3_CAN_KEB_ConfigurationPhase (FunctionBlock) SMC3_CAN_KEB_SpecificInputs (Struct) SMC3_CAN_KEB_SpecificOutputs

Comment Input vX SMC [...] coordinate system) Output

Comment Input d [...] -,Y-,Z-drive Output dx LREAL

axis Phi Input d [...] axis R Output b

-only. Input bHandDown BOOL [...] of joint 5 Output q

Continuity SMC_ERROR Input [...] should be checked. Output

_Iterator Input dTs LREAL max [...] _Sample_ScheduleInfo Output dTCur LREAL d

Type Comment Input x [...] ToAxes). Output Config Config

EVENT_AFTER_READING_INPUTS IO events EVENT_BEFORE_WRITING_OUTPUTS [...] _SYNC_RECEIVED EVENT_BEFORE_READING_INPUTS

DrvLogModuleDiagnosis IoDrvReadInputs Io [...] DrvWatchdogTrigger IoDrvWriteOutputs [...] DrvLogModuleDiagnosis (Method) IoDrvReadInputs