Simple helper function for 24_7 Forward Kinematics. Multiplies X,Y,Z with a scalar, and returns the new vector. Concept taken from wikipedia.
Code Overview
FUNCTION scalar_multiply : ARRAY [0..2] OF LREAL
VAR_INPUT
scalar : LREAL;
vector : ARRAY [0..2] OF LREAL;
END_VAR
VAR
result : ARRAY [0..2] OF LREAL;
i : INT;
END_VAR
FOR i := 0 TO 2 DO
result[i] := scalar * vector[i];
END_FOR
scalar_multiply := result;