block. d [...] master d [...] /deceleration of master d

Interpolator dOffsetA LREAL [...] -axis in degree d [...] degree d

position (x/y) d [...] axis R d [...] Output dR LREAL

: dX = a1 + d4 dY = -d3 dZ = d1 + a [...] (the values of d

: dX = a1 + d4 dY = -d3 dZ = d1 + a [...] (the values of d

_Matrix3 Input iRow DINT d0 LREAL d1 LREAL d

RailJoints ARRAY [0..2] OF SMC_VECTOR3D [...] PlateJoints ARRAY [0..2] OF SMC_VECTOR3D Inout Const vTCP SMC_VECTOR3D

.Kin_ArticulatedRobot_6DOF Output d1 LREAL 320 a [...] d3 LREAL 35 a3 LREAL 0 d4 LREAL 225

Rot SMC_Vector3d In [...] space. vU SMC_VECTOR3D STRUCT(dX := 0, d

Rot SMC_Vector3d In [...] space. vU SMC_VECTOR3D STRUCT(dX := 0, d