Siemens SIMOTION Function Manual page 141

Upper orientation
Kinematics.parameter[8] ≠ 0.0 (e.g. 1.0)
Figure A-5
TO Path Interpolation
Function Manual, 11/2010
Traversing range with orientation selected as upper
A.1 Specific kinematics with TrafoID 1001
Appendix A
141