) 0 = no_func; 1 [...] _teach; 1 = single [...] ; 1 = teach 1; 2

Number INT 1 1 1 2 First [...] Direction INT 1=Pos 2=Neg 0 [...] =Position 0=Position 1

: dX = dArmLength1 [...] length dArmLength1, a second rotary axis a1

: dX = dArmLength1 [...] length dArmLength1, a second rotary axis a1

success, -1 otherwise

_CmpMgr UDINT 16#1 CMPID

_FD_SETSIZE - 1)] OF RTS

_GET_BASE_TYPE DWORD 1 TCF

btValue1 BYTE bt

_RUN UDINT 16#1 AS