_REF_SM3 Input bExecute BOOL [...] deceleration phase. Output b

Comment Input piIn SMC [...] coordinates Output pi

_SolveSinCos BOOL Input da LREAL [...] Output dAlpha1 LREAL

Poly_CreateLenMulti BOOL Input deltaf [...] chosen. Output l LREAL

Poly Input f0 LREAL The [...] chosen. Output l LREAL

Comment Input d [...] Output dx LREAL

Input d [...] Output bError BOOL

Comment Input pi SMC [...] Output dx LREAL Set

Comment Input x [...] . Output xDone BOOL

axis Phi Input d [...] axis R Output b