Initial Comment Input d [...] 1 connected to motor d [...] 2 from arm to stewart d

(dToolX, dToolY, d [...] . Note: The inputs ‘dToolX, dToolY and d

Positions ARRAY [0..5] OF SMC_Vector3D [...] Schlitten) dOffsetZ LREAL [...] schneiden d

Positions ARRAY [0..5] OF SMC_Vector3D [...] Schlitten) dOffsetZ LREAL [...] schneiden d

Src POINTER TO SMC_Vector3D [...] TO SMC_Vector3D d

ProductNormed (FunctionBlock) MakeNormed3D (Function) Norm3D (Function) ScalProd3D

S_local SM3M.SMC_VECTOR3D vD_local SM3M.SMC_VECTOR3D vC_local SM3M.SMC_VECTOR3D

: dX = a1 + d4 dY = -d3 dZ = d1 + a2 + [...] (the values of d

.Kin_Tool Output dX LREAL dY LREAL dZ LREAL

Type Input v1 SMC_Vector3d v2 SMC_Vector3d Output v SMC_Vector3D