Kinematics systems for handling tasks

S7-1500T Kinematics functions V5.0 in TIA Portal V16

2.3 Term definition

Kinematics zero point (KZP)

Zero point of the flange coordinate system (FNP)

Tool center point (TCP)

Degrees of freedom of kinematics

Machine coordinate system (MCS)

S7-1500T Kinematics functions V5.0 in TIA Portal V16

S7-1500T Kinematics functions V5.0 in TIA Portal V16

Function Brief description

S7-1500T Kinematics functions V5.0 in TIA Portal V16

S7-1500T Kinematics functions V5.0 in TIA Portal V16

S7-1500T Kinematics functions V5.0 in TIA Portal V16

3.2 Interconnection rules

S7-1500T Kinematics functions V5.0 in TIA Portal V16

3.3 Configuration limits for kinematics systems

Motion Control resources

Extended Motion Control resources

S7-1500T Kinematics functions V5.0 in TIA Portal V16

3.4 Units of measure

Angle Angular velocity

The acceleration is set accordingly as the position/s² (angle/s²) unit of measure.

S7-1500T Kinematics functions V5.0 in TIA Portal V16

Units of measure of the axes and the kinematics technology object

Position values with higher resolution

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3.5 Modulo setting

S7-1500T Kinematics functions V5.0 in TIA Portal V16

3.6 Coordinate systems and frames

S7-1500T Kinematics functions V5.0 in TIA Portal V16

World coordinate system (WCS)

Kinematics coordinate system (KCS)

S7-1500T Kinematics functions V5.0 in TIA Portal V16

Flange coordinate system (FCS)

S7-1500T Kinematics functions V5.0 in TIA Portal V16

Object coordinate system (OCS)

S7-1500T Kinematics functions V5.0 in TIA Portal V16

S7-1500T Kinematics functions V5.0 in TIA Portal V16

S7-1500T Kinematics functions V5.0 in TIA Portal V16

The following table shows the definition of the rotations:

Value in the frame Description