Initialize BOOL Input dArmLength1 LREAL dArmLength2 LREAL d

dP1 -- d [...] Y, vN) . dP1 : X-coordinate of circle center dP2 : Y

the plane where the d [...] be adjusted by dOffsetA . [...] the plane where the d

Out: Name Type dNx LREAL dNy LREAL dNz LREAL dN LREAL

: (the values of d [...] link offset d_i link [...] 1 0° d1 a1 -90° 2

Out: Name Type dEps_t LREAL dEps_s LREAL dEps_v LREAL dEps_a LREAL

1E-15 SMC_VECTOR3D_ZERO SMC_Vector3D STRUCT(dX := 0, dY := 0, d

of interpolator d [...] 1 connected to motor d [...] 2 from arm to steward d

of interpolator. d [...] ring d [...] ring dLength LREAL

Represents some 3D [...] Out: Name Type v SMC_Vector3D v_s SMC_Vector3D