LTI Motion's Motion Library, which was specially developed for warehouse technology, contains, among other things, mast sway control and autonomous self-commissioning functions as well as energy-efficient and material-saving motion logic for coordinating the travel and lifting axes for storage and retrieval machines. Mast sway control calculates a trajectory curve using a mathematical algorithm with the aim of completely eliminating vibrations at the target point. These motion functions are programmed according to IEC 61131-3 and integrated into the SystemOne Motion Controller library. The decentralized motion controller is integrated into the automation system of the automated storage and retrieval system (AS/RS) via PROFINET and can assume the complete coordinated motion function of the travel and stroke axis of the AS/RS after autonomous commissioning. These modular packages are specially tailored to the needs of intralogistics and can be applied to any type of crane stacker.