coordinate system cs , i

_State Input dTau1_I LREAL

_Frame_DenavitHartenberg (Function) SMC_Frame_DenavitHartenbergI

coordinate system cs , i

reservation of I/O port addresses or I/O memory [...] I/O); Specific

address I/O Modules CAA [...] Instance : Instance number in I/O [...] number in I/O

interface cobID CL2I

iLen DINT Length

whole path Inout i

for I/O driver