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

___________________
Preface
___________________
Documentation guide 1
2
___________________
Introduction
SIMATIC
3
___________________
Basics
S7-1500
S7-1500T Kinematics Functions 4
___________________
Version overview
V4.0 in TIA Portal V15
5
___________________
Configuring
Function Manual
6
___________________
Programming
___________________
Commissioning 7
8
___________________
Diagnostics
___________________
Instructions 9
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Appendix A
TIA Portal V15
12/2017
A5E42062707-AA
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
A note contains important information about the product described in the documentation,
about the handling of the product, and about sections in this documentation demanding your
particular attention.
S7-1500T Kinematics Functions V4.0 in TIA Portal V15

4 Function Manual, 12/2017, A5E42062707-AA
Preface
Further support
● The range of technical documentation for the individual SIMATIC products and systems is
available on the Internet (http://www.siemens.com/simatic-tech-doku-portal).
● The online catalog and the online ordering system is available on the Internet
(http://mall.industry.siemens.com).
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visit (https://www.siemens.com/industrialsecurity).
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secure. Siemens strongly recommends that product updates are applied as soon as they are
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to cyber threats.
To stay informed about product updates, subscribe to the Siemens Industrial Security RSS
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Function Manual, 12/2017, A5E42062707-AA 5
Table of contents
Preface ................................................................................................................................................... 4
1 Documentation guide ............................................................................................................................ 12
2 Introduction ........................................................................................................................................... 16
2.1 Interplay of the various documents ........................................................................................ 16
2.2 Kinematics systems for handling tasks .................................................................................. 17
2.3 Term definition ....................................................................................................................... 17
2.4 Functions ................................................................................................................................ 19
3 Basics ................................................................................................................................................... 20
3.1 Kinematics technology object ................................................................................................ 20
3.2 Interconnection rules .............................................................................................................. 22
3.3 Configuration limits for kinematics systems ........................................................................... 22
3.4 Measuring units ...................................................................................................................... 23
3.5 Modulo setting ........................................................................................................................ 24
3.6 Coordinate systems and frames ............................................................................................ 25
3.6.1 Overview of coordinate systems and frames ......................................................................... 25
3.6.2 Frames ................................................................................................................................... 30
3.6.3 Tags of coordinate systems and frames ................................................................................ 33
3.7 Kinematics .............................................................................................................................. 34
3.7.1 Brief description of kinematics types...................................................................................... 34
3.7.2 Legend for display of the kinematics...................................................................................... 35
3.7.3 Cartesian portal ...................................................................................................................... 36
3.7.3.1 Portal 2D ................................................................................................................................ 36
3.7.3.2 Portal 2D with orientation ....................................................................................................... 38
3.7.3.3 Portal 3D ................................................................................................................................ 40
3.7.3.4 Portal 3D with orientation ....................................................................................................... 43
3.7.3.5 Portal tags .............................................................................................................................. 46
3.7.4 Roller picker ........................................................................................................................... 47
3.7.4.1 Roller picker 2D...................................................................................................................... 47
3.7.4.2 Roller picker 2D with orientation ............................................................................................ 49
3.7.4.3 Roller picker 3D (vertical) ....................................................................................................... 51
3.7.4.4 Roller picker 3D with orientation (vertical) ............................................................................. 54
3.7.4.5 Roller picker 3D with orientation (horizontal) ......................................................................... 57
3.7.4.6 Roller picker tags ................................................................................................................... 60
3.7.5 SCARA ................................................................................................................................... 62
3.7.5.1 SCARA 3D with orientation .................................................................................................... 62
3.7.5.2 SCARA tags ........................................................................................................................... 67

Table of contents
3.7.6 Articulated arm ........................................................................................................................68

3.7.6.1 Articulated arm 2D ..................................................................................................................68
3.7.6.2 Articulated arm 2D with orientation .........................................................................................71
3.7.6.3 Articulated arm 3D ..................................................................................................................74
3.7.6.4 Articulated arm 3D with orientation .........................................................................................79
3.7.6.5 Articulated arm tags ................................................................................................................84
3.7.7 Delta picker .............................................................................................................................85
3.7.7.1 Delta picker 2D .......................................................................................................................85
3.7.7.2 Delta picker 2D with orientation ..............................................................................................87
3.7.7.3 Delta picker 3D .......................................................................................................................89
3.7.7.4 Delta picker 3D with orientation ..............................................................................................92
3.7.7.5 Permissible joint position for delta picker................................................................................95
3.7.7.6 Delta picker tags .....................................................................................................................96
3.7.8 Cylindrical robot ......................................................................................................................97
3.7.8.1 Cylindrical robot 3D.................................................................................................................97
3.7.8.2 Cylindrical robot 3D with orientation .....................................................................................101
3.7.8.3 Cyclic robot tags ...................................................................................................................106
3.7.9 Tripod ....................................................................................................................................107
3.7.9.1 Tripod 3D ..............................................................................................................................107
3.7.9.2 Tripod 3D with orientation .....................................................................................................111
3.7.9.3 Tags of tripod ........................................................................................................................114
3.7.10 User-defined kinematics systems .........................................................................................115
3.7.10.1 Overview of user-defined kinematics systems .....................................................................115
3.7.10.2 Tags of user-defined kinematics systems.............................................................................115
3.8 Kinematics transformation ....................................................................................................116
3.8.1 Brief description of the kinematics transformation ................................................................116
3.8.2 Transformation for predefined kinematics systems ..............................................................117
3.8.2.1 Reference points ...................................................................................................................117
3.8.2.2 Traversing range and transformation area ...........................................................................118
3.8.2.3 Joint position spaces (kinematics-dependent) ......................................................................119
3.8.2.4 Singular positions ..................................................................................................................121
3.8.2.5 Mechanical couplings (kinematics-dependent) .....................................................................122
3.8.3 Transformation for user-defined kinematics systems ...........................................................122
3.8.3.1 User transformation ..............................................................................................................122
3.8.3.2 MC-Transformation [OB98] ...................................................................................................124
3.8.3.3 Program example for user transformation ............................................................................127
3.8.4 Tags of kinematics transformation ........................................................................................129
3.9 Kinematics motions ...............................................................................................................130
3.9.1 Brief description of kinematics motions ................................................................................130
3.9.2 Motion types ..........................................................................................................................131
3.9.2.1 Linear motion ........................................................................................................................131
3.9.2.2 Circular motion ......................................................................................................................131
3.9.3 Motion dynamics ...................................................................................................................134
3.9.3.1 Dynamics of kinematics motion and orientation motion .......................................................134
3.9.3.2 Override ................................................................................................................................135
3.9.4 Tags of motion control and dynamics ...................................................................................136

Table of contents
3.10 Zone monitoring ................................................................................................................... 137

3.10.1 Brief description of zone monitoring .................................................................................... 137
3.10.2 Workspace zones................................................................................................................. 141
3.10.3 Kinematics zones ................................................................................................................. 142
3.10.4 Zone geometry ..................................................................................................................... 144
3.10.5 Tags for zone monitoring ..................................................................................................... 146
4 Version overview .................................................................................................................................147
5 Configuring ..........................................................................................................................................148
5.1 Adding a kinematics technology object ................................................................................ 148
5.2 Configuring the kinematics technology object ..................................................................... 149
5.2.1 Configuration - Basic Parameters ........................................................................................ 149
5.2.2 Configuration - Interconnections .......................................................................................... 149
5.2.3 Configuration - Geometry ..................................................................................................... 150
5.2.3.1 Configuration - Geometry (Cartesian portal) ........................................................................ 150
5.2.3.2 Configuration - Geometry (roller picker) .............................................................................. 152
5.2.3.3 Configuration - Geometry (SCARA) ..................................................................................... 154
5.2.3.4 Configuration - Geometry (articulated arm) ......................................................................... 155
5.2.3.5 Configuration - Geometry (delta picker) ............................................................................... 157
5.2.3.6 Configuration - Geometry (cylindrical robot) ........................................................................ 158
5.2.3.7 Configuration - Geometry (tripod) ........................................................................................ 159
5.2.3.8 Configuration - Geometry (user-defined) ............................................................................. 160
5.2.4 Extended parameters ........................................................................................................... 161
5.2.4.1 Configuration - Dynamics ..................................................................................................... 161
5.2.4.2 Configuration - Kinematics coordinate system .................................................................... 162
5.2.4.3 Configuration - Object coordinate systems .......................................................................... 163
5.2.4.4 Configuration- Tools ............................................................................................................. 164
5.2.4.5 Configuration - Zones .......................................................................................................... 165
5.3 Copying a kinematics technology object .............................................................................. 170
5.4 Deleting a kinematics technology object .............................................................................. 171
5.5 Toolbar of the configuration ................................................................................................. 171
6 Programming .......................................................................................................................................172
6.1 Introduction to the programming of the kinematics motions ................................................ 172
6.2 Job sequence ....................................................................................................................... 173
6.3 Motion status and remaining distance ................................................................................. 174
6.4 Interrupting, continuing and stopping kinematics motions ................................................... 175
6.5 Motion preparation using multiple jobs ................................................................................ 176
6.5.1 Connection of multiple kinematics motions with geometric transitions ................................ 176
6.5.2 Dynamic behavior when motions are appended/blended .................................................... 180
6.6 Interaction of kinematics motions and single axis motions .................................................. 180

Table of contents
7 Commissioning ................................................................................................................................... 181

7.1 Function and structure of the kinematics control panel ........................................................181
7.2 Using the kinematics control panel .......................................................................................187
7.3 Kinematics trace ...................................................................................................................188
7.3.1 Brief description of kinematics trace .....................................................................................188
7.3.2 3D visualization .....................................................................................................................188
7.3.3 Record and play traces .........................................................................................................191
7.3.4 Configuration .........................................................................................................................193
7.3.5 Importing and exporting recordings ......................................................................................195
8 Diagnostics ......................................................................................................................................... 197
8.1 Introduction to diagnostics ....................................................................................................197
8.2 Kinematics technology object ...............................................................................................198
8.2.1 Status and error bits..............................................................................................................198
8.2.2 Status of the motion ..............................................................................................................201
8.2.3 Zones and tools ....................................................................................................................203
9 Instructions ......................................................................................................................................... 204
9.1 Kinematics motions ...............................................................................................................204
9.1.1 MC_GroupInterrupt V4 ..........................................................................................................204
9.1.1.1 MC_GroupInterrupt: Interrupt motion execution V4 ..............................................................204
9.1.2 MC_GroupContinue V4 .........................................................................................................206
9.1.2.1 MC_GroupContinue: Continue execution of motion V4 ........................................................206
9.1.2.2 MC_GroupContinue: Function chart V4 ................................................................................207
9.1.3 MC_GroupStop V4 ................................................................................................................209
9.1.3.1 MC_GroupStop: Stop motion V4 ..........................................................................................209
9.1.3.2 MC_GroupStop: Function chart V4 .......................................................................................211
9.1.4 MC_MoveLinearAbsolute V4 ................................................................................................212
9.1.4.1 MC_MoveLinearAbsolute: Position kinematics with linear motion V4 ..................................212
9.1.4.2 MC_MoveLinearAbsolute: Function chart V4 .......................................................................217
9.1.5 MC_MoveLinearRelative V4 .................................................................................................218
9.1.5.1 MC_MoveLinearRelative: Relative positioning of kinematics with linear motion V4 ............218
9.1.5.2 MC_MoveLinearRelative: Function chart V4 ........................................................................222
9.1.6 MC_MoveCircularAbsolute V4 ..............................................................................................223
9.1.6.1 MC_MoveCircularAbsolute: Position kinematics with circular path motion V4 .....................223
9.1.6.2 MC_MoveCircularAbsolute: Function chart V4 .....................................................................229
9.1.7 MC_MoveCircularRelative V4 ...............................................................................................231
9.1.7.1 MC_MoveCircularRelative: Relative positioning of kinematics with circular path motion
V4 ..........................................................................................................................................231
9.1.7.2 MC_MoveCircularRelative: Function chart V4 ......................................................................237
9.2 Zones ....................................................................................................................................239
9.2.1 MC_DefineWorkspaceZone V4 ............................................................................................239
9.2.1.1 MC_DefineWorkspaceZone: Defining workspace zone V4 ..................................................239
9.2.2 MC_DefineKinematicsZone V4 .............................................................................................242
9.2.2.1 MC_DefineKinematicsZone: Defining kinematics zone V4...................................................242
9.2.3 MC_SetWorkspaceZoneActive V4 ........................................................................................245
9.2.3.1 MC_SetWorkspaceZoneActive: Activating workspace zone V4 ...........................................245
9.2.4 MC_SetWorkspaceZoneInactive V4 .....................................................................................247
9.2.4.1 MC_SetWorkspaceZoneInactive: Deactivating workspace zone V4 ....................................247

Table of contents
9.2.5 MC_SetKinematicsZoneActive V4 ....................................................................................... 249

