_OK if succeeded Input h
_INVALID_HANDLE if not available! Input h
_INVALID_HANDLE if not available! Input udi
_IEC_RESULT Input hSchedTask RTS
GetNumOfTasks DINT Input p
Trajectory Input n
Position Input pathElemId Path
_rst Trajectory Input d
..2] OF SMRB.DynVState Input
to apply. Input udi