needed cyclic I/O data [...] Out: Scope Name Type

Name Type Comment [...] Enable BOOL “true” = Data

Type Comment Return [...] contains data structure [...] application isn’t

Type Initial Comment [...] _REF_SM3 iMovementType INT SMC_AXIS_TYPE

Type Initial Comment [...] _REF_SM3 iMovementType INT SMC_AXIS_TYPE

type AXIS [...] Type Initial Comment [...] number: 1059 iMovementType

: dX = a1 + d4 + d6 dY = -d3 dZ = d [...] -Hartenberg parameter d

: dX = a1 + d4 + d6 dY = -d3 dZ = d [...] -Hartenberg parameter d

Out: Scope Name Type [...] rising edge. poqData [...] queue d

Type Initial Comment [...] _REF_SM3 iMovementType INT SMC_AXIS_TYPE