Hello zixie,

based on your request, you'd like to manage kinematic movements using the following sequence of operations:

1. Interrupt a kinematic movement with MC_GroupInterrupt.
2. Move the kinematic axes independently using the MC_MoveRelative command.
3. Continue the motion queue of the kinematic with MC_GroupContinue.

It's important to note that TO Kinematics only allows the motion queue to continue if the kinematics are in the exact position where they were interrupted initially. This requires moving the kinematic axes back to the position where it got interrupted by the MC_GroupInterrupt command prior to continuing.

In order to facilitate this sequence more efficiently, we recommend using the LKinAddon_KinematicsSimulationSequence function block from the SIMATIC Kinematics Add-On library. This function block is specifically designed to manage such sequences.

Here’s how it works:

• After the kinematic is interrupted by GroupInterrupt, this function block allows you to set TO Kinematics in simulation.
• Then you can move the kinamtic axes indipendently.
• When ready to continue, it provides the functionality to pull all axes back to the interrupted position and disables the simulation of TO Kinematics again.

For more detailed information and to download the library, please refer to following entry in SiePortal: SIMATIC Kinematics Add-On