is chosen in [...] -axis is chosen in [...] -axis is computed as

1 = v(x+h/2) as v = (v1 - v0) / h. In [...] Comment Inout v SMC_Vector3D

articulated 6DOF robot as [...] _TrafoF_ArticulatedRobot_6DOF . InOut: Name Type Comment d1 LREAL

direction as control [...] _TRAFOF_GantryT2 . InOut: Scope Name [...] position (x,y) d

in degree d [...] , Y’, Z’ as mR = Rz [...] , expressed in the base

interval of dTs seconds [...] interval of dTs_0 seconds (with 0 <= d

path direction as [...] the axis. In [...] interpolator. SMC_POSINFO d

direction as control [...] _TRAFOF_GantryT2_O . InOut: Scope Name [...] position (x,y) d

path direction as [...] SM_Trafo_POUs . In [...] interpolator. dVel LREAL

path direction as [...] SM_Trafo_POUs . In [...] interpolator dVel LREAL Path