*pi] and dAlpha1 <= dAlpha2 holds. Note that d

a phase dTau1 of [...] by / j_hgh if dT < dTau1 j_k = | j

dOffsetA LREAL 0 [...] _TRAFO_SCARA3 ) dOffsetB LREAL 0 [...] _TRAFO_SCARA3 ) dOffsetC LREAL 0

interval of dTs seconds [...] interval of dTs_0 seconds (with 0 <= d

applying dj for time d [...] State Input dj LREAL dTs LREAL dEps_v LREAL

planner position d [...] path element d [...] interval d

_QueueSetReservedEntries (FunctionBlock) SMC_RotateQueue2D [...] _RotateQueueInit (Action) SMC_ScaleQueue3D [...] _ScaleQueueInit (Action) SMC_TranslateQueue3D

_IEC_RESULT Output dEntry FileNameString dInfo DirInfo

interpolator. SMC_POSINFO d [...] offset for x-axis d [...] offset for y-axis d

POUs ¶ SysPortIn (Function) SysPortInD [...] PortOut (Function) SysPortOutD