, these are linear segments ( MC_MoveLinearAbsolute and MC_MoveLinearRelative [...] segments ( MC_MoveCircularAbsolute

interpolation ( SMC_Orientation_Mode.GreatCircle [...] interpolation ( SMC_Orientation_Mode.Axis [...] of the ZYZ Euler angle (A,B,C

of stopping with error SMC_AXIS_GROUP_MAX_AXIS_LAG_EXCEEDED , SMC_AXIS_GROUP_MAX_POSITION_LAG_EXCEEDED , or SMC_AXIS_GROUP_MAX_ORIENTATION_LAG_EXCEEDED

example, MC_MoveDirectAbsolute or MC_MoveCircularRelative [...] is when the movement follows an SMC_GroupWait

about this function block, see: SMC_GroupWait [...] is commanded via the SMC_GroupWait [...] Between Movements SoftMotion

With the help of SMC_GroupSaveContinueData [...] ), an MC_GroupHalt or MC_GroupStop [...] ) if no MC_GroupHalt or MC_GroupStop

for SMC_GroupSetAncillaryAxisLimits , SMC_GroupSetAncillaryPathLimits , and SMC_GroupSetAxisLimitFactors

provides the input SMC_GroupInterruptPositionMvtRel [...] . (See SMC_GroupGetContinuePosition [...] ID SMC_AXIS_GROUP_CONTINUE_DATA_NOT_WRITTEN

degrees of freedom. SMC_SetDynCoordTransformEx [...] in the error SMC_AXIS_GROUP_PCS_STILL_IN_USE [...] coordinate systems). SMC_GroupReadPathDynamics

; END_VAR 1: GroupEnable(AxisGroup:=KinScara [...] , Execute:=TRUE, Position:=Pos_Axis,CoordSystem:=SMC_COORD_SYSTEM.ACS [...] , Execute:=TRUE, Position:=Pos_Cart,CoordSystem:=SMC_COORD_SYSTEM.MCS