diff --git a/source/RobotAPI/motioncontrol/MotionControl.cpp b/source/RobotAPI/motioncontrol/MotionControl.cpp
index 64646acec6ca5401fb71cc88873fa38968e41011..ef91d7dd4a6bbe89301bd67dfc5f92d5357e3e8f 100644
--- a/source/RobotAPI/motioncontrol/MotionControl.cpp
+++ b/source/RobotAPI/motioncontrol/MotionControl.cpp
@@ -228,8 +228,8 @@ void MoveTCPPoseIK::defineParameters()
     setConfigFile("RobotAPI/data/stateconfigs/MotionControl.xml");
 
     addToInput("kinematicChainName", VariantType::String, false);
-    addToInput("targetTCPPosition", VariantType::LinkedPosition, false);
-    addToInput("targetTCPOrientation", VariantType::LinkedOrientation, false);
+    addToInput("targetTCPPosition", VariantType::FramedPosition, false);
+    addToInput("targetTCPOrientation", VariantType::FramedOrientation, false);
 
     addToInput("tcpMaxSpeed", VariantType::Float, true);
 
@@ -282,8 +282,8 @@ void MoveTCPTrajectory::defineParameters()
     setConfigFile("RobotAPI/data/stateconfigs/MotionControl.xml");
 
     addToInput("kinematicChainName", VariantType::String, false);
-    addToInput("targetTCPPositions", VariantType::List(VariantType::LinkedPosition), false);
-    addToInput("targetTCPOrientations", VariantType::List(VariantType::LinkedOrientation), false);
+    addToInput("targetTCPPositions", VariantType::List(VariantType::FramedPosition), false);
+    addToInput("targetTCPOrientations", VariantType::List(VariantType::FramedOrientation), false);
 
     addToInput("tcpMaxSpeed", VariantType::Float, true);
 
@@ -348,7 +348,7 @@ void MoveTCPTrajectory::defineSubstates()
 
 void MoveTCPTrajectoryInit::defineParameters()
 {
-    addToInput("targetTCPPositions", VariantType::List(VariantType::LinkedPosition), false);
+    addToInput("targetTCPPositions", VariantType::List(VariantType::FramedPosition), false);
     addToOutput("trajectoryPointCounterID", VariantType::ChannelRef, false);
 }
 
@@ -371,7 +371,7 @@ void MoveTCPTrajectoryInit::onEnter()
 
 void MoveTCPTrajectoryCheckCounter::defineParameters()
 {
-    addToInput("targetTCPPositions", VariantType::List(VariantType::LinkedPosition), false);
+    addToInput("targetTCPPositions", VariantType::List(VariantType::FramedPosition), false);
     addToInput("trajectoryPointCounterID", VariantType::ChannelRef, false);
     addToOutput("trajectoryPointCounterID", VariantType::ChannelRef, false);
 }
@@ -406,8 +406,8 @@ void MoveTCPTrajectoryCheckCounter::onEnter()
 void MoveTCPTrajectoryNextPoint::defineParameters()
 {
     addToInput("kinematicChainName", VariantType::String, false);
-    addToInput("targetTCPPositions", VariantType::List(VariantType::LinkedPosition), false);
-    addToInput("targetTCPOrientations", VariantType::List(VariantType::LinkedOrientation), false);
+    addToInput("targetTCPPositions", VariantType::List(VariantType::FramedPosition), false);
+    addToInput("targetTCPOrientations", VariantType::List(VariantType::FramedOrientation), false);
 
     addToInput("tcpMaxSpeed", VariantType::Float, true);
 
@@ -419,8 +419,8 @@ void MoveTCPTrajectoryNextPoint::defineParameters()
     addToOutput("trajectoryPointCounterID", VariantType::ChannelRef, false);
 
