_REF Inout Const v_MCS SMC_VECTOR3D vOffset_TCP SMC_VECTOR3D

_REF Inout Const v_MCS SMC_VECTOR3D vOffset_TCP SMC_VECTOR3D

_REF Inout Const v_MCS SMC_VECTOR3D vOffset_TCP SMC_VECTOR3D

Quat1_ExpV(u*d [...] _Quat Inout Const u SMC_Vector3D [...] vector. Input d

PrimArc Inout Const vStart SM3M.SMC_VECTOR3D [...] Dest SM3M.SMC_VECTOR3D [...] Border SM3M.SMC_VECTOR3D

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

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

evaluated between dS0 and d

task. Clears dS0 and dS1. InOut: Scope

-velocity >= -eps.d [...] Trajectory Input d