to support different tools (see SMC_GroupSetTool [...] , the tool offset can

to the tool plate by arms [...] as the midpoint of the tool [...] to the tool plate. Points

so that the tool center point [...] Z and the orientation of the tool [...] azimuth dTool LREAL

Tolerance ToolOffset Trafo [...] Tolerance (Property) Tool

SMC_ToolCorr . In [...] TC_ORIG 0 No tool

_KIN_REF_SM3 Methods: GetPosAndTool [...] _KIN_REF_SM3 Structure: GetPosAndTool

_TRAFOF_Gantry2 (FunctionBlock) SMC_TRAFOF_Gantry2Tool1 (FunctionBlock) SMC_TRAFOF_Gantry2Tool [...] _TRAFO_Gantry2 (FunctionBlock) SMC_TRAFO_Gantry2Tool

.AXISPOS_REF fToolOffset SM [...] .ISMPositionKinematics_Offset kinTool TRAFO

and tool offset [...] 3M.SMC_Frame fToolOffset SM

Output vToolPos SMC [...] of the tool center point in world coordinates mTool