RobotStudio event

How can i use for formula in mechanism dependencies?

Hello I'm Kevin. I'm work in ABB KOREA.
SO, some questions came to mind in using mechanism.
I try to make to robot of using Create Mechanism. 
Mechanism Type is Robot.
but I have Problem for using formula in mechanism dependencies. 
How can i use for formula? and I would like to know a IRB6640 Robot of The Equations of Motion.
I will be looking forward to your response.
God keep you!

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