Examples

These are practical Structured Text examples for Struckig, aligned with common motion scenarios from the Ruckig documentation.

Mapping

Ruckig example	Struckig equivalent
01_position.cpp	Example 1: Position interface
05_velocity.cpp	Example 2: Velocity interface
06_stop.cpp	Example 3: Switch to stop trajectory
07_minimum_duration.cpp	Example 4: Minimum duration
09_dynamic_dofs.cpp	Example 5: Runtime-selected DoFs

Note

Offline-only trajectory APIs from C++ examples are not shown here. This page focuses on cyclic PLC usage with Struckig.Otg.

Example pages

• Position interface example
• Velocity interface example
• Stop trajectory example
• Minimum duration example
• Runtime-selected DoFs example

For complete code, open the dedicated pages listed above.