Siemens Industry Online Support
Siemens AG
Entry type: Application example Entry ID: 109758302, Entry date: 11/14/2018

SIMATIC S7-1500T Kinematics Transformation

  • Entry
  • Associated product(s)
The SIMATIC library Kinematics Transformation (LKinTrans) provides an interface for programming customized kinematic transformations with direct specification of the Cartesian command values.

The direct control of handling devices is possible with the library LKinTrans. The user is coding the kinematic transformation equatuions into pre defined functions using standard PLC code (e.g. SCL). This is offering the operation of kinematics with unlimited degrees of freedom as well as the specification of the Cartesian command values independently of MC commands.

Following benefits are provided with this libray:

  • Standardized interface for programming own kinematic transformations for any number of axes
  • Control of joint axes by usage of motion interface functionality (enabling and monitoring executed by the library)
  • Direct specification of the Cartesian command values (e.g. by cams)
  • Position transformations of all kinematics types of TO Kinematics available

It is possible to run the library on any S7-1500T CPU.

  Documentation V1.1.1 (2,2 MB)
 Registrierung notwendig  Library V1.1.1 for STEP7 V15 (2,5 MB)
 Registrierung notwendig  Example project for STEP 7 V15 (6,2 MB)  

Further Information
Handling with SIMATIC 109757198 

Additional Keywords
motioncontrol_apc_applications, handling, TO_Kinematics, transformation

Security information
In order to protect technical infrastructures, systems, machines and networks against cyber threats, it is necessary to implement – and continuously maintain – a holistic, state-of-the-art IT security concept. Siemens’ products and solutions constitute one element of such a concept. For more information about cyber security, please visit