9.2.5.1 MC_SetKinematicsZoneActive: Activating kinematics zone V4 .......................................... 249
9.2.6 MC_SetKinematicsZoneInactive V4..................................................................................... 251
9.2.6.1 MC_SetKinematicsZoneInactive: Deactivating kinematics zone V4.................................... 251
9.3 Tools .................................................................................................................................... 253
9.3.1 MC_DefineTool V4 ............................................................................................................... 253
9.3.1.1 MC_DefineTool: Redefine tool V4........................................................................................ 253
9.3.2 MC_SetTool V4 .................................................................................................................... 255
9.3.2.1 MC_SetTool: Change active tool V4 .................................................................................... 255
9.4 Coordinate systems ............................................................................................................. 257
9.4.1 MC_SetOcsFrame V4 .......................................................................................................... 257
9.4.1.1 MC_SetOcsFrame: Redefining object coordinate systems V4 ............................................ 257
9.5 Override response of Motion Control jobs V4 ...................................................................... 259
9.5.1 Override response V4: Kinematics motion commands ........................................................ 259
A Appendix .............................................................................................................................................261
A.1 Tags of the kinematics technology object ............................................................................ 261
A.1.1 Legend ................................................................................................................................. 261
A.1.2 Tag Tcp (kinematics) ........................................................................................................... 262
A.1.3 Tag Kinematics (kinematics) ................................................................................................ 263
A.1.4 Tag KcsFrame (kinematics) ................................................................................................. 265
A.1.5 Tag OcsFrame (kinematics) ................................................................................................. 266
A.1.6 Tag Tool (kinematics) .......................................................................................................... 267
A.1.7 Tag DynamicDefaults (kinematics) ...................................................................................... 268
A.1.8 Tag DynamicLimits (kinematics) .......................................................................................... 269
A.1.9 Tag MotionQueue (kinematics) ............................................................................................ 270
A.1.10 Tag Override (kinematics) .................................................................................................... 270
A.1.11 Tag WorkspaceZone (kinematics) ....................................................................................... 271
A.1.12 Tag KinematicsZone (kinematics)........................................................................................ 272
A.1.13 Tag StatusPath (kinematics) ................................................................................................ 273
A.1.14 Tag TcpInWcs (kinematics) ................................................................................................. 274
A.1.15 Tag TcpInOcs (kinematics) .................................................................................................. 275
A.1.16 Tag StatusOcsFrame (kinematics) ...................................................................................... 276
A.1.17 Tag StatusKinematics (kinematics)...................................................................................... 277
A.1.18 Tag FlangeInKcs (kinematics) ............................................................................................. 278
A.1.19 Tag StatusTool (kinematics) ................................................................................................ 279
A.1.20 Tag StatusWorkspaceZone (kinematics) ............................................................................. 280
A.1.21 Tag StatusKinematicsZone (kinematics) ............................................................................. 281
A.1.22 Tag StatusZoneMonitoring (kinematics) .............................................................................. 282
A.1.23 Tag StatusMotionQueue (kinematics).................................................................................. 282
A.1.24 Tag KinematicsAxis (kinematics) ......................................................................................... 283
A.1.25 Tag Units (kinematics) ......................................................................................................... 284
A.1.26 Tag StatusWord (kinematics)............................................................................................... 285
A.1.27 Tag ErrorWord (kinematics) ................................................................................................. 287
A.1.28 Tag ErrorDetail (kinematics) ................................................................................................ 288
A.1.29 Tag WarningWord (kinematics) ........................................................................................... 289
A.1.30 Tag ControlPanel (kinematics)............................................................................................. 290

Table of contents
A.2 Technology alarms ................................................................................................................291

A.2.1 Overview ...............................................................................................................................291
A.2.2 Technology alarms 101.........................................................................................................294
A.2.3 Technology alarms 201 - 204 ...............................................................................................294
A.3 Error ID (kinematics) .............................................................................................................302
Index................................................................................................................................................... 305

Documentation guide 1
The documentation for the SIMATIC S7-1500 automation system and the SIMATIC
ET 200MP distributed I/O system is arranged into three areas.
This arrangement enables you to access the specific content you require.
Basic information
The System Manual and Getting Started describe in detail the configuration,
installation, wiring and commissioning of the SIMATIC S7-1500 and ET 200MP systems.
The STEP 7 online help supports you in the configuration and programming.
Device information
Product manuals contain a compact description of the module-specific information,
such as properties, wiring diagrams, characteristics and technical specifications.
General information
The function manuals contain detailed descriptions on general topics regarding the SIMATIC
S7-1500 and ET 200MP systems, e.g. 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/109742691).
Changes and supplements to the manuals are documented in a Product Information.
You can download the product information free of charge from the Internet
(https://support.industry.siemens.com/cs/us/en/view/68052815).

Documentation guide
Manual Collection S7-1500/ET 200MP

The Manual Collection contains the complete documentation on the SIMATIC S7-1500
automation system and the ET 200MP distributed I/O system gathered together in one file.
You can find the Manual Collection on the Internet
SIMATIC S7-1500 comparison list for programming languages

The comparison list contains an overview of which instructions and functions you can use for
which controller families.
You can find the comparison list on the Internet
"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).
"mySupport" - Documentation
In the Documentation area in "mySupport" you can combine entire manuals or only parts of
these to your own manual.
You can export the manual as PDF file or in a format that can be edited later.
You can find "mySupport" - Documentation on the Internet
(http://support.industry.siemens.com/My/ww/en/documentation).
"mySupport" - CAx data

In the CAx data area in "mySupport", you can access the current product data for your
CAx or CAe system.
You configure your own download package with a few clicks.
In doing so you can select:
● Product images, 2D dimension drawings, 3D models, internal circuit diagrams,
EPLAN macro files
● Manuals, characteristics, operating manuals, certificates
● Product master data
You can find "mySupport" - CAx data on the Internet
(http://support.industry.siemens.com/my/ww/en/CAxOnline).

Documentation guide
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).
TIA Selection Tool

With the TIA Selection Tool, you can select, configure and order devices for
Totally Integrated Automation (TIA).
This tool is the successor of the SIMATIC Selection Tool and combines the known
configurators for automation technology into one tool.
With the TIA Selection Tool, you can generate a complete order list from your product
selection or product configuration.
You can find the TIA Selection Tool on the Internet
(http://w3.siemens.com/mcms/topics/en/simatic/tia-selection-tool).
SIMATIC Automation Tool

You can use the SIMATIC Automation Tool to perform commissioning and maintenance
activities simultaneously on various SIMATIC S7 stations as a bulk operation
independent of the TIA Portal.
General function overview:
● Network browsing and creation of a table showing the accessible devices in the network.
● Flashing of device LEDs or HMI display to locate a device
● Downloading of addresses (IP, subnet, gateway) to a device
● Downloading the PROFINET name (station name) to a device
● Placing a CPU in RUN or STOP mode
● Setting the time in a CPU to the current time of your PG/PC
● Downloading a new program to a CPU or an HMI device
● Downloading from CPU, downloading to CPU or deleting recipe data from a CPU
● Downloading from CPU or deleting data log data from a CPU
● Backup/restore of data from/to a backup file for CPUs and HMI devices
● Downloading service data from a CPU
● Reading the diagnostics buffer of a CPU
● Performing a CPU memory reset
● Resetting devices to factory settings
● Downloading a firmware update to a device
You can find the SIMATIC Automation Tool on the Internet

Documentation guide
PRONETA
With SIEMENS PRONETA (PROFINET network analysis), you analyze the
PROFINET network during commissioning. PRONETA features two core functions:
● The topology overview independently scans PROFINET network and all
connected components.
● The IO check is a fast test of the wiring and the module configuration of a system.
You can find SIEMENS PRONETA on the Internet
SINETPLAN
SINETPLAN, the Siemens Network Planner, supports you in planning automation systems
and networks based on PROFINET. The tool facilitates professional and predictive
dimensioning of your PROFINET installation as early as in the planning stage. In addition,
SINETPLAN supports you during network optimization and helps you to exploit network
resources optimally and to plan reserves. This helps to prevent problems in commissioning
or failures during productive operation even in advance of a planned operation. This
increases the availability of the production plant and helps improve operational safety.
The advantages at a glance
● Network optimization thanks to port-specific calculation of the network load
● Increased production availability thanks to online scan and verification of existing systems
● Transparency before commissioning through importing and simulation of existing STEP 7
projects
● Efficiency through securing existing investments in the long term and optimal exploitation
of resources
You can find SINETPLAN on the Internet (https://www.siemens.com/sinetplan).

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:
● Using S7-1500T Motion Control
● Using S7-1500T Kinematics Functions
"Using S7-1500 Motion Control" describes the Motion Control functions for the following
technology objects:
● Speed axis
● Positioning axis
● Synchronous axis
● External encoder
● Measuring input
● Output cam
● Cam track
● Cam (S7-1500T)
"Using S7-1500T Kinematics Functions" describes the Motion Control functions for the
kinematics technology object. This document assumes that the Motion Control functions
described in "Using S7-1500 Motion Control functions" are known.
See also
Function Manual "S7-1500T Motion Control V4.0 in the TIA Portal V15"
(https://support.industry.siemens.com/cs/ww/en/view/109749263)

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 S7-1500 CPU.
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.

Introduction
2.3 Term definition
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.
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 execution of motion
(Page 204)"
"MC_GroupContinue Continue execution of motion
(Page 206)"
"MC_GroupStop Stop motion
(Page 209)"
"MC_MoveLinearAbsolute Position kinematics with linear path motion
(Page 212)"
"MC_MoveLinearRelative Relative positioning of kinematics with linear path motion
(Page 218)"
"MC_MoveCircularAbsolute Position kinematics with circular path motion
(Page 223)"
"MC_MoveCircularRelative Relative positioning of kinematics with circular path motion
(Page 231)"
"MC_DefineWorkspaceZone Define workspace zone
(Page 239)"
"MC_DefineKinematicsZone Define kinematics zone
(Page 242)"
"MC_SetWorkspaceZoneActive Activate workspace zone
(Page 245)"
"MC_SetWorkspaceZoneInactive Deactivate workspace zone
(Page 247)"
"MC_SetKinematicsZoneActive Activate kinematics zone
(Page 249)"
"MC_SetKinematicsZoneInactive Deactivate kinematics zone
(Page 251)"
"MC_DefineTool Re-define tool
(Page 253)"
"MC_SetTool Change active tool
(Page 255)"
"MC_SetOcsFrame Redefine object coordinate systems
(Page 257)"
TIA Portal
"Kinematics control panel (Page 181)" Homing of kinematics axes and traversing of kinematics
systems 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 116) for the
predefined kinematics types on the system level. In the case of user-defined kinematics
systems, you must provide the user transformation (Page 122) 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 19) section.

Basics
The graphic below shows the basic principle of operation of the kinematics
technology object:

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.
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 (S7-1500T)

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 Measuring units
3.4 Measuring units

The kinematics technology object supports the following units of measure for position and
velocity of linear axes:
Position Velocity
nm, μm, mm, m, km mm/s, 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

°, rad °/s, °/min, rad/s, rad/min
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 284).

Basics
3.5 Modulo setting
Measuring units 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.
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
3.6.1 Overview of 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

Basics
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
3.6.2 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
OCS[1..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
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 180.0° - -
C 0.0 - -
2D with orientation A 0.0 A -180.0° to 180.0°
B 0.0 - -
C 0.0 - -
3D A -180.0° to 180.0° A 0.0
B -90.0° to 90.0° - -
C -180.0° to 180.0° - -
3D with orientation A -180.0° to 180.0° A -180.0° to 180.0°
B 0.0 - -
C 0.0 - -
Value = 0.0: Rotation not permitted

No information (-): Parameter not available

Basics
3.6.3 Tags of 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 Target point of a kinematics motion in the world coordinate system
x, y, z, A
<TO>.TcpInWcs Current tool frame (with dynamics) in the world coordinate system
(setpoint reference)
x, y, z, A
<TO>.TcpInOcs[1..3] Current tool frame (with dynamics) in an object coordinate system
(setpoint reference)
x, y, z, A
<TO>.FlangeInKcs Current FCS frame (with dynamics, setpoint reference)
x, y, z, A
<TO>.StatusOcsFrame Display of the OCS frames
x, y, z, A, B, C

Basics
3.7 Kinematics
3.7 Kinematics
3.7.1 Brief description of 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 36) Cartesian portal 2D
Cartesian portal 2D with orientation
Cartesian portal 3D
Cartesian portal 3D with orientation
Roller picker (Page 47) 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 62) SCARA 3D with orientation
Articulated arm (Page 68) Articulated arm 2D
Articulated arm 2D with orientation
Articulated arm 3D
Articulated arm 3D with orientation
Delta picker (Page 85) Delta picker 2D
Delta picker 2D with orientation
Delta picker 3D
Delta picker 3D with orientation
Cylindrical robot (Page 97) Cylindrical robot 3D
Cylindrical robot 3D with orientation
Tripod (Page 107) Tripod 3D
Tripod 3D with orientation
User-defined kinematics systems
User-defined kinematics User-defined 2D
systems (Page 115) User-defined 2D with orientation
User-defined 3D
User-defined 3D with orientation

Basics
3.7 Kinematics
3.7.2 Legend for display 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 Kinematics
3.7.3 Cartesian portal
3.7.3.1 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
3.7 Kinematics
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 display of the kinematics (Page 35)
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 118) of the axes.

Basics
3.7 Kinematics
3.7.3.2 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
3.7 Kinematics

● 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
3.7 Kinematics
Transformation area
3.7.3.3 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
3.7 Kinematics

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
3.7 Kinematics
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
the base of the kinematics. The flange coordinate system (FCS) is located at distance
LF from the zero position of the axis A2.
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 Kinematics
3.7.3.4 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
3.7 Kinematics



Basics
3.7 Kinematics

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 Kinematics
3.7.3.5 Portal tags
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
kinematics 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
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
<TO>.Kinematics.Parameter[1] -1.0E12 to 1.0E12 Distance L1 of the zero position of the axis A1 to the KZP
in z direction of the KCS
in y direction of the KCS
<TO>.Kinematics.Parameter[3] -1.0E12 to 1.0E12 Distance of the flange coordinate system from the axis A3
in the negative z direction of the KCS
in z direction of the KCS
See also
Tags of the kinematics technology object (Page 261)

Basics
3.7 Kinematics
3.7.4 Roller picker
3.7.4.1 Roller picker 2D

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

Basics
3.7 Kinematics

● 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
3.7 Kinematics
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 distances L1 and L2. You shift the FCS in the negative z direction of the KCS
using length LF.
Transformation area
3.7.4.2 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 in the same direction, the flange moves horizontally in the x
direction of the KCS. If both axes A1 and A2 rotate in opposite directions, the flange moves
vertically in the z direction of the KCS. The kinematics enables a rectangular working
area. The orientation axis A4 enables rotation of the tool.

