) Origin On axis 0, in Z-direction where axis 2 [...] direction of Z axis a

DriveR AXIS [...] axis R DrivePhi AXIS_REF_SM3 Reference to direction

origin v0. The x-axis [...] direction v1 .. v2. The y-axis is chosen in

WithInfo2 Transformation FB for a 3-axis [...] . They move the y-axis [...] The X axis is

WithInfo2 Transformation FB for a 3-axis [...] . They move the y-axis [...] The X axis is

WithInfo2 Transformation FB for a 2-axis [...] . They move the y-axis [...] axis is defined so

WithInfo2 Transformation FB for a 2-axis [...] they move the y-axis [...] axis is defined so

WithInfo2 Transformation FB for a 2-axis [...] they move the y-axis [...] axis is defined so

WithInfo2 Transformation FB for a 2-axis [...] . They move the y-axis [...] axis is defined so

WithInfo2 Transformation FB for a 3-axis [...] direction of the first axis (a0), i.e. a