Hi Autogen,

the "KinematicSim" Application is not finalized right know.

We are working on, publishing it as SIOS Application right now. (also with documentation)

Notes:

• The KinematikSim is not "mxAutomation" its similar
• The KinematikSim is only connected to PLCSIM Adv., and can be used without MCD
• The configuration file, (now based on urdf) is defining your kinematic for the calculation

  (http://spart.readthedocs.io/en/latest/Tutorial_Robot.html)

AutoGen_4772693

Hi all, 

we are trying to test a PLC program to control a robot, using the mxAutomation library. We are using the DigiDemo_Robot_Template program, two PLCSim Adv. instances (MainController and Behavior model) + Crosslink and the KinematikSim.exe which is adjusted for the specific robot we use. 

To better understand how  KinematikSim.exe works, is there some information available about how this communicates to MCD on the one side and the behavior model PLCSim Instance on the other side?

In chain_config, we set the Denavit Hartenberg parameters for the Robot configuration, right? 
How does the information exchange happen to PLCSim Adv. and MCD? 

Thanks for your help on that!