\item While writing, the SCARA must have a writing speed of at least 1.5 characters per second.
\item When the Carriage/base of the SCARA is at a static position, the SCARA shall be able to write at least three characters at that position.
\item When the SCARA finished writing at their current position, the Cable bot shall move the SCARA to it's next position where it can write the subsequent characters.
\item When the SCARA has to be moved to a new position, the Cable bot shall perform this movement within one second.
\item When the system changes from writing to wiping or vice-versa, the SCARA and End-effector should change the tool within ten seconds.
