#- Slave axes (normally physical/real axes): AX_S1, AX_S2, AX_S3
var SLAVE_AXES[3] := {ax${AX_S1}.enc.actpos, ax${AX_S2}.enc.actpos, ax${AX_S3}.enc.actpos};

#- Master axes (normally virtual axes): AX_M1, AX_M2, AX_M3
var MASTER_AXES[3] := {ax${AX_M1}.traj.setpos, ax${AX_M2}.traj.setpos, ax${AX_M3}.traj.setpos};

#- forward kinematics
ax${AX_M1}.enc.actpos   := dot(FWD1, SLAVE_AXES);
ax${AX_M2}.enc.actpos   := dot(FWD2, SLAVE_AXES);
ax${AX_M3}.enc.actpos   := dot(FWD3, SLAVE_AXES);

#- inverse kinematics
ax${AX_S1}.traj.extsetpos := dot(INV1, MASTER_AXES);
ax${AX_S2}.traj.extsetpos := dot(INV2, MASTER_AXES);
ax${AX_S3}.traj.extsetpos := dot(INV3, MASTER_AXES);