Basics
3.7 Kinematics



Basics
3.7 Kinematics
A1 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
3.7.4.3 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
vertically in the 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
3.7 Kinematics



Basics
3.7 Kinematics

y1 Deflection of the kinematics in the positive y direction
the base of the kinematics. The flange coordinate system (FCS) is located between axes A1
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 Kinematics
3.7.4.4 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
vertically in the 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
3.7 Kinematics



Basics
3.7 Kinematics

A1 and A2.
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. 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 Kinematics
3.7.4.5 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
horizontally in the 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
3.7 Kinematics



Basics
3.7 Kinematics

the base of the kinematics. The flange coordinate system (FCS) is located between
axes A1 and A2.
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.

Basics
3.7 Kinematics
Transformation area
3.7.4.6 Roller picker tags
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

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3.7 Kinematics
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
Roller picker Distance L3 of the zero position of the axis
horizontal A3 to the KZP in z direction of the KCS

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3.7 Kinematics
3.7.5 SCARA
3.7.5.1 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:

● A rotary axis A1 with rotation around the z axis of the kinematics coordinate system
(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.

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3.7 Kinematics

The graphic below shows the following in the side view (xz plane):

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

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3.7 Kinematics
● The positive/negative deflection of the kinematics is indicated (dashed)
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
position when α2 = -45.0°
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°
α2 The deflection of the axis A2 in the positive direction when α2 = 75.0° produces a
positive joint position.
The deflection of the axis A2 in negative direction when α2 = -45.0° produces a
negative joint position.

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3.7 Kinematics
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.
The following table shows the zero position of the axes:
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.
Compensation of mechanical axis couplings

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
The kinematics transformation covers the following traversing range (Page 118) of the axes:
● Axis A1: -180.0° ≤ α1 ≤ 180.0°
● Axis A2: -180.0° ≤ α2 ≤ 180.0°
● Axis A3: 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°.
Note
Singular positions
The kinematics have singular positions (Page 121).
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.

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3.7 Kinematics
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

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3.7 Kinematics
3.7.5.2 SCARA tags

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

<TO>.Kinematics.TypeOfKinematics 25 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 direction of the kinematics coordinate system (KCS)
<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[4] -1.0E12 to 1.0E12 Mechanical axis coupling factor of axis A1 to axis A2
<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
<TO>.Kinematics.Parameter[6] - Mechanical axis coupling of axis A4 to axis A3
present/not present
0 Not present
1 Present
<TO>.Kinematics.Parameter[8] -1.0E12 to 1.0E12 Distance of the flange coordinate system from the axis
A2 in the negative z direction of the KCS

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3.7 Kinematics
3.7.6 Articulated arm
3.7.6.1 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.
The following graphic shows the principal configuration and the typical working area of
the 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). The axes A1 and A2 move the articulated arm vertically. Through a
forced coupling between the axis A2 and the flange system, the z axis of the FCS always
points in the negative z direction of the KCS.

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3.7 Kinematics

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
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 = -30.0°
α2 Negative deflection of the axis A2 when α2 = -15.0°

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3.7 Kinematics
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.
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°

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3.7 Kinematics
3.7.6.2 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.
the kinematics:

● A rotary axis A4 (orientation axis) at distance L4 in x direction of the KCS from the
axis A2
joints (axes A1, A2). The axes A1 and A2 move the articulated arm vertically. Through a
forced coupling between the axis A2 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.

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3.7 Kinematics



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3.7 Kinematics
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:
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.
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.

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

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3.7 Kinematics
3.7.6.3 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.
the 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 vertically. The kinematics enables an
approximately spherical working area. Through a forced coupling between the axis A2 and
the flange system, the z axis of the FCS always points in the negative z direction of the KCS.

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3.7 Kinematics

● The zero position of the axes



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3.7 Kinematics


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3.7 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.
The flange coordinate system (FCS) is located at the following distances from the axis A3
and the forced coupler point:
Axis Zero position

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

You can configure a mechanical axis coupling of axis A2 to axis A3 for the kinematics.
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.

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3.7 Kinematics
The graphic below shows examples of permissible and impermissible joint positions for
the transformation:
Invalid joint position for the transformation

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3.7 Kinematics
3.7.6.4 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 vertically. The kinematics enables an
approximately spherical working area. Through a forced coupling between the axis A2 and
the flange system, the z axis of the FCS always points in the negative z direction of the KCS.

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3.7 Kinematics




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3.7 Kinematics
● The position of the axes


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3.7 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.
The flange coordinate system (FCS) is located at the following distances from the axis A3
and the forced coupler point:
Axis Zero position

A1 The articulated arms of the kinematics point in the x direction of the 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.

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.

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3.7 Kinematics
the transformation:

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3.7 Kinematics
3.7.6.5 Articulated arm tags
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 direction of the kinematics coordinate system (KCS)
<TO>.Kinematics.Parameter[2] -1.0E12 to 1.0E12 Distance L2 of the axis A1 to the kinematics zero point
in x direction of the KCS
<TO>.Kinematics.Parameter[3] 0.001 to 1.0E12 Arm length L3 between the axes A1 and A2
<TO>.Kinematics.Parameter[4] - Mechanical axis coupling of axis A1 to axis A2 present/not
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
<TO>.Kinematics.Parameter[2] 0.0 to 1.0E12 Distance L2 of the axis A2 to the kinematics zero point in
x direction of the KCS
<TO>.Kinematics.Parameter[3] 0.001 to 1.0E12 Arm length L3 between the axes A2 and A3
<TO>.Kinematics.Parameter[4] - Mechanical axis coupling of axis A2 to A3 present/
not 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

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3.7 Kinematics
3.7.7 Delta picker
3.7.7.1 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.

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3.7 Kinematics


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 from the lower connecting 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°

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3.7 Kinematics
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 95) is permitted for the arms of the kinematics.
You cannot traverse the axes beyond the extended position of the arms.
3.7.7.2 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.

Basics
3.7 Kinematics

● The zero positions of the axes A1 and A4

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°
α2 Deflection of the axis A2 in the positive direction when α2 = 88.0°

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3.7 Kinematics
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
3.7.7.3 Delta picker 3D

The kinematics "Delta picker 3D" supports three axes and three degrees of freedom.
The axes are configured as parallel kinematics.
the 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
3.7 Kinematics

● 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:

Basics
3.7 Kinematics
● 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)

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°

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3.7 Kinematics
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
3.7.7.4 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.
the 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
3.7 Kinematics


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:

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

D1 Distance of the axes from the center of the upper connecting plate
(radius of the upper 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°

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3.7 Kinematics
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
direction of the x axis of the KCS.
Transformation area
3.7.7.5 Permissible joint position for delta picker

Only the outwardly bent joint position is permitted for the arms of the delta picker kinematics.
The graphic below shows examples of permissible and impermissible joint positions for the
transformation:


Basics
3.7 Kinematics
3.7.7.6 Delta picker tags
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

Basics
3.7 Kinematics
3.7.8 Cylindrical robot
3.7.8.1 Cylindrical robot 3D

The kinematics "Cylindrical robot 3D" supports three axes and three degrees of freedom.
The axes are configured as serial kinematics.
The following graphic shows the principal configuration and the typical working area
of the kinematics:

● A rotary axis A1 with rotation around the z axis of the kinematics coordinate
system (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.

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3.7 Kinematics

Zero position of the axes A1 and A2

Distance of the FCS to the kinematics zero point (KZP) and flange length LF in
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

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3.7 Kinematics

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°
You 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.
A2 The axis A2 is at the position 0.0 of the interconnected technology object.

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3.7 Kinematics
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.
the transformation:
Invalid joint position for transformation with L2 = 0.0

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3.7 Kinematics
3.7.8.2 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.
the kinematics:

● A rotary axis A1 with rotation around the z axis of the kinematics
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
3.7 Kinematics


Distance of the FCS to the kinematics zero point (KZP) and flange length LF in z
direction 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
3.7 Kinematics

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°
You 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
3.7 Kinematics
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.

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
3.7 Kinematics
The graphic below shows examples of permissible and impermissible joint positions for the
transformation:
Invalid joint position for transformation with L2 = 0.0

Basics
3.7 Kinematics
3.7.8.3 Cyclic robot tags
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
kinematics zero point in z direction of the kinematics
<TO>.Kinematics.Parameter[2] -1.0E12 to 1.0E12 Distance L2 between the axes A2 and A3 in y direction
of the KCS
<TO>.Kinematics.Parameter[3] -1.0E12 to 1.0E12 Distance of the flange coordinate system from the axis A3 in
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
kinematics 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
<TO>.Kinematics.Parameter[3] -1.0E12 to 1.0E12 Distance of the flange coordinate system from the axis A3 in
<TO>.Kinematics.Parameter[4] - Mechanical axis coupling of axis A4 to A2 present/
not present
0 Not present
1 Present

Basics
3.7 Kinematics
3.7.9 Tripod
3.7.9.1 Tripod 3D
The kinematics "Tripod 3D" supports three axes and three degrees of freedom. The axes are
configured as parallel kinematics.
the 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
3.7 Kinematics



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

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
3.7 Kinematics
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 Kinematics
3.7.9.2 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.
The following graphic shows the principal configuration and the typical working area
of the 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
3.7 Kinematics



Basics
3.7 Kinematics

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

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
3.7 Kinematics
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
3.7.9.3 Tags of 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
kinematics coordinate system

Basics
3.7 Kinematics
3.7.10 User-defined kinematics systems
3.7.10.1 Overview of 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 122) of the Cartesian positions and the
axis positions and axis dynamics. Predefined interfaces are available on the system level.
See also
User transformation (Page 122)
3.7.10.2 Tags of 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
3.8.1 Brief description of the 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 122) in its own program.

Basics
3.8.2 Transformation for predefined kinematics systems
3.8.2.1 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 34). 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 34).
Tool center point (TCP)

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

Basics
3.8.2.2 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 34).
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
3.8.2.3 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 34) 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 kinematics type "Delta picker" there are
further limitations due to invalid joint positions and singular positions (Page 121) with the
kinematics types "articulated arm", "SCARA" 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 kinematics motion. You
can change the joint position space using single axis motions.

Basics
Example: "SCARA" kinematics type

A "SCARA" kinematics is to relocate an object 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.
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
position when α2 = -120.0°
α1 Deflection of the axis A1 in positive direction when α1 = 45.0°
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.
The deflection of the axis A2 in negative direction when α2 = -120.0° produces a
negative joint position.

Basics
3.8.2.4 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).
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.
Possible measures:
To prevent travel in or 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.

Basics
3.8.2.5 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.
3.8.3 Transformation for user-defined kinematics systems
3.8.3.1 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.
3.8.3.2 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 127).
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
transformation 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

Basics

value
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
accompany value and deletes the job
sequence.
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
Cartesian-
Data_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

Basics
3.8.3.3 Program example for user transformation

The following describes a simple example for the user transformation in the
MC-Transformation [OB98] of a 2D kinematics with the name "KinematicsUserDefined2D".
For these kinematics, two transformation parameters were defined under "Technology object
> Configuration > Geometry".
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
Transformation- InOut Variant Pointer to the system data block "Transformation-
Parameters Parameter"
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
parameters
GearRatioA2 Temp LReal Temporary tag for read the defined transformation
parameters
InvalidCast Constant DInt Return value for unsuccessful casting
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)

Basics
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.
#P ?= #TransformationParameters;
//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.

#GearRatioA1 := "KinematicsUserDefined2D".Kinematics.Parameter[1];
#GearRatioA2 := "KinematicsUserDefined2D".Kinematics.Parameter[2];
//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.

#FunctionResult := 0;
//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;

Basics
SCL
//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.

#FunctionResult := 0;
END_IF;
END_IF;
See also
MC-Transformation [OB98] (Page 124)
3.8.4 Tags of 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
3.9.1 Brief description of 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).

Basics
3.9.2 Motion types
3.9.2.1 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 212) and
"MC_MoveLinearRelative" (Page 218). 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.
3.9.2.2 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 223) and
"MC_MoveCircularRelative" (Page 231). 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.
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.

Basics
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
3.9.3 Motion dynamics
3.9.3.1 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 axes

When a motion job is transmitted, the dynamic limits of the 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 axes are not exceeded. When you change the
dynamic limits of the axes during an active motion, the changed values only take effect with
the next motion job.

Basics
Dynamic adaptation
You set the dynamic adaptation under "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 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.
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 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 axes which apply for individual sections of the motion.
The dynamic response is therefore adapted for individual sections of a motion.
3.9.3.2 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.

Basics
3.9.4 Tags of motion control and dynamics

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
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
orientation
<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

Basics
3.10 Zone monitoring
Tag Description
<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
3.10.1 Brief description of 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).

Basics
The following graphic shows the zones of a kinematics system:
Work zone
Signal zone
Blocked zone
Flange zone and tool zone
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 (Page 239).

Basics
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 203) and in the tags
(Page 146) 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 kinetic motion will be 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 kinetic motion will be stopped. The kinematics
violates the zone by the length of the brake path at a
minimum.
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 for zone monitoring (Page 146)

Basics
3.10.2 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.
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 may 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.

