Constant gc_Vector3D_Zero SMC_Vector3D STRUCT(dX := 0, dY := 0

Constant gc_Vector3D_Zero SMC_Vector3D STRUCT(dX := 0, dY := 0

segment SegmentId dS0 LREAL dS1 LREAL elem

ProductNormed (FunctionBlock) MakeNormed3D (Function) Norm3D (Function) ScalProd3D

) between two 3d-vectors [...] Const v1 SMC_Vector3D v2 SMC_Vector3D

dOffsetX LREAL [...] _TRAFO_Gantry2 dOffsetY LREAL [...] _TRAFO_Gantry2 dAlpha LREAL

dOffsetA LREAL 0 [...] _TRAFO_SCARA2 ) dOffsetB LREAL 0 [...] _TRAFO_SCARA2 ) dArmLength1 LREAL

vOut SM3M.SMC_VECTOR3D Inout Const vIn SM3M.SMC_VECTOR3D

vOut SM3M.SMC_VECTOR3D Inout Const vIn SM3M.SMC_VECTOR3D

DUT ¶ tSysPortIn (Struct) tSysPortInD [...] SysPortOut (Struct) tSysPortOutD