PLC programming technologies are widely used for development of control circuits in the packaging and assembly machinery industry. VELTRU therefore focuses their development on current PLC technology. Time critical and motion related functionalities, such as path planning, motion interpolation, and robot coordinate transformations for all VELTRU and custom robot kinematics are realized strictly in IEC 61131-3. This widely applied and used programming standard provides several benefits: • One single programming tool for all automation issues including robotics • Powerful and well-known tools for the application development • Integrated visualization modules for the developer and for the end user

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