Basics
3.10.3 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.
Tool zone
You define tool zones in the tool coordinate system (TCS). The following graphic shows a
spherical tool zone:

Basics
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
3.10.4 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:
dimx Edge length in x direction of the zone coordinate system

dimy Edge length in y direction of the zone coordinate system
dimz 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

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

Basics
3.10.5 Tags for 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
numbers.
<TO>.StatusZoneMonitoring.SignalizingZones Display of approached signal zones
numbers.
<TO>.StatusZoneMonitoring.KinematicsZones Display of kinematics zones that violate workspace zones
The bit number 1 indicates the monitoring status of the TCP.
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

V2.5 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_MoveCircularAbsolute V4.0
MC_MoveCircularAbsolute 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

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 34) in this drop-down list.
Measuring units
In the drop-down list, select the desired units of measure (Page 23) for the position, velocity,
angle and angular velocity of the kinematics.
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 34). 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 Kinematics Kinematics Orientation

axis A1 axis A2 axis A3 axis 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

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
Display 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
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.
See also
Cartesian portal (Page 36)

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 x 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
● Kinematics type "Roller picker 3D (vertical)", and "Roller picker 3D with orientation
(vertical)" and "Roller picker 3D with orientation (horizontal)"
Field Description
See also
Roller picker (Page 47)

Configuring
5.2.3.3 Configuration - Geometry (SCARA)

coordinate system (KCS):
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.
Length L3 Define the distance of the A2 axis to the A3 axis in x direction of the KCS in
this field.
Mechanical axis coupling

You can configure the following mechanical coupled axes for the kinematics:
Enter the desired coupling factor in the "Compensation factor" fields.

In these fields, define the scaling in which the kinematics is displayed in the kinematics trace:
Field Description
See also
SCARA (Page 62)

Configuring
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
of the KCS in this field.
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 68)

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
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.
Angle A1 to A2 Define the angle between the axes A1 and A2 in this field.
See also
Delta picker (Page 85)

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
A3 maximum Define the maximum traversing length of the A3 axis in this field.
See also
Cylindrical robot (Page 97)

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
connecting 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
center 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 between Axis Define the angle between the upper connecting plate (xy plane of the KCS)
A1 and the xy plane of and the rail of the axis A1 (0.0° ≤ γ < 90.0°) in this field.
the KCS
See also
Tripod (Page 107)

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
● Kinematics type "User-defined 3D" and "User-defined 3D with orientation"
Field Description
See also
User-defined kinematics systems (Page 115)

Configuring
5.2.4 Extended parameters
5.2.4.1 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 "Kinematics
motion" 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 The path is divided into segments. For each of these
segments, the dynamic is adapted in such a way that the
dynamic limits of the axes are not exceeded.
Limit without segmentation of the path The dynamic is adapted in such a way that the dynamic
limits of the axes are not exceeded over the entire path.
See also
Dynamics of kinematics motion and orientation motion (Page 134)

Configuring
5.2.4.2 Configuration - Kinematics coordinate system

In the "Kinematics coordinate system" configuration window, configure the KCS frame
(Page 30) and therefore the position of the kinematics coordinate system (KCS) in the world
coordinate system (WCS).
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 of KCS
In these fields, define the rotation of the kinematics coordinate system:
Field Description
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
Overview of coordinate systems and frames (Page 25)

Configuring
5.2.4.3 Configuration - Object coordinate systems

In the "Object coordinate system" configuration window, configure the OCS frames
(Page 30) 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
5.2.4.4 Configuration- Tools

In the "Tools" configuration window, configure the tool frames (Page 30) 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

Configuring
5.2.4.5 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.
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
hidden/displayed.
Select the coordi- Select a coordinate system.
nate system.
Select tool Select a tool.
Show 2D view The 2D display is shown.
Show 3D view The 3D display 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.

Configuring

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 141) 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 247).
Inactive Zone monitoring is deactivated for the zone.
You can activate the zone in your user program via an
"MC_SetWorkspaceZoneActive" job (Page 245).
Invalid The zone is not defined.
You can define the zone in your user program via an
"MC_DefineWorkspaceZone" job (Page 239).
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
may 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 144) in this column.
Sphere
Cuboid
Cylinder
Length With a cuboid-shaped zone, define the length of the zone in x direction
in this column.
Width With a cuboid-shaped zone, define the width of the zone in y direction
in this column.
Height 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.

Configuring
Column Description
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.
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).
B Define the rotation of the zone around the y-axis in this column
C Define the rotation of the zone around the x-axis in this column

Configuring
Kinematics zones
Kinematics zones (Page 142) 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 251).
Inactive Zone monitoring is deactivated for the zone.
You can activate the zone in your user program via an
"MC_SetKinematicsZoneActive" job (Page 249).
Invalid The zone is not defined.
You can define the zone in your user program via an
"MC_DefineKinematicsZone" job (Page 242).
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 144) in this column.
Sphere
Cuboid
Cylinder
Length With a cuboid-shaped zone, define the length of the zone in x direction
in this column.
Width With a cuboid-shaped zone, define the width of the zone in y direction
in this column.
Height 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
5.3 Copying a kinematics technology object
Column Description
A Define the rotation of the zone around the z-axis in this column
B Define the rotation of the zone around the y-axis in this column
C Define the rotation of the zone around the x-axis in this column
See also
Brief description of zone monitoring (Page 137)
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 connected 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 connected 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 connected to the
kinematics technology object are retained.
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 Enables the targeted toggling between the
parameter view for the objects selected parameter view and function-based view.
in the navigation
Collapse/expand all nodes and objects Collapses or expands all nodes and objects of
the navigation or the data structure in the
currently 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
6.1 Introduction to the programming of the kinematics motions
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" section (Page 19).
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) or referenced instead.
You can acknowledge errors of the kinematics technology object with an "MC_Reset" job or
by restarting the technology object.

Programming
6.2 Job sequence
6.2 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 (Page 212)" Position kinematics with linear path motion
"MC_MoveLinearRelative (Page 218)" Relative positioning of kinematics with linear
path motion
"MC_MoveCircularAbsolute (Page 223)" Position kinematics with circular path motion
"MC_MoveCircularRelative (Page 231)" Relative positioning of kinematics with circular
path motion
Zones
"MC_DefineWorkspaceZone (Page 239)" Define workspace zone
"MC_DefineKinematicsZone (Page 242)" Define kinematics zone
"MC_SetWorkspaceZoneActive (Page 245)" Activate workspace zone
"MC_SetWorkspaceZoneInactive (Page 247)" Deactivate workspace zone
"MC_SetKinematicsZoneActive (Page 249)" Activate kinematics zone
"MC_SetKinematicsZoneInactive (Page 251)" Deactivate kinematics zone
Coordinate systems
"MC_SetOcsFrame (Page 257)" Redefine object coordinate systems
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 270) using the parameter view. The job sequence can contain a
maximum of ten jobs.
See also
Tag MotionQueue (kinematics) (Page 270)

Programming
6.3 Motion status and remaining distance
6.3 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
6.4 Interrupting, continuing and stopping kinematics motions
6.4 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 204), 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 173)
and then continue execution of the commands.
Continuation of kinematics motions

With the Motion Control instruction "MC_GroupContinue" (Page 206), 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 209), 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
6.5 Motion preparation using multiple jobs
6.5.1 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.
Transitions of linear motions

With the Motion Control instructions "MC_MoveLinearAbsolute" (Page 212) and
"MC_MoveLinearRelative" (Page 218), 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

("Transition-
Parameter[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.

Programming

("Transition-
Parameter[1]")
d = 0.0 "BufferMode" = 2, 5 Blend motion
Because the rounding clearance is 0.0,
traversing is the same as when
"BufferMode" = 1.
The next linear motion is then executed.
d < 0.0 "BufferMode" = 2, 5 Blend motion

Because the rounding clearance is
negative, the maximum rounding
clearance is used. When the rounding
clearance distance 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 223) and
"MC_MoveCircularRelative" (Page 231), 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:

("Transition-
Parameter[1]")
Not relevant "BufferMode" = 1 Append motion
The circular 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
circular motion.

Programming

("Transition-
Parameter[1]")
d = 0.0 "BufferMode" = 2, 5 Blend motion
Because the rounding clearance is 0.0,
traversing is the same as when
"BufferMode" = 1.
The circular motion is then executed.
d < 0.0 "BufferMode" = 2, 5 Blend motion

Because the rounding clearance is
negative, the maximum rounding
clearance is used. When the rounding
clearance distance from the target position
is reached, the active linear motion is
blended with the circular motion.
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

Programming
6.6 Interaction of kinematics motions and single axis motions
6.5.2 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).
6.6 Interaction of kinematics motions and single axis motions

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.
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.
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 direct 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 controller 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
functions 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
effect 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
after expiration of the sign of life monitoring. In this case, an error message
is displayed ("ErrorID" = 16#8013) and the master control is passed back
to the user program.

Commissioning

• 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 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" button With the "Deactivate" button, you return master control to your user program.
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
kinematics technology object.
"Disable" button With the "Disable" button, you disable the interconnected axes of the selected
kinematics technology object.
Operating mode Select the desired operating mode of the kinematics control panel in the
"Operating mode" drop-down list.

Commissioning

Control The "Control" area displays the parameters for traversing with the kinematics
control panel according to the selected operating mode.
Coordinate system In the "Coordinate system" drop-down list, you select the desired coordinate
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,
dynamics" check box deceleration and jerk.
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
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 (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.
("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" button With the "Backward" button, you start a motion in the negative direction
according to the selected operating mode.

Commissioning

Status The "Axis status" area displays the status of the axis and the status of the drive.
Enabled The technology object is 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 system Coordinate system in which the kinematics or an axis is currently being moved.
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
y position system.
z position
Rotation A
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.

Commissioning
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
"Backward" 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 "Forward" button, you move the kinematics or an axis by jogging to the position specified
under "Target position". The kinematics moves as long as you keep the "Forward" 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
position under "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
"Coordinate 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 respective 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

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.
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
kinematics control panel.
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.

Commissioning
7.3 Kinematics trace
7.3.1 Brief description of kinematics trace

The kinematics trace mainly offers the following functions:
● 3D visualization of the current motion of the tool center point (TCP)
● Record motion path of the kinematics and replay as trace.
You can configure parameters, such as recording duration, sampling rate and trigger for
the recording.
● Save recordings of path motions as a measurement or export and import as a file.
You can find the "Kinematics trace" function of the kinematics technology object in the
project tree under "Technology object > Kinematics trace".
7.3.2 3D visualization
The display under "3D visualization" is divided into two areas:
● The graphical view in the top part is used to display the motion of the tool center point as
a trace.
● The bottom part shows a tabular editor with the current and saved recordings.
When no path motion or trace is selected in the table, the currently selected offline
kinematics are displayed in the graphical display.
Note
You set the scale in which the kinematics is displayed in the kinematics trace under
"Configuring the kinematics technology object (Page 150)" for the respective
kinematics type.

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

Switch on monitoring Establishing an online connection
The kinematics trace function establishes an
online connection to the device. If the
online/offline trace configuration is different,
the trace configuration is loaded to the device.
Switch off monitoring Terminate the existing online connection
Start recording See Record and play traces (Page 191)
Stop recording
Import recording from file See Importing and exporting recordings

(Page 195)
Export selected recording to a file
Add selected recording to Recordings are added to measurements

measurements under Trace
See Importing and exporting recordings
(Page 195)

Commissioning
The toolbar assigned to the graphical view trace provides you with buttons for the following
functions:

Live monitor Switch live display of the kinematics on/off.
With the live display you can view how the
kinematics is currently moving. This function is
only available in online mode.
Brightness Set the brightness of the graphical view
2D Change the view to 2D display
3D Change the view to 3D display
Focus on TCP Change the view to "Focus on 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 all The view is centered and the entire kinematics is
displayed.
Grid Show/hide grid lines of the displayed coordinate
system
Coordinate system Select the coordinate system.
Show xz plane The xz plane is displayed
Show xz plane rotated The xz plane is displayed rotated around the

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

z-axis
Show xy plane The xy plane is displayed
Show xy plane rotated The xy plane is displayed rotated around the

x-axis
Display of the kinematics Simplified display of the kinematics or show/hide
kinematics
Highlight TCS Highlight tool coordinate system

Commissioning
Mouse operation in the graphic display

You have the following operating options using the mouse, within the graphical view:
● Rotate and zoom the coordinate system
● When you place the mouse over the trace, the following values are shown at the cursor
position:
– x, y and z values
– Measuring point number
– Values of the orientation axis
7.3.3 Record and play traces
Record path motion

Click the button to record a path motion of the kinematics. If no online connection is
available at this point, it is established automatically.
The recording takes place with defaults that are stored under "Configuration" (Page 193).
During the recording, the graphical view shows a live image of the kinematics. In case of
user transformations, the graphical view shows the moved tool center point (TCP) instead.
The "current recording" and the configuration are retained until the "kinematics trace" user
interface is closed.
When you start a new recording, the "Current recording" is overwritten.
Saving current recording

1. In "Current recording", edit the entries for name and color of the trace and comment
according to your requirements.
2. To save the "Current recording", use the icon in the table or the shortcut menu.
The recording is inserted in the tabular editor. A saved recording contains the following
kinematics data:
– Kinematics coordinates
– Kinematics type
– Valid online geometry at the time of the recording
Note
The tabular editor can save a maximum of 20 recordings. If you want to save additional
recordings, you have to delete recordings which are not needed.

Commissioning
Toolbar for recordings
The toolbar for recordings offers the following operating options:

● Timeline with slider
To stop the playback at a specific position, click directly on the desired position in
the timeline.
● Buttons for playing and stopping the recording
● One measuring point forwards or back
● Jump to beginning / end of the recording
● Slider to set the playback speed
Show and play path motion as a trace

1. When the live monitor of the kinematics is activated, switch it off using the button in
the toolbar.
2. To switch on the trace, click on the button of the recording that you want to play.
This selects the recording. The graphical viewer displays the complete path motion of the
recording.
3. Click on the "Play" button in the toolbar.
The selected recording is played. The recording shows:
– The recorded path in the graphic view as a trace
– The kinematics with the online geometry that was valid at the time of the recording
If multiple traces are visible, only the kinematics of the selected recording are shown
in the graphical view.

