The development and operation of highly flexible automated systems for discrete manufacturing, which can quickly adapt to changing products, has become a major research field in industrial automation. Adapting a manufacturing system to a new product for instance requires comparing the systems functionality against the requirements imposed by the changed product. With an increasing frequency of product changes, this comparison should be automated. Unfortunately, there is no standard way to model the functionality of a manufacturing system, which is an obstacle to automation. The engineer still has to analyze all documents provided by engineering tools like 3D-CAD data, electrical CAD data or controller code. In order to support this time consuming process, it is necessary to model the so-called skills of a manufacturing system. A skill represents certain features an engineer has to check during the adaption of a manufacturing system, e.g. the kinematic of an assembly or the maximum load for a gripper. Semantic Web Technologies (SWT) provide a feasible solution for modeling and reasoning on the knowledge of these features. This paper provides the results of a project that focused on modeling the kinematic skills of assemblies. The overall approach as well as further requirements are shown. Since not all expectations on reasoning functionality could be met by available reasoners, the paper focuses on desired reasoning features that would support the further use of SWT in the engineering domain.