 
-    addToLocal("targetTCPPosition", VariantType::LinkedPosition);
-    addToLocal("targetTCPOrientation", VariantType::LinkedOrientation);
+    addToLocal("targetTCPPosition", VariantType::FramedPosition);
+    addToLocal("targetTCPOrientation", VariantType::FramedOrientation);
 
 
     addToOutput("TCPDistanceToTarget", VariantType::Float, true);
@@ -462,8 +462,8 @@ void MoveTCPTrajectoryNextPoint::defineSubstates()
 void CalculateJointAngleConfiguration::defineParameters()
 {
     addToInput("KinematicChainName", VariantType::String, false);
-    addToInput("targetTCPPosition", VariantType::LinkedPosition, false);
-    addToInput("targetTCPOrientation", VariantType::LinkedOrientation, false);
+    addToInput("targetTCPPosition", VariantType::FramedPosition, false);
+    addToInput("targetTCPOrientation", VariantType::FramedOrientation, false);
 
     addToOutput("jointNames", VariantType::String, true);
     addToOutput("targetJointValues", VariantType::Float, true);
@@ -485,7 +485,7 @@ void CalculateJointAngleConfiguration::run()
     VirtualRobot::GenericIKSolverPtr ikSolver(new VirtualRobot::GenericIKSolver(robot->getRobotNodeSet(getInput<std::string>("KinematicChainName"))));
     ikSolver->setVerbose(true);
 
-    VirtualRobot::LinkedCoordinate target = ArmarPose::createLinkedCoordinate(robot, getInput<LinkedPosition>("targetTCPPosition"), getInput<LinkedOrientation>("targetTCPOrientation"));
+    VirtualRobot::LinkedCoordinate target = ArmarPose::createLinkedCoordinate(robot, getInput<FramedPosition>("targetTCPPosition"), getInput<FramedOrientation>("targetTCPOrientation"));
     Eigen::Matrix4f goalInRoot = target.getInFrame(robot->getRootNode());
 
 //    // test
@@ -523,8 +523,8 @@ void CalculateJointAngleConfiguration::run()
 
 void ValidateJointAngleConfiguration::defineParameters()
 {
-    addToInput("targetTCPPosition", VariantType::LinkedPosition, false);
-    addToInput("targetTCPOrientation", VariantType::LinkedOrientation, false);
+    addToInput("targetTCPPosition", VariantType::FramedPosition, false);
+    addToInput("targetTCPOrientation", VariantType::FramedOrientation, false);
     addToInput("targetPositionDistanceTolerance", VariantType::Float, false);
     addToInput("targetOrientationDistanceTolerance", VariantType::Float, false);
     addToInput("kinematicChainName", VariantType::String, false);
@@ -548,7 +548,7 @@ void ValidateJointAngleConfiguration::onEnter()
     Quaternionf actualOrientation(actualPose.getPose().block<3,3>(0,0));
 
 
-    VirtualRobot::LinkedCoordinate targetPose = ArmarPose::createLinkedCoordinate(robot, getInput<LinkedPosition>("targetTCPPosition"), getInput<LinkedOrientation>("targetTCPOrientation"));
+    VirtualRobot::LinkedCoordinate targetPose = ArmarPose::createLinkedCoordinate(robot, getInput<FramedPosition>("targetTCPPosition"), getInput<FramedOrientation>("targetTCPOrientation"));
     targetPose.changeFrame(robot->getRootNode());
     Vector3f targetPosition = targetPose.getPosition();
     Quaternionf targetOrientation(targetPose.getPose().block<3,3>(0,0));
@@ -610,10 +610,10 @@ void MotionControlTestStateIK::defineParameters()
     setConfigFile("RobotAPIConfigs/stateconfigs/MotionControl.xml");
 
     addToInput("kinematicChainName", VariantType::String, false);
-    //addToInput("targetTCPPosition", VariantType::LinkedPosition, false);
-    //addToInput("targetTCPOrientation", VariantType::LinkedOrientation, false);
-    addToInput("targetTCPPositions", VariantType::List(VariantType::LinkedPosition), false);
-    addToInput("targetTCPOrientations", VariantType::List(VariantType::LinkedOrientation), false);
+    //addToInput("targetTCPPosition", VariantType::FramedPosition, false);
+    //addToInput("targetTCPOrientation", VariantType::FramedOrientation, false);
+    addToInput("targetTCPPositions", VariantType::List(VariantType::FramedPosition), false);
+    addToInput("targetTCPOrientations", VariantType::List(VariantType::FramedOrientation), false);
 
     addToInput("tcpMaxSpeed", VariantType::Float, true);