Commissioning
7.3.4 Configuration
You specify the parameter values for the recording under "Configuration".
You can start the recording of path motions using the button in the toolbar.
Sampling
Parameter Description
Time of recording Choice of the following OBs:
• MC-Servo
• MC-Interpolator
Record all Specify the value for the recording interval.
With MC-Servo, you can select the following in a
drop-down list:
• Specification in "Cycles"
• Specification in "Seconds"
Max. recording duration Displays the calculated maximum recording duration.
With a defined maximum number of measuring points,
the maximum recording duration depends on the
specified recording interval.
Use max. recording duration When the check box is selected, the recording
duration is set to the maximum possible recording
duration.
Recording duration (a) Specification of recording duration:
• In seconds
• Number of measuring points

Commissioning
Trigger
Parameter Description
Trigger mode • Immediate recording
The recording starts immediately after downloading
the configuration.
• Trigger to tag
The system is waiting for a trigger event that
triggers the recording.
Trigger tag You need a linked tag of the BOOL type for the
"Trigger to tag" mode.
Event Select the event that you want to use as trigger:
• Rising edge
• Falling edge
Pre-trigger "Pre-trigger" defines the measuring points that are
already recorded before the actual trigger condition is
fulfilled. The information is given:
• In seconds
• Number of measuring points

Commissioning
7.3.5 Importing and exporting recordings

There are various export and import options for the current or saved recordings.
Export or import the recording as a file

The export contains the TCP position values as well as the configuration of the
kinematics object.
To export a record, proceed as follows:
1. Select the record to be exported.
2. Click the button.
3. Select the desired file format *.csv" or "*.ltr".
4. Select the desired folder.
5. Click "Export file".
An exported *.ltr file can be re-imported into the kinematics technology object.
To import a recording, proceed as follows:
1. Open the "Kinematics technology object" > Kinematics trace in the project navigation.
2. Click the button.
3. Select the desired folder.
4. Click "Import file".
After import, the following is displayed under 3D visualization:
– The imported kinematics
– The path motions

Commissioning
Save recording as measurement

To save the recording as a measurement, proceed as follows:
1. Select the "Current recording" or a "Saved recording".
2. Save the recording using the button in the toolbar.
The recording is filed under "Traces > Measurements".
The file contains the TCP coordinates (x, y, z, A) as well as the positions of the
connected axes.
The recordings saved under "Measurements" can be downloaded and displayed in the trace.
Trace offers you extended evaluation options to analyze path motions in detail.
Note
The recordings saved under measurements cannot be imported into the kinematics
trace again.

Diagnostics 8
8.1 Introduction to diagnostics
The "Diagnostics" section is limited to describing the diagnostics view of the individual
technology objects in the TIA Portal.
A comprehensive description of the system diagnostics of the S7-1500 CPU can be found in
the "Diagnostics" function manual
(http://support.automation.siemens.com/WW/view/en/59192926).
The description of the diagnostics concept for Motion Control can be found in the
"Diagnostics concept" section.
See also
Function Manual "S7-1500T Motion Control V4.0 in the TIA Portal V15" section
"Diagnostics concept" (https://support.industry.siemens.com/cs/ww/en/view/109749263)

Diagnostics
8.2.1 Status and error bits

You use the "Technology object > Diagnostics > Status and error bits" diagnostic function in
the TIA Portal to monitor the status and error messages for the technology object.
The diagnostic function is available in online operation.
The meaning of the status and error messages is described in the following tables.
The associated technology object tag is given in parentheses.
Status of the kinematics

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 panel The kinematics control panel is activated. The kinematics control panel has master control
active over the technology object. The kinematics cannot be controlled 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))

Diagnostics
Status of the motion

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))
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 aborted The active kinematics motion is being aborted by a "MC_GroupStop" job.
(<TO>.StatusWord.X16 (Stopping))
Orientation movement active An orientation motion is active for the technology object.
(<TO>.StatusWord.X15 (OrientationMotion))
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 occurred in the user program with a Motion Control instruction or its use.
(<TO>.ErrorWord.X2 (UserFault))
Job rejected A job cannot be executed.
A Motion Control instruction cannot be executed because necessary requirements 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 temporarily.
(<TO>.WarningWord.X1 (ConfigWarning))
Job rejected A job cannot be executed.
A Motion Control instruction cannot be executed because necessary requirements have not
been met.
(<TO>.WarningWord.X3 (CommandNotAccepted))
Dynamic limitation The dynamic values are restricted to the dynamic limits.
(<TO>.WarningWord.X6 (DynamicWarning))
See also
Tag StatusWord (kinematics) (Page 285)
Tag ErrorWord (kinematics) (Page 287)
Tag WarningWord (kinematics) (Page 289)

Diagnostics
8.2.2 Status of the motion

You use the "Technology object > Diagnostics > Motion status" diagnostic function in the
TIA Portal to monitor the motion status of the kinematics. The diagnostic function is available
in online operation.
"Tool center point (TCP)" area

The following table describes the meaning of the position information of the tool center point:
Status Description
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 system.
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.

Diagnostics
"Dynamic values of the kinematics" area

The following table describes the meaning of the dynamic information:
Status Description
Limit path dynamics to axis Display of dynamic values with or without configured dynamic adaptation
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 kinematics 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" area

The following table describes the meaning of the job information:
Status Description
Job in the job sequence Current number of jobs for the kinematics technology object in the job sequence
(<TO>.StatusMotionQueue.NumberOfCommands)

Diagnostics
8.2.3 Zones and tools

You use the "Technology object > Diagnostics > Zones and tools" diagnostic function to
monitor the zone and tool status of the kinematics in the TIA Portal. The diagnostic function
is available in online operation.
"Zones" area
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.
"Active tool parameters" area

The following table describes the meaning of the tool information:
Status Description
Active tool Currently active tool
(<TO>.StatusTool.ActiveTool)
Tool center point in the In the "Tool center point in the FCS", the values of the current tool frames
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)

Instructions 9
9.1.1 MC_GroupInterrupt V4
9.1.1.1 MC_GroupInterrupt: Interrupt motion execution V4
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 V4: Kinematics motion commands (Page 259)".

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

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 kinematics 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 302) for parameter "ErrorID"
See also
Error ID (kinematics) (Page 302)
Interrupting, continuing and stopping kinematics motions (Page 175)
Override response V4: Kinematics motion commands (Page 259)

Instructions
9.1.2 MC_GroupContinue V4
9.1.2.1 MC_GroupContinue: Continue execution of motion V4
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 response V4: Kinematics motion commands (Page 259)".

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

value
the error can be found in the "ErrorID"
parameter.
See also
9.1.2.2 MC_GroupContinue: Function chart V4
Function chart: Continue execution of motion

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
9.1.3 MC_GroupStop V4
9.1.3.1 MC_GroupStop: Stop motion V4
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
V4: Kinematics motion commands (Page 259)".

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

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
kinematics 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
9.1.3.2 MC_GroupStop: Function chart V4
Function chart: Stop motion

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".

Instructions
9.1.4 MC_MoveLinearAbsolute V4
9.1.4.1 MC_MoveLinearAbsolute: Position kinematics with linear motion V4
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
● The interconnected axes are homed.
● A single axis job (e.g. "MC_MoveVelocity") is not active on any of the
Override response
With the "TransitionParameter[1]" parameter, you determine the distance from the target
point of the previous motion job at which a new motion command is superimposed.
The override response for "MC_MoveLinearAbsolute" jobs is described in section "Override

Instructions
Parameters
"MC_MoveLinearAbsolute":

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.Velocity)
Acceleration INPUT LREAL -1.0 Acceleration
= 0.0 Not permitted
is used.
(<TO>.DynamicDefaults.Path.-
Acceleration)
Deceleration INPUT LREAL -1.0 Deceleration
= 0.0 Not permitted
is used.
Deceleration)

Instructions

value
Jerk INPUT LREAL -1.0 Jerk
= 0.0 No jerk limitation
parameters > Dynamic defaults" is
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 position
and target orientation
0 World coordinate system (WCS)
1 Object coordinate system 1 (OCS[1])
BufferMode INPUT DINT 1 Motion transition
1 Append motion
The active motion sequence is
completed and the kinematics come 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 blended with the
motion of this job. The lower velocity of
both jobs is then used.
5 Smooth with the higher velocity
motion of this job. The higher velocity of

Instructions

value
TransitionParameter INPUT ARRAY [1..5] OF Transition parameter
LREAL
Transition- INPUT LREAL -1.0 Rounding clearance
Parameter[1] ≥ 0.0 The specified value is used.
< 0.0 The maximum possible rounding
clearance is used.
Transition- INPUT LREAL - Reserved
Parameter[2]
Parameter[3]
Parameter[4]
Parameter[5]
DynamicAdaption INPUT DINT -1 Dynamic adaptation
<0 The configured setting in "Technology
parameters > Dynamic" is used.
(<TO>.DynamicDefaults.Dynamic-
Adaption)
0 Without dynamic adaption
1 Dynamic adaptation with segmentation
of the path
2 Dynamic adaptation without
segmentation of the path
FALSE When "Busy" = TRUE:
Job is waiting. (Typical: The preceding
job is still active.)

Instructions

value
during execution.
job. The job is rejected. The cause of the
error can be found in the "ErrorID"
parameter.
RemainingDistance OUTPUT LREAL 0.0 Distance-to-go of the current job
See also
Linear motion (Page 131)
Connection of multiple kinematics motions with geometric transitions (Page 176)

Instructions
9.1.4.2 MC_MoveLinearAbsolute: Function chart V4
Function chart: Position kinematics with linear path motion

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".

Instructions
9.1.5 MC_MoveLinearRelative V4
9.1.5.1 MC_MoveLinearRelative: Relative positioning of kinematics with linear motion V4
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",
"Acceleration", "Deceleration" and "Jerk". For the dynamics of the orientation motion, the
default values are configured in "Technology object > Configuration > Extended parameters
> Dynamic defaults".
Applies to
● Kinematics
Requirement

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

value
Distance INPUT ARRAY [1..4] OF - Relative target coordinates in the specified refer-
LREAL ence 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.
= 0.0 Not permitted
used.
Acceleration)
= 0.0 Not permitted
used.
Deceleration)

Instructions

value
used.
CoordSystem INPUT DINT 0 Reference system of the specified target position
and target orientation
1 Append motion
then executed.
TransitionParameter INPUT ARRAY [1..5] OF - Transition parameter
LREAL
clearance is used.
Parameter[2]
Parameter[3]
Parameter[4]
Parameter[5]

Instructions

value
DynamicAdaption INPUT DINT -1.0 Dynamic adaptation
(<TO>.DynamicDefaults.Dynamic-
Adaption)
of the path
Job is waiting.
(Typical: The preceding job is
still active.)
during execution.
parameter.
See also
Linear motion (Page 131)

Instructions
9.1.5.2 MC_MoveLinearRelative: Function chart V4
Function chart: Relative positioning of kinematics with linear path motion
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
arranged in the job sequence.
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
9.1.6 MC_MoveCircularAbsolute V4
9.1.6.1 MC_MoveCircularAbsolute: Position kinematics with circular path motion V4
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
positive or negative direction of rotation. With the "CirclePlane" parameter, you specify
● 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",
"Acceleration", "Deceleration" and "Jerk". For the dynamics of the orientation motion, the
default values are configured in "Technology object > Configuration > Extended parameters
> Dynamic defaults".

Instructions
Applies to
● Kinematics
Requirement
● The interconnected axes are homed.
● There is no single axis job (e.g. "MC_MoveVelocity") on the interconnected axes.
Override response
The override response for "MC_MoveCircularAbsolute" jobs is described in section
"Override response V4: Kinematics motion commands (Page 259)".

Instructions
Parameters
"MC_MoveCircularAbsolute":

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 parameter
"AuxPoint" defines the circle center.
2 The "Radius" and "EndPoint"
parameters 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
EndPoint INPUT ARRAY [1..4] OF - Target position in the specified reference system
LREAL 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
When "CircMode" = 0: Not relevant
When "CircMode" = 1:
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

Instructions

value
CirclePlane INPUT DINT 0 Main plane of the circular path
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 value configured in "Technology object
> Configuration > Extended parameters >
Dynamic defaults" is used.
= 0.0 Not permitted
> Configuration > Extended
parameters > Dynamic defaults" is used.
(<TO>.DynamicDefaults.Path.-Acceleration)
= 0.0 Not permitted
(<TO>.DynamicDefaults.Path.-Deceleration)
DirectionA INPUT DINT 3 Motion direction of the Cartesian orientation
1 Positive direction
2 Negative direction
3 Shortest distance

Instructions

value
CoordSystem INPUT DINT 0 Reference system
1 Append motion
The active motion sequence is completed
and the kinematics come to a standstill.
The movement of this job is then
executed.
Transition- INPUT ARRAY [1..5] OF Transition parameter
Parameter LREAL
clearance is used.
Parameter[2]
Parameter[3]
Parameter[4]
Parameter[5]
DynamicAdaption INPUT DINT -1.0 Dynamic adaptation
(<TO>.DynamicDefaults.DynamicAdapti
on)
of the path

Instructions

value
during execution.
job. The job is rejected. The cause of the
error can be found in the "ErrorID"
parameter.
See also
Circular motion (Page 131)

Instructions
9.1.6.2 MC_MoveCircularAbsolute: Function chart V4
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
9.1.7 MC_MoveCircularRelative V4
9.1.7.1 MC_MoveCircularRelative: Relative positioning of kinematics with circular

path motion V4
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
positive or negative direction of rotation. With the "CirclePlane" parameter, you specify
● 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",
"Acceleration", "Deceleration" and "Jerk". For the dynamics of the orientation motion,
the default values are configured in "Technology object > Configuration > Extended
parameters > Dynamic defaults".
Applies to
● Kinematics

Instructions
Requirement
● There is no single axis job (e.g. "MC_MoveVelocity") on the interconnected axes.
Override response
The override response for "MC_MoveCircularAbsolute" jobs is described in section "Override
Parameters
"MC_MoveCircularRelative":

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 parameter
"AuxPoint" defines the circle center.
2 The "Radius" and "EndPoint"
parameters 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

value
EndPoint INPUT ARRAY [1..4] OF - Target position relative to the starting point in the
LREAL specified reference system
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
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
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 "Technology
is used.

