Siemens SIMOTION Function Manual page 44

Basics of Path Interpolation
2.13 Kinematic adaptation
System variables
path.motionState
path.position
path.velocity
Cartesian specifications in the basic coordinate system / path-synchronous motion
System variables
bcs.x/y/z/w.position
bcs.x/y/z/w.velocity
bcs.x/y/z/w.acceleration
bcs.linkConstellation
Cartesian actual values
System variables
bcs.x/y/zActual.position
bcs.linkConstellationActual
Defaults on path axes from path motion
System variables
mcs.a1/a2/a3.acceleration
mcs.a1/a2/a3.position
mcs.a1/a2/a3.velocity
Object coordinate system
System variables
ocs[1..3].trackingIn
ocs[1..3].trackingInPosition
ocs[1..3].trackingPosition
ocs[1..3].trackingState
ocs[1..3].x/y/z.accelaration
ocs[1..3].x/y/z.position
ocs[1..3].x/y/z.velocity
Override
44
Description
Motion status of path motion
Path position (within the path length)
Path velocity
Description
Set positions
Set velocities
Set accelerations
Set link constellation
Description
Actual value of the Cartesian positions of the
path axes
Current link constellation
Description
Accelerations of the path axes
Positions of path axes in the axis coordinates
Velocities of the path axes
Description
Interface for motion sequence reference
value with which the OCS is to be coupled
(e.g. TO external encoder)
Current value of the motion sequence
Position of the OCS relative to the reference
position
Synchronization status
Acceleration
Item
Velocity
Function Manual, 11/2010
TO Path Interpolation