Input d [...] 1 connected to motor d [...] connection dDistance LREAL

interpolator. dVel LREAL Velocity v SMC_VECTOR3D [...] interpolator dOffsetX LREAL

interpolator. dVel LREAL [...] v SMC_VECTOR3D [...] interpolator dOffsetX LREAL

interpolator v SMC_VECTOR3D [...] interpolator dOffsetX LREAL [...] -axis dOffsetY LREAL

1 SMC_Vector3D First [...] . A2 SMC_Vector3D [...] . A3 SMC_Vector3D

: dX = dArmLength1 + dArmLength2 + dArmLength3 dY = 0 dZ = 0 X

: dX = dArmLength1 + dArmLength2 + dArmLength3 dY = 0 dZ = 0 X

Selector_Day d d t

Const v1 SMC_Vector3D v2 SMC_Vector3D

Origin SMC_Vector3D Origin [...] PointOnX SMC_Vector3D [...] PointOnY SMC_Vector3D