Instructions

value
= 0.0 Not permitted
is used.
Acceleration)
= 0.0 Not permitted
is used.
Deceleration)
is used.
CoordSystem INPUT DINT 0 Reference system

Instructions

value
1 Append motion
then executed.
TransitionParameter INPUT ARRAY [1..5] OF Transition parameter
LREAL
clearance is used.
Parameter[2]
Parameter[3]
Parameter[4]
Parameter[5]
DynamicAdaption INPUT DINT -1 Dynamic adaptation
(<TO>.DynamicDefaults.Dynamic
Adaption)
of the path

Instructions

value
during execution.
parameter.
See also
Circular motion (Page 131)

Instructions
9.1.7.2 MC_MoveCircularRelative: Function chart V4
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
9.2 Zones
9.2 Zones
9.2.1 MC_DefineWorkspaceZone V4
9.2.1.1 MC_DefineWorkspaceZone: Defining workspace zone V4
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 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
Override response
● An "MC_DefineWorkspaceZone" job is aborted by an "MC_GroupStop" job.
● A new "MC_DefineWorkspaceZone" job does not abort any active motion control jobs.

Instructions
9.2 Zones
Parameter
"MC_DefineWorkspaceZone":

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_- - Shifting of the zone zero point in relation to the
Kinemaics_Frame reference system
GeometryType INPUT DINT 0 Zone geometry type
0 Cuboid
1 Sphere
2 Cylinder

Instructions
9.2 Zones

value
GeometryParameter INPUT ARRAY [1..3] OF - Geometric parameters
LREAL
Geometry- INPUT LREAL 0.0 Length x
Parameter[1] When "GeometryType" = 1 or 2:
Radius
Geometry- INPUT LREAL 0.0 Length y
Parameter[2] When "GeometryType" = 2:
Height
Geometry- INPUT LREAL 0.0 Length z
Parameter[3]
during execution.
parameter.
See also
MC_SetWorkspaceZoneActive: Activating workspace zone V4 (Page 245)
MC_SetWorkspaceZoneInactive: Deactivating workspace zone V4 (Page 247)

Instructions
9.2 Zones
9.2.2 MC_DefineKinematicsZone V4
9.2.2.1 MC_DefineKinematicsZone: Defining kinematics zone V4
Description
With the Motion Control instruction "MC_DefineKinematicsZone", you define a kinematics
zone in relation to the tool and flange coordinates 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 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
Override response
● An "MC_DefineKinematicsZone" job is aborted by an "MC_GroupStop" job.
● A new "MC_DefineKinematicsZone" job does not abort any active motion control jobs.

Instructions
9.2 Zones
Parameters
"MC_DefineKinematicsZone":

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_ - Shifting of the zone zero point in relation to the
Kinemaics_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
Geometry- INPUT LREAL 0.0 Length x
Parameter[1] When "GeometryType" = 1 or 2:
Radius
Geometry- INPUT LREAL 0.0 Length y
Parameter[2] When "GeometryType" = 2:
Height
Geometry- INPUT LREAL 0.0 Length z
Parameter[3]

Instructions
9.2 Zones

value
during execution.
parameter.
See also
MC_SetKinematicsZoneActive: Activating kinematics zone V4 (Page 249)
MC_SetKinematicsZoneInactive: Deactivating kinematics zone V4 (Page 251)

Instructions
9.2 Zones
9.2.3 MC_SetWorkspaceZoneActive V4
9.2.3.1 MC_SetWorkspaceZoneActive: Activating workspace zone V4
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
● A single axis job (e.g. "MC_MoveVelocity") is not active on any
of the interconnected axes.
● The zone to be activated is defined.
Override response
● An "MC_SetWorkspaceZoneActive" job is aborted by an "MC_GroupStop" job.
● A new "MC_SetWorkspaceZoneActive" job does not abort any active motion control jobs.

Instructions
9.2 Zones
Parameter
"MC_SetWorkspaceZoneActive":

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: Defining workspace zone V4 (Page 239)
MC_SetWorkspaceZoneInactive: Deactivating workspace zone V4 (Page 247)

Instructions
9.2 Zones
9.2.4 MC_SetWorkspaceZoneInactive V4
9.2.4.1 MC_SetWorkspaceZoneInactive: Deactivating workspace zone V4
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
● The zone to be deactivated is defined.
Override response
● An "MC_SetWorkspaceZoneInactive" job is aborted by an "MC_GroupStop" job.
● A new "MC_SetWorkspaceZoneInactive" job does not abort any active
motion control jobs.

Instructions
9.2 Zones
Parameters
"MC_SetWorkspaceZoneInactive":

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: Defining workspace zone V4 (Page 239)
MC_SetWorkspaceZoneActive: Activating workspace zone V4 (Page 245)

Instructions
9.2 Zones
9.2.5 MC_SetKinematicsZoneActive V4
9.2.5.1 MC_SetKinematicsZoneActive: Activating kinematics zone V4
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
● The kinematics zone to be activated is defined.
Override response
● An "MC_SetKinematicsZoneActive" job is not aborted by any other Motion Control job.
● A new "MC_SetKinematicsZoneActive" job does not abort any active motion control jobs.

Instructions
9.2 Zones
Parameters
"MC_SetKinematicsZoneActive":

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: Defining kinematics zone V4 (Page 242)
MC_SetKinematicsZoneInactive: Deactivating kinematics zone V4 (Page 251)

Instructions
9.2 Zones
9.2.6 MC_SetKinematicsZoneInactive V4
9.2.6.1 MC_SetKinematicsZoneInactive: Deactivating kinematics zone V4
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
● The kinematics zone to be deactivated is defined.
Override response
● An "MC_SetKinematicsZoneInactive" job is not aborted by any Motion Control job.
● A new "MC_SetKinematicsZoneInactive" job does not abort any active
Motion Control jobs.

Instructions
9.2 Zones
Parameters
"MC_SetKinematicsZoneInactive":

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: Defining kinematics zone V4 (Page 242)
MC_SetKinematicsZoneActive: Activating kinematics zone V4 (Page 249)

Instructions
9.3 Tools
9.3 Tools
9.3.1 MC_DefineTool V4
9.3.1.1 MC_DefineTool: Redefine tool V4
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
9.3 Tools
Requirement
● 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":

value
Frame INPUT TO_Struct_Kinematics_ - Coordinates in relation to the FCS
KinematicsFrame
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.
See also

Instructions
9.3 Tools
9.3.2 MC_SetTool V4
9.3.2.1 MC_SetTool: Change active tool V4
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
● 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
9.3 Tools
Parameters
The following table shows the parameters of Motion Control instruction "MC_SetTool":

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
9.4 Coordinate systems
9.4.1 MC_SetOcsFrame V4
9.4.1.1 MC_SetOcsFrame: Redefining object coordinate systems V4
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
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":

value
quence.
Frame INPUT TO_Struct_ - Coordinates in relation to the WCS
Kinemaics_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
9.5 Override response of Motion Control jobs V4
9.5.1 Override response V4: 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_DefineWorkspaceZone
MC_DefineKinematikZone
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
MC_MoveJog
MC_GearIn
MC_GearInPos
MC_CamIn
MC_MotionInVelocity
MC_MotionInPosition
MC_GroupStop

Instructions
⇒ Active job MC_MoveLinearAbsolute MC_GroupInterrupt MC_GroupStop

⇓ New job MC_MoveLinearRelative
MC_SetOcsFrame
MC_GroupInterrupt B A N
MC_GroupContinue
MC_MoveLinearAbsolute - - N
MC_MoveLinearRelative
MC_SetOcsFrame
A The running job is aborted with "CommandAborted" = TRUE.

B Running job is interrupted or resumed.
N Not permitted. Running job continues to be executed. The new job is rejected.
- No effect. Running job continues to be executed. The new job is added to the queue of the job sequence.

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 directly 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
instruction in the user program.
RES Restart:
Changes to the start value in the load memory are made using the
extended 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 Tag Tcp (kinematics)

The tag structure <TO>.Tcp.<tag name> contains the position of the tool center point (TCP),
TCP frame in the world coordinate system (WCS).
Tags
Tag Data type Values W Description

Tcp. STRUCT
x LREAL -1.79769E308 to 1.79769E308 RON x coordinate
y LREAL -1.79769E308 to 1.79769E308 RON y coordinate
z LREAL -1.79769E308 to 1.79769E308 RON z coordinate
a LREAL -180 to 180 RON A coordinate
See also
Tags of coordinate systems and frames (Page 33)

Appendix
A.1.3 Tag Kinematics (kinematics)

The tag structure <TO>.Kinematics.<Tagname> contains the defined kinematics type.
Tags

TypeOfKinematics DINT 1 to 34 RON Kinematics type
(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)
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
21 Cylindrical robot 3D
22 Cylindrical robot 3D with orientation
23 Tripod 3D
24 Tripod 3D with orientation
31 User-defined 2D
33 User-defined 3D

Appendix

Parameter[1..32] ARRAY [1..32] -1.0E12 to RES Kinematics-specific parameters
OF LREAL 1.0E12
See also
Portal tags (Page 46)
Delta picker tags (Page 96)
Roller picker tags (Page 60)
Articulated arm tags (Page 84)
Cyclic robot tags (Page 106)
Tags of tripod (Page 114)
SCARA tags (Page 67)
Tags of user-defined kinematics systems (Page 115)

Appendix
A.1.4 Tag KcsFrame (kinematics)

The tag structure <TO>.KcsFrame.<tag name> contains the frame of the kinematics
coordinate system (KCS) in the world coordinate system (WCS).
Tags
Tag Data type Value range W Description

KcsFrame. STRUCT
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 180.0 With kinematics type "3D"
-180.0 to 180.0 With kinematics type "3D with orientation"
b LREAL RES B coordinate
c LREAL RES C coordinate
See also

Appendix
A.1.5 Tag OcsFrame (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
STRUCT
b LREAL RES B coordinate
c LREAL RES C coordinate
See also

Appendix
A.1.6 Tag Tool (kinematics)

The tag structure <TO>.Tool[1..3].<tag name> contains the tool frame in the flange
coordinate system (FCS).
Tags

Tool[1..3]. ARRAY [1..3] OF
STRUCT
Frame. STRUCT -1.0E12 to 1.0E12 RES
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 Tag DynamicDefaults (kinematics)

The tag structure <TO>.DynamicDefaults.<Tagname> contains the configuration of the
dynamic defaults. 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

DynamicDefaults. STRUCT
Path. STRUCT
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. STRUCT
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
orientation
Deceleration LREAL 0.0 to 1.0E12 DIR Default setting of the deceleration of the Cartesian
orientation
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
of the path
2 Dynamic adaptation without segmentation
of the path
See also
Tags of motion control and dynamics (Page 136)

Appendix
A.1.8 Tag DynamicLimits (kinematics)

The tag structure <TO>.DynamicLimits.<Tagname> 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

DynamicLimits. STRUCT
Path. STRUCT
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. STRUCT
Velocity LREAL 0.0 to 1.0E12 DIR Dynamic limitation for the maximum velocity of the
Cartesian orientation
Acceleration LREAL 0.0 to 1.0E12 DIR Dynamic limitation for the maximum velocity of the
Deceleration LREAL 0.0 to 1.0E12 DIR Dynamic limitation for the maximum deceleration of the
Jerk LREAL 0.0 to 1.0E12 DIR Dynamic limitation for the maximum jerk of the
See also

Appendix
A.1.9 Tag MotionQueue (kinematics)

The tag structure <TO>.MotionQueue.<tag name> contains the configuration of the job
sequence parameters.
Tags

MotionQueue. STRUCT
MaxNumberOf- DINT 1 to 10 RON Maximum number of jobs in the job sequence
Commands (configuration is performed using the parameter view
(data structure))
See also
A.1.10 Tag Override (kinematics)

The tag structure <TO>.Override.<tag name> contains the configuration of override
parameters.
Tags

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

Appendix
A.1.11 Tag WorkspaceZone (kinematics)

The tag structure <TO>.WorkspaceZone[1..10].<Tagname> contains the parameters for
workspace zones.
Tags

Workspace- ARRAY
Zone[1..10]. [1..10] OF
STRUCT
Active BOOL - RES FALSE Workspace zone deactivated
TRUE Workspace zone activated
Valid BOOL - RES FALSE Zone is not defined
TRUE Zone is defined
Type DINT 0 to 2 RES Type of the workspace zone
0 Blocked zone
1 Work zone
2 Signal zone
ReferenceSystem DINT 0 to 3 RES Reference coordinate system for the workspace
zone
0 WCS
1 OCS1
2 OCS2
3 OCS3
Frame. STRUCT
a LREAL -1.0E12 to 1.0E12 RES A coordinate
b LREAL -1.0E12 to 1.0E12 RES B coordinate
c LREAL -1.0E12 to 1.0E12 RES C coordinate
Geometry. STRUCT
Type DINT 0 to 2 RES Zone geometry
0 Cuboid
1 Sphere
2 Cylinder
Parameter[1..3] ARRAY [1..3] 0.0 to 1.0E12 RES 1 Length x (cuboid) or radius (sphere, cylinder)
OF LREAL 2 Length y (cuboid) or height (cylinder)
3 Length z (cuboid)
See also

