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