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* axis_kin_slit.plc_inc : Dedicated script for a slit system based on equations (including interlocks and softlimits)
* axis_kin_mirror.plc_inc : Dedicated script for a 5 DoF mirror based on matrices
### Generic scripts (axis_kin_xDoF.plc_inc)
### Generic scripts (axis_kin_\<index\>xDoF.plc_inc)
The generic scripts needs a few macros:
* AX_S\<index\> : Axis index for slave axes 1..DoF
* AX_M\<index\> : Axis index for master axes 1..DoF
* FWD\<index\ : Forward kinematics array 1..DoF
* INV\<index\ : Inverse kinematics array 1..DoF
* AX_S\<index\> : Axis index for slave axes, index = 1..DoF
* AX_M\<index\> : Axis index for master axes, index = 1..DoF
* FWD\<index\> : Forward kinematics array, index = 1..DoF
* INV\<index\> : Inverse kinematics array, index = 1..DoF
## State machine
The state machine makes sure that master and slaved axes cannot run simultaneous. However, several master axes or several slave axes can run at the same time.