SPI PiFaceCaD [...] SPI PiFaceCaD [...] 16 DefaultNamespace PiFaceCaD

.Kin_ArticulatedRobot_6DOF Output d1 LREAL 320 a [...] d3 LREAL 35 a3 LREAL 0 d4 LREAL 225

_Matrix3 Input iRow DINT d0 LREAL d1 LREAL d

vDst SMC_Vector3D Inout Const vLhs SMC_Vector3D vRhs SMC_Vector3D

vDst SMC_Vector3D Inout Const vLhs SMC_Vector3D vRhs SMC_Vector3D

A”, “%0B”, “%0C”, “%0D [...] C”, “%1D”, “%1E”, “%1 [...] B”, “%2C”, “%2D”, “%2

RailJoints ARRAY [0..2] OF SMC_VECTOR3D [...] PlateJoints ARRAY [0..2] OF SMC_VECTOR3D Inout Const vTCP SMC_VECTOR3D

) between two 3d [...] Const v1 SMC_Vector3D v2 SMC_Vector3D

when applying dj for time d [...] State Input dj LREAL dTs LREAL dEps_v LREAL

of interpolator. dVel LREAL Velocity v SMC_VECTOR3D [...] of interpolator dOffsetX LREAL