Siemens SIMOTION Function Manual page 13

Motion sequence reference value (trackingInPosition)
The value made available to the TrackingIn interface of the path object by another
technology object. This can be, for example, the actual value of an external encoder.
Motion sequence value (trackingPosition)
The current position of a coupled OCS with reference to the OCS reference position.
Frame transformation
A frame transformation describes the position of a coordinate system relative to another
coordinate system that defines, for example, the OCS reference position relative to the basic
coordinate system of the path object. The frame transformation consists of translations along
the X-, Y-, and Z-axes and rotations at the individual axes.
For the transformation, the displacements are performed first and then the rotations in the
following order:
● Roll at the X axis
● Pitch at the (already turned) Y axis
● Yaw at the (already twice-turned) Z axis
Main plane
x-y, y-z, or z-x plane or a parallel plane. The third coordinate is not evaluated.
Interface for path-synchronous motion
Interface for bidirectional data exchange between the path object and an interconnected
positioning axis for path-synchronous motion.
Cartesian axes
Axes X, Y, and Z of the path object
Kinematics
The term "kinematics" in the context of robots and handling devices in motion control
systems refers to the abstraction of a mechanical system onto the variables relevant for
motion and motion control, i.e. the motion-capable elements (articulations) and their
geometric positions relative to each other (arms).
Kinematic transformation, kinematic adaptation
Conversion of specifications in Cartesian coordinates to specifications for individual path
axes, and vice versa.
Circular path
Path in 2D or 3D that describes a circle or an arc path.
Linear path
Path in 2D or 3D that describes a straight path.
Coupled OCS
An object coordinate system (OCS) coupled synchronously to the trackingIn interface.
TO Path Interpolation
Function Manual, 11/2010
Overview of Path Interpolation
1.2 Terminology
13