Appendix
A.1.12 Tag KinematicsZone (kinematics)

The tag structure <TO>.KinematicsZone[2..10].<Tagname> contains the parameters for
kinematics zones.
Tags

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

Appendix
A.1.13 Tag StatusPath (kinematics)

The tag structure <TO>.StatusPath.<Tagname> contains the parameters of the current
kinematics motion.
Tags

StatusPath. STRUCT
CoordSystem DINT 0 to 3 RON Coordinate system of the active motion job
0 World coordinate system
1, 2, 3 Object coordinate system 1, 2, 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
of the path
2 Dynamic adaptation without segmentation
of the path
See also

Appendix
A.1.14 Tag TcpInWcs (kinematics)

The tag structure <TO>.TcpInWcs.<tag name> contains the parameters for the tool center
point (TCP) in the world coordinate system (WCS).
Tags

TcpInWcs. STRUCT
x. STRUCT
Acceleration LREAL -1.79769E308 to 1.79769E308 RON Acceleration of path coordinate x
Position LREAL -1.79769E308 to 1.79769E308 RON Position of path coordinate x
Velocity LREAL -1.79769E308 to 1.79769E308 RON Velocity of path coordinate x
y. STRUCT
Acceleration LREAL -1.79769E308 to 1.79769E308 RON Acceleration of path coordinate y
Position LREAL -1.79769E308 to 1.79769E308 RON Position of path coordinate y
Velocity LREAL -1.79769E308 to 1.79769E308 RON Velocity of path coordinate y
z. STRUCT
Acceleration LREAL -1.79769E308 to 1.79769E308 RON Acceleration of path coordinate z
Position LREAL -1.79769E308 to 1.79769E308 RON Position of path coordinate z
Velocity LREAL -1.79769E308 to 1.79769E308 RON Velocity of path coordinate z
a. STRUCT
Acceleration LREAL -1.79769E308 to 1.79769E308 RON Acceleration of rotation A
Position LREAL -1.79769E308 to 1.79769E308 RON Position of rotation A
Velocity LREAL -1.79769E308 to 1.79769E308 RON Velocity of rotation A
See also

Appendix
A.1.15 Tag TcpInOcs (kinematics)

The tag structure <TO>.TcpInOcs.<tag name> contains the parameters for the tool center
point (TCP) in the object coordinate systems 1 to 3 (OCS).
Tags

TcpInOcs[1..3]. ARRAY [1..3]
OF STRUCT
x. STRUCT
Acceleration LREAL -1.79769E308 to RON Acceleration of the x coordinate of the tool center
1.79769E308 point in the object coordinate system 1 to 3
Position LREAL -1.79769E308 to RON x coordinate of the tool center point in the object
1.79769E308 coordinate system 1 to 3
Velocity LREAL -1.79769E308 to RON Velocity of the x coordinate of the tool center
y. STRUCT
Acceleration LREAL -1.79769E308 to RON Acceleration of the y coordinate of the tool center
Position LREAL -1.79769E308 to RON y coordinate of the tool center point in the object
Velocity LREAL -1.79769E308 to RON Velocity of the y coordinate of the tool center
z. STRUCT
Acceleration LREAL -1.79769E308 to RON Acceleration of the z coordinate of the tool center
Position LREAL -1.79769E308 to RON z coordinate of the tool center point in the object
Velocity LREAL -1.79769E308 to RON Velocity of the z coordinate of the tool center
a. STRUCT
Acceleration LREAL -1.79769E308 to RON Acceleration of the A coordinate of the tool center
Position LREAL -1.79769E308 to RON A coordinate of the tool center point in the object
Velocity LREAL -1.79769E308 to RON Velocity of the A coordinate of the tool center
See also

Appendix
A.1.16 Tag StatusOcsFrame (kinematics)

The tag structure <TO>.StatusOcsFrame.<tag name> contains the frames of the object
coordinate systems 1 to 3 (OCS) in the world coordinate system (WCS).
Tags

StatusOcsFrame[1..3]. ARRAY [1..3] OF
STRUCT
x LREAL -1.79769E308 to RON x coordinate in the WCS
1.79769E308
y LREAL -1.79769E308 to RON y coordinate in the WCS
1.79769E308
z LREAL -1.79769E308 to RON z coordinate in the WCS
1.79769E308
a LREAL -1.79769E308 to RON A coordinate in the WCS
1.79769E308
b LREAL -1.79769E308 to RON B coordinate in the WCS
1.79769E308
c LREAL -1.79769E308 to RON C coordinate in the WCS
1.79769E308
See also

Appendix
A.1.17 Tag StatusKinematics (kinematics)

The tag structure <TO>.StatusKinematics.<Tagname> contains the status of the kinematics.
Tags

StatusKinematics. STRUCT
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
area/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
consideration the mechanical axis coupling
0 α2 positive
1 α2 negative
Bit 2 - - - Angle α3 of axis A3 positive/negative taking into
consideration the mechanical axis coupling
0 α3 positive
1 α3 negative
See also
Tags of kinematics transformation (Page 129)

Appendix
A.1.18 Tag FlangeInKcs (kinematics)

The tag structure <TO>.FlangeInKcs.<Tagname> contains the parameters for the flange
coordinate system (FCS) in the kinematics coordinate system (KCS).
Tags

FlangeInKcs. STRUCT
x. STRUCT
Acceleration LREAL -1.79769E308 to RON Acceleration of the x coordinate of the flange coordinate
1.79769E308 system (FCS) in the kinematics coordinate system (KCS)
Position LREAL -1.79769E308 to RON x coordinate of the flange coordinate system in the kine-
1.79769E308 matics coordinate system
Velocity LREAL -1.79769E308 to RON Velocity of the x coordinate of the flange coordinate
1.79769E308 system in the kinematics coordinate system
y. STRUCT
Acceleration LREAL -1.79769E308 to RON Acceleration of the y coordinate of the flange coordinate
Position LREAL -1.79769E308 to RON y coordinate of the flange coordinate system in the kine-
Velocity LREAL -1.79769E308 to RON Velocity of the y coordinate of the flange coordinate
z. STRUCT
Acceleration LREAL -1.79769E308 to RON Acceleration of the z coordinate of the flange coordinate
Position LREAL -1.79769E308 to RON z coordinate of the flange coordinate system in the kine-
Velocity LREAL -1.79769E308 to RON Velocity of the z coordinate of the flange coordinate
a. STRUCT
Acceleration LREAL -1.79769E308 to RON Acceleration of the rotation A of the flange coordinate
Position LREAL -1.79769E308 to RON Position of the rotation A of the flange coordinate system
1.79769E308 in the kinematics coordinate system
Velocity LREAL -1.79769E308 to RON Velocity of the rotation A of the flange coordinate system
1.79769E308 in the kinematics coordinate system
See also

Appendix
A.1.19 Tag StatusTool (kinematics)

The tag structure <TO>.StatusTool.<Tagname> contains the parameters for the tool.
Tags

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

Appendix
A.1.20 Tag StatusWorkspaceZone (kinematics)

The tag structure <TO>.StatusWorkspaceZone.<Tagname> contains the status of the
workspace zones.
Tags

StatusWorkspace- ARRAY
Zone[1..10]. [1..10] OF
STRUCT
Active BOOL - RON FALSE Workspace zone deactivat-
ed
TRUE Workspace zone activated
Valid BOOL - RON FALSE Zone is not defined
Type DINT 0 to 2 RON Type of the workspace zone
0 Blocked zone
1 Work zone
2 Signal zone
ReferenceSystem DINT 0 to 3 RON Reference coordinate system for the
workspace zone
0 WCS
1 OCS1
2 OCS2
3 OCS3
Frame. STRUCT
a LREAL -1.79769E308 to 1.79769E308 RON A coordinate
b LREAL -1.79769E308 to 1.79769E308 B coordinate
c LREAL -1.79769E308 to 1.79769E308 RON C coordinate
Geometry. STRUCT RON
Type DINT 0 to 2 RON Zone geometry
0 Cuboid
1 Sphere
2 Cylinder
Parameter[1..3] ARRAY [1..3] 0.0 to 1.0E12 RON 1 Length x (cuboid) or radius
OF LREAL (sphere, cylinder)
2 Length y (cuboid) or height
(cylinder)
3 Length z (cuboid)

Appendix
See also
A.1.21 Tag StatusKinematicsZone (kinematics)

The tag structure <TO>.StatusKinematicsZone.<Tagname> contains the status of the
kinematics zones.
Tags

StatusKinemat- ARRAY
icsZone[2..10]. [2..10] OF
STRUCT
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. STRUCT
a LREAL -1.79769E308 to 1.79769E308 RON A coordinate
b LREAL -1.79769E308 to 1.79769E308 RON B coordinate
c LREAL -1.79769E308 to 1.79769E308 RON C coordinate
Geometry. STRUCT
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
[1..3] OF (sphere, cylinder)
LREAL 2 Length y (cuboid) or height
(cylinder)
3 Length z (cuboid)
See also

Appendix
A.1.22 Tag StatusZoneMonitoring (kinematics)

The tag structure <TO>.StatusZoneMonitoring.<Tagname> contains the status of violated
zones.
Tags

StatusZoneMonitoring. STRUCT
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
correspond to the configured zone numbers.
See also
A.1.23 Tag StatusMotionQueue (kinematics)

The tag structure <TO>.StatusMotionQueue..<tag name> contains the status of the
job sequence.
Tags

StatusMotionQueue. STRUCT
NumberOfCommands DINT - RON Number of queued jobs in the job sequence
See also

Appendix
A.1.24 Tag KinematicsAxis (kinematics)

The tag structure <TO>.KinematicsAxis.<Tagname> contains the defined kinematics axes.
Tags

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

Appendix
A.1.25 Tag Units (kinematics)

The tag structure <TO>.Units.<Tagname> contains the set technological units.
Tags

Units. STRUCT
LengthUnit UDINT 0 to 4294967295 RON Unit for the position
1010 m
1013 mm
1011 km
1014 µm
1015 nm
1019 in
1018 ft
1021 mi
LengthVelocityUnit UDINT 0 to 4294967295 RON Unit for the velocity
1062 mm/s
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
AngleUnit UDINT 0 to 4294967295 RON Unit for the position of the orientation axis
1004 rad
1005 °
AngleVelocityUnit UDINT 0 to 4294967295 RON Unit for the velocity of the orientation axis
1521 °/s
1522 °/min
1086 rad/s
1523 rad/min

Appendix
A.1.26 Tag StatusWord (kinematics)

The <TO>.StatusWord tag 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.
Tags

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 kinematics
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 12 - - - "ConstantVelocity"
0 The kinematics is being accelerated or decelerated.
1 The setpoint velocity is reached. The kinematics is
moving at this constant velocity or is at a standstill.
Bit 13 - - - "Accelerating"
0 No acceleration operation is active.
1 An acceleration operation is active.
Bit 14 - - - "Decelerating"
0 No deceleration operation is active.
1 A deceleration operation is active.
Bit 15 - - - "OrientationMotion"
Orientation movement active
Bit 16 - - - "Stopping"
0 No "MC_GroupStop" job is active.
1 An "MC_GroupStop" job is active. 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 an
"MC_GroupContinue" job.
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"

Appendix
A.1.27 Tag ErrorWord (kinematics)

The <TO>.ErrorWord tag indicates technology object errors (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.
Tags

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 the user program with a Motion Control instruction or its use
Bit 3 - - - "CommandNotAccepted"
Command cannot be executed.
A Motion Control instruction cannot be executed because necessary
requirements have not been met.
Bit 4 - - - "TransformationFault"
Error in the kinematics transformation
Bit 6 - - - "DynamicError"
Specified dynamic values are limited to permissible values.
Bit 7... - - - Reserved
Bit 31
See also

Appendix
A.1.28 Tag ErrorDetail (kinematics)

The tag structure <TO>.ErrorDetail.<tag name> contains the alarm number and the effective
local alarm reaction for the technology alarm that is currently pending for the technology
object.
You can find a list of the technology alarms and alarm reactions in the Technology alarms
(Page 291) appendix.
Tags

ErrorDetail. STRUCT
Number UDINT - RON Alarm number
Reaction DINT 0 to 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.1.29 Tag WarningWord (kinematics)

The <TO>.WarningWord tag indicates pending warnings for 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.
Tags

WarningWord DWORD - RON
Bit 0 - - - "SystemFault"
A system-internal error has occurred.
Bit 1 - - - "ConfigFault"
Configuration error
One or more configuration parameters are being
internally adapted temporarily.
Bit 2 - - - "UserFault"
Error in the user program with a
Motion Control instruction or its use
Bit 3 - - - "CommandNotAccepted"
Command cannot be executed.
A Motion Control instruction cannot be executed because
necessary requirements have not been met.
Bit 6 - - - "DynamicWarning"
Specified dynamic values are limited to permissible
values.
Bit 7... - - - Reserved
Bit 31
See also

Appendix
A.1.30 Tag ControlPanel (kinematics)

The tag structure <TO>.ControlPanel.<Tagname> contains no user-relevant data. This tag
structure is internally used.
Tags

