The mapp motion software package enables a machine’s various subsystems to be linked together, and robot movements can be synchronized with gantry systems or tool tables with no additional programming. The Frame hierarchy function can be used to represent actual machine structure. Coordinate systems can be positioned at key points, such as the tool mounting flange. Each coordinate system can be assigned a name that identifies it within the application. The Programmed moving frame function couples a coordinate system to an axis and defines an additional degree of freedom. This allows optimized movements and better utilization of robot dynamics.