0 -90° 2 0° d [...] _Wrist3 IMPLEMENTS ISMToolKinematics2 , ISMKinematicWithInfo2
alpha2 LREAL trafo SM3_CNC.SMC_TRAFO_Bipod_Arm dOffsetY LREAL
Type Inout vTCP SMC_VECTOR3D [...] 1 LREAL a2 LREAL Return
Type Inout vTCP SMC_VECTOR3D [...] 1 LREAL a2 LREAL Return
_QueueSetReservedEntries (FunctionBlock) SMC_RotateQueue2D [...] SMC_CoordinateTransformation3D [...] _DetermineCuboidBearing (FunctionBlock) SMC_InvCoordinateTransformation3D
UDINT 60 10/1GBASE-PRX-D2 [...] UDINT 66 10GBASE-PR-D2 [...] _MAUTYPE_10base5 UDINT 2 10
_DL_CMD_SET_FILTER_CNF UDINT 16#2A0D CAN [...] _DL_CMD_INIT_CNF UDINT 16#2A1D DEVNET [...] _DL_CMD_DATA_IND UDINT 16#2A00 CAN
functions: atan2, 3D vectors and 3D matrix [...] _V3_Angle (Function) SMC_V3_Angle2D
1 connected to the motor dArmLength2 [...] KinematicsInternal, ISMKinematicWithInfo2 [...] of the 2nd axis