KPA Motion Control Library

Logo KPA EtherCAT Motion

KPA Motion Control Library provides single- and multi- axes control functionality which is ready to be used in CNC Solutions in terms of PLCopen standard.


  • Position, velocity and torque control with feed forward functionality
  • Single- and multi- axes movement with defined velocity, acceleration and jerk at each trajectory segment
  • Time-optimal trajectory generation on the fly within one control cycle
  • Support well known CiA402 drive profile and easy adaptation to any custom drive profile
  • Unlimited command sequence to blend
  • Wide OS support (QNX 6.5, QNX 6.6, INtime 6, Linux Posix, Xenomai, Windows) provided by easy extendable OSAL (Operation System Abstraction Layer)
  • Scalable to multi-core CPUs and optimized for low end CPUs
  • Low cycle time


  • Single-axis control for conveyor belts, drilling and pressing
  • Coordinated multi-axes control for bending, welding, drilling, milling, laser and drill positioning

koenig-pa GmbH (KPA) Motion for EtherCAT

  KPA Motion Library Flyer (306.2 KiB, 427 hits)

  KPA Motion Development Kit (195.1 KiB, 383 hits)

KPA Motion Library Classes

Logo KPA Motion Library ClassesKPA Motion Libraries – LIM and CoM

1. Linear Motion (LiM)

Application examples: single axis drive control, pressing, drilling.

Functionality according to PLC Open part 1:

  • Linear Movement of single axis
  • Program Coordinate System (PCS)

KPA Master Standard 1.5 or higher

2. Coordinated Motion (CoM)

Application examples: bending, welding, drilling, milling.

Functionality according to PLC Open part 4:

  • For 2D and 3D applications
  • Transformations between Program Coordinate System (PCS)

    and Machine Coordinate System (MCS)

  • Coordinated motion in cylinder and polar coordinates
  • All LiM functionalities

Requirement: KPA Master Standard 1.5 or higher

KPA Motion Development Kit

KPA Motion Development Kit (MoDK) enables the development of linear and coordinated motion applications for a hardware class on a specific OS. In this way, it extends Master Development Kit (MDK) by KPA Motion.

KPA Motion Development Kit (MODK)

KPA Motion Configurator

Plugin to KPA Studio with two Function Groups

Online Configuring:

Grouping of axes, selection of drive profiles, setting of parameters, and mapping to process image

Online Test:

Controls with command and status for moving, homing, and jogging

Requirement: KPA Studio Premium Version 2.0 or higher

RunTime Data Logger

Plugin to KPA Studio

Multi-axis real-time chart control, xy-diagram, multiple scaling axes.

Requirement: KPA Studio Premium 2.0 or higher; KPA Master Standard 2.0 or higher

KPA Motion Applications

A drilling application is implemented by deploying a machine with an XY stage and one drilling axis (z-direction). Each hole is individually measured and drilled.

Phase 1 starts with a slow motion to allow for positioning the x-y table. Phase 2 contains a fast approach motion, during which the contact with the material is expected. At the moment of contact, the exact position is captured using a touch probe sensor ( 102.0 mm, left yellow circle), and in the same control cycle, a drilling motion relative to this position is computed online and executed immediately (Phase 3). After reaching the depth of 5 mm, the drill is pulled out of the material (Stage 4). In the second cycle, the contact is detected at 103.1 mm (right, yellow circle).

The picture below shows a comparison between conventional calculation methods and the online trajectory generation concept implemented in KPA Motion.

Picture KPA Motion for Drilling

Measuring the precise contact position and instantaneously computing a new motion trajectory improves drilling, turning, and milling precisions – without slowing down manufacturing processes.

Online Trajectory Generation

Both axes start to reach the old target position until an online event is causing a change of the target position. A blending window is necessary in case of standard approach according to PLC Open Part 4 (gray line). KPA Motion calculates the multi-axis motion trajectories and starts the new movement in the same cycle of the event (green line).

Picture below shows a comparison between conventional calculation methods and the online trajectory generation concept implemented in KPA Motion.

Picture_Reaction_Time_Motion Synchronized Axes.jpg