to the MCS in zero [...] ) Origin Relative to MCS [...] parameters are due to the

POINTER TO Trajectory pjerkbounds POINTER TO Trj [...] Ts LREAL eps Trj

pjerkbounds POINTER TO Trj_JerkBounds pPath POINTER TO PathQueue dTs LREAL

, represented as an LREAL [...] variable local to the g

Type distanceToTarget LREAL gear

0 to the coordinate [...] t LREAL

_EndOfSegment POINTER TO PathElemOff k UDINT dS1 LREAL

DeltaS LREAL The step size [...] relative to the n [...] to the path

_DURATION (Function) FLOAT FLOAT_TO_LREAL [...] _REAL (Function) LREAL_TO [...] COUNT_TO

able to smooth [...] objects. This leads to [...] and to the usage of