NumSlots >= 2 dDeltaS > 0 If L > 0 then dDeltaS [...] <= dDeltaS * (n

is close to dS. In [...] to dS Input k [...] _cache (starting at 0) dS LREAL

Queue Input k UDINT dS [...] _FindPausePosition BOOL Output dS LREAL

_right UDINT dS_start_left LREAL dS [...] PePause POINTER TO PathElem d

evaluated between dS0 and d

_JerkBounds wI DynState dTs LREAL dS LREAL dTau1_low LREAL dTau1_hgh LREAL

State sFilePath STRING(255) Input dTs LREAL dS LREAL

Reverse BOOL dS LREAL d [...] ) = S * f(x/L) if NOT bReverse g(x) = S

Type set BOOL dS

Block) Initialize (Method) Kin_Staubli_TS60_S1_D [...] Block) Initialize (Method) Kin_Staubli_TX60_S