denoted P and D [...] of the controller error (D [...] , derivative time D [sec

: dX = 0 dY = 0 d

9 ) = 16#BB3D In

Type Comment Input pD

Comment Input pD

Output dS LREAL

Description d_REF INT [...] dU_REF INT

_DC BOOL d_REF INT [...] dU_REF INT

Description d_REF INT [...] dU_REF INT

_MCS SMC_Vector3D In [...] Offset_TCP .) vOffset_TCP SMC_Vector3D