Comment Input v1 Vector3d [...] 2 Vector3d Input vector [...] {R}\) Output v Vector3D

dRoll LREAL dPitch LREAL dYaw LREAL

dRoll_rad LREAL dPitch_rad LREAL dYaw_rad LREAL

Input dA_deg LREAL [...] -axis in degree dB_deg LREAL [...] ’-axis in degree dC_deg LREAL

PortIn (Function) SysPortInD [...] PortOut (Function) SysPortOutD [...] PortIn30 (Function) SysPortInD

ProductNormed (FunctionBlock) MakeNormed3D (Function) Norm3D (Function) ScalProd3D

with Open() dRequest __XWORD Request id. d

_Sample_ScheduleInfo Output dTCur LREAL d

_REF Inout Const v_MCS SMC_VECTOR3D vOffset_TCP SMC_VECTOR3D

_REF Inout Const v_MCS SMC_VECTOR3D vOffset_TCP SMC_VECTOR3D