ControlPanel. STRUCT
Input. STRUCT
TimeOut LREAL 100 to DIR -
60000
EsLifeSign UDINT - DIR -
Command[1..2]. ARRAY [1..2] OF STRUCT
ReqCounter UDINT - DIR -
Type UDINT - DIR -
Position[1..4] ARRAY [1..4] OF LREAL - DIR -
Velocity[1..4] ARRAY [1..4] OF LREAL - DIR -
Acceleration[1..4] ARRAY [1..4] OF LREAL - DIR -
Deceleration[1..4] ARRAY [1..4] OF LREAL - DIR -
Jerk[1..4] ARRAY [1..4] OF LREAL - DIR -
Param[1..9] ARRAY [1..9] OF LREAL - DIR -
CoordinateSystem UDINT - DIR -
ToolNumber UDINT - DIR -
Output. STRUCT
RtLifeSign UDINT - RON -
Command[1..2]. ARRAY [1..2] OF STRUCT -
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 287).
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 289).
Restart To acknowledge the technology alarm, the technology object must be reinitialized
(Restart).
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 Restart Diagnostic Alarm text

bit buffer
101 Stop with maximum dynamic X1 - X X Configuration error.
values of the axes
201 Stop with maximum dynamic X0 - X X Internal error.
values of the axes
202 Stop with maximum dynamic X0 - X - Internal configuration error.
values of the axes
203 Stop with maximum dynamic X0 - X - Internal error.
values of the axes
204 Stop with maximum dynamic X0 - - - Commissioning error.
values of the axes
304 Stop with maximum dynamic X2 - - - Velocity limit is zero.
values of the axes
305 Stop with maximum dynamic X2 - - - • Limit value of the
values of the axes acceleration is zero.
• Limit value of the
deceleration is zero.
306 Stop with maximum dynamic X2 - - - Jerk limit is zero.
values of the axes
501 No reaction (warnings only) - X6 - - Programmed velocity is
limited.
502 No reaction (warnings only) - X6 - - • Programmed acceleration
is being limited.
• Programmed deceleration
is being limited.
503 No reaction (warnings only) - X6 - - Programmed jerk is limited.
561 No reaction (warnings only) - X6 - - Programmed velocity of the
orientation motion is limited.
562 No reaction (warnings only) - X6 - - • Programmed acceleration
of the orientation motion is
limited.
• Programmed deceleration
of the orientation motion is
limited.
563 No reaction (warnings only) - X6 - - Programmed jerk of the
orientation motion is limited.
801 Stop with maximum dynamic X2 - - - Kinematics axis not ready.
values of the axes
802 Stop with maximum dynamic X3 - - - Cannot calculate the
values of the axes geometry element.
803 Stop with maximum dynamic X4 - - - Error in the calculation of the
values of the axes transformation.
804 Stop with maximum dynamic X2 - - - The kinematics motion cannot
values of the axes be stopped at the end.

Appendix
No. Reaction Error bit Warning Restart Diagnostic Alarm text

bit buffer
805 Stop with maximum dynamic X2 - - - Limitation of the path
values of the axes dynamics by the dynamics of
the kinematics axes.
806 Stop with maximum dynamic X2 - - - Collision with work or blocked
values of the kinematics zones detected.
807 No reaction (warnings only) - X2 - - Collision with signal zones
detected.
808 Stop with maximum dynamic X2 - - - Ambiguity due to multiple
values of the axes active work zones.
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 >
<TO>.ErrorDetail.Reaction = 11 Configuration > Extended parameters > Dynamics" and brought to a standstill.
The configured 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.
Roller 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 non-zero value for the maximum velocity
(DynamicLimits.MaxVelocity) in the dynamic limits.

Alarm text Remedy

Acceleration/deceleration limit is zero.
Acceleration Enter a non-zero value for the maximum acceleration
(DynamicLimits.MaxAcceleration) in the dynamic limits.
Deceleration Enter a non-zero value for the maximum deceleration
(DynamicLimits.MaxDeceleration) in the dynamic limits.

Alarm text Remedy

Jerk limit is zero. Enter a non-zero value for the maximum jerk
(DynamicLimits.MaxJerk) in the dynamic limits.

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.

Alarm text Remedy

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

Appendix

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
specified 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 Specify different values for starting point, intermediate
identical when "CircMode" = 0. point and end point.
Intermediate point cannot be reached when "CircMode" = 0. Adjust the intermediate point.

Appendix

Alarm text Remedy

Error calculating the transformation.
Transformation of the axis coordinates to the kinematics • Correct your specified motion with regard to the joint
coordinates 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 • For user transformation:
coordinates 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 detected. Move the kinematics object from the work zone or
blocked zone.

Alarm text Remedy

Collision with signal zones detected. -

Alarm text Remedy

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

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:
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
reactions in the Technology alarms (Page 294) 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
"Acceleration" parameter.
16#8005 Illegal deceleration specification Specify a permissible value for the deceleration for the
"Deceleration" parameter.
16#8006 Illegal jerk specification Specify a permissible value for the jerk for the "Jerk"
parameter.
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"
parameter.
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 execute any jobs.
Wait until the "Restart" of the technology object 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
"Execute" = 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 clearance Specify a permissible value for the rounding clearance
for the "TransitionParameter" parameter.
16#80B5 Illegal specification of the dynamic adaptation Specify a permissible value for the dynamic adaptation
for the "DynamicAdaption" parameter.
16#80B6 Illegal specification for the definition of the circular Specify a permissible value for the definition of the
path circular path for the "CircMode" parameter.
16#80B7 Illegal specification for the circular path auxiliary Specify a permissible value for the circular path auxiliary
point 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 path circular 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 path circular 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
"ZoneType" 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 parameters Specify permissible values for the geometric parameters
for 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
"ToolNumber" 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 single- End the current single-axis motion. Restart the job.
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.
"MC_GroupStop" job is active. Restart the job.
16#80CE The job sequence is used to capacity. The maximum possible Motion Control jobs have been
transmitted.
16#8FFF Unspecified error Contact your local Siemens representative or support
center.
You can find your contact for Industry Automation and
Drive Technologies at:
http://www.siemens.com/automation/partner

Index
A F
Articulated arm FCS, 27
2D, 68 Flange coordinate system (FCS), 27
2D with orientation, 71 Flange zones, 143
3D, 74 FNP, 17
3D with orientation, 79 Frame definition, 30
AxesGroup, 18
J
B
Job sequence, 18, 173
Blocked zones, 139, 141 Joint position space, 119
C K
CircMode, 131 KCS, 26
Circular motion, 131 Kinematics, 17, 34
Circular path Adding, 148
Definition, 131 Circular motion, 131
Coupling factor, 122 Configuration, 149
Cylindrical robot Coordinate systems, 25
3D, 97 Copying, 170
3D with orientation, 101 Degrees of freedom, 18
Deleting, 171
Diagnostics, 198, 201, 203
D Dynamic adaptation, 135
Dynamic defaults, 134
Delta picker
Dynamic settings, 136
2D, 85
Frames, 25
2D with orientation, 87
Functions, 19
3D, 89
Interconnection rules, 22
Joint position space, 119
Kinematics control panel, 182
Limits for dynamics, 134
E
Linear motion, 131
Error ID, 302 Mechanical couplings, 122
ErrorID Motion, 130
List of ErrorIDs, 302 Simulation, 22
Errors in Motion Control instructions, 302 Singular positions, 121
Tags, 261
Term definition, 17
User transformation, 122
Zone monitoring, 137
Kinematics axes, 17
Kinematics control panel, 182, 187
Kinematics coordinate system, 26

Index
Kinematics motion, 130 M

Circular motion, 178
Machine coordinate system, 18
continue, 175
MC_DefineKinematicsZone, 242
Dynamics, 134
MC_DefineTool, 253
Interrupting, 175
MC_DefineWorkspaceZone, 239
Linear motion, 176
MC_GroupContinue, 206, 207
Motion transition, 176
MC_GroupInterrupt, 204
Motion transition dynamics, 180
MC_GroupStop, 209, 211
Remaining distance, 174
MC_MoveCircularAbsolute, 223, 229
Status, 174
MC_MoveCircularRelative, 231, 237
stop, 175
MC_MoveLinearAbsolute, 212, 217
Kinematics transformation, 116, 118
MC_MoveLinearRelative, 218, 222
Kinematics type
MC_SetKinematicsZoneActive, 249
Articulated arm 2D, 68
MC_SetKinematicsZoneInactive, 251
Articulated arm 2D with orientation, 71
MC_SetOcsFrame, 257
Articulated arm 3D, 74
MC_SetTool, 255
Articulated arm 3D with orientation, 79
MC_SetWorkspaceZoneActive, 245
Cylindrical robot 3D, 97
MC_SetWorkspaceZoneInactive, 247
Cylindrical robot 3D with orientation, 101
MCS, 18
Delta picker 2D, 85
MC-Transformation-OB, 124
Delta picker 2D with orientation, 87
Measuring unit, 23
Delta picker 3D, 89
Mechanical couplings, 122
Delta picker 3D with orientation, 92
Motion transition, 176
Portal 2D, 36
Portal 2D with orientation, 38
Portal 3D, 40
O
Portal 3D with orientation, 43
Roller picker 2D, 47 Object coordinate system, 29
Roller picker 2D with orientation, 49 OCS, 29
Roller picker 3D (vertical), 51 Orientation movement, 130
Roller picker 3D with orientation (horizontal), 57
Roller picker 3D with orientation (vertical), 54
SCARA 3D with orientation, 62 P
Tripod 3D, 107
PathChoice, 132
Tripod 3D with orientation, 111
Portal
User-defined, 115
2D, 36
Kinematics types, 34
Kinematics zero point, 17
3D, 40
Kinematics zones, 139, 142
KZP, 17
R
L
Roller picker
Linear motion, 131
2D, 47
3D (vertical), 51
3D with orientation (horizontal), 57
3D with orientation (vertical), 54
Rotation conventions, 30

Index
S Z
S7-1500 Motion Control Zone geometry, 144
Measuring unit, 23 Zone monitoring, 137
Technology alarms, 291 Zones
Versions, 147 Flange zones, 143
S7-1500T Motion Control Kinematics zones, 142
Commissioning, 187 Signal zones, 141
S7-1500T Motion Control instruction Subentry, 137, 141
Errors in Motion Control instructions, 302 Tool zones, 142
SCARA Work zones, 141
3D with orientation, 62 Workspace zones, 141
Signal zones, 139, 141 Zone geometry, 144
Singular positions, 121
T
TCP, 17, 28
TCS, 28
Technology alarms
List of the technology alarms, 291
Technology data block
Tags of the kinematics technology object, 261
Technology object
Kinematics, 19, 20, 148
Tool center point, 17, 28
Tool coordinate system, 28
Tool zones, 142
Transformation area, 118
Transformation-OB, 124
Traversing range, 118
Tripod
3D, 107
U
User transformation, 122
User-defined kinematics systems, 115
W
WCS, 26
Work zones, 139, 141
Workspace zones, 139, 141
World coordinate system, 26


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___________________

TIA Portal V15

Siemens AG A5E42062707-AA Copyright © Siemens AG 2017.

Purpose of the documentation

Required basic knowledge

Validity of the documentation

S7-1500T Kinematics Functions V4.0 in TIA Portal V15

S7-1500T Kinematics Functions V4.0 in TIA Portal V15

S7-1500T Kinematics Functions V4.0 in TIA Portal V15

3.7.6 Articulated arm ........................................................................................................................68

S7-1500T Kinematics Functions V4.0 in TIA Portal V15

3.10 Zone monitoring ................................................................................................................... 137

S7-1500T Kinematics Functions V4.0 in TIA Portal V15

7 Commissioning ................................................................................................................................... 181

S7-1500T Kinematics Functions V4.0 in TIA Portal V15

9.2.5 MC_SetKinematicsZoneActive V4 ....................................................................................... 249

S7-1500T Kinematics Functions V4.0 in TIA Portal V15

A.2 Technology alarms ................................................................................................................291

S7-1500T Kinematics Functions V4.0 in TIA Portal V15

S7-1500T Kinematics Functions V4.0 in TIA Portal V15

Manual Collection S7-1500/ET 200MP

SIMATIC S7-1500 comparison list for programming languages

"mySupport" - CAx data

S7-1500T Kinematics Functions V4.0 in TIA Portal V15

TIA Selection Tool

SIMATIC Automation Tool

S7-1500T Kinematics Functions V4.0 in TIA Portal V15

S7-1500T Kinematics Functions V4.0 in TIA Portal V15

S7-1500T Kinematics Functions V4.0 in TIA Portal V15

2.2 Kinematics systems for handling tasks

2.3 Term definition

Kinematics zero point (KZP)

Zero point of the flange coordinate system (FNP)

Tool center point (TCP)

S7-1500T Kinematics Functions V4.0 in TIA Portal V15

Degrees of freedom of kinematics

Machine coordinate system (MCS)

S7-1500T Kinematics Functions V4.0 in TIA Portal V15

Function Brief description

S7-1500T Kinematics Functions V4.0 in TIA Portal V15

S7-1500T Kinematics Functions V4.0 in TIA Portal V15

S7-1500T Kinematics Functions V4.0 in TIA Portal V15

3.2 Interconnection rules

3.3 Configuration limits for kinematics systems

Motion Control resources

Extended Motion Control resources (S7-1500T)

S7-1500T Kinematics Functions V4.0 in TIA Portal V15

3.4 Measuring units

Angle Angular velocity

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

S7-1500T Kinematics Functions V4.0 in TIA Portal V15

Measuring units of the axes and the kinematics technology object

3.5 Modulo setting

S7-1500T Kinematics Functions V4.0 in TIA Portal V15

3.6 Coordinate systems and frames

3.6.1 Overview of coordinate systems and frames

S7-1500T Kinematics Functions V4.0 in TIA Portal V15

World coordinate system (WCS)

Kinematics coordinate system (KCS)

S7-1500T Kinematics Functions V4.0 in TIA Portal V15

Flange coordinate system (FCS)

S7-1500T Kinematics Functions V4.0 in TIA Portal V15

S7-1500T Kinematics Functions V4.0 in TIA Portal V15

Object coordinate system (OCS)