.ErrorContext Input kin TRAFO.MC_KIN_REF_SM3 [...] .AXISPOS_REF Inout Const f SM3M.SMC [...] .CONFIGDATA fToolOffset SM3M.SMC

vTCP SM3M.SMC_VECTOR3 [...] ToolOffset SM3M.SMC [...] kinematics Inout mOri SM3M.SMC_Matrix3

SMC [...] _BLOCK SMC [...] AxisGroup AXIS_GROUP_REF_SM3

SMC [...] _BLOCK SMC [...] Inout AxisGroup AXIS_GROUP_REF_SM3

Positions ARRAY [0..5] OF SMC_Vector3 [...] SMC [...] _BLOCK SMC

) ¶ FUNCTION GetFlange : SM3_Error.SMC [...] Flange SM3M.SMC_Frame Inout Const fTcp SM3M.SMC

SMC_R_Scara3 [...] _BLOCK SMC_R_Scara3 [...] trf TRAFO.Kin_Scara3

TRAFO.MC_KIN_REF_SM3 [...] RefValid BOOL q0_cached SM3M.SMC_Quat angVelRef SM3M.SMC_AxisAngle

VelRef SM3M.SMC_AxisAngle q0 SM3M.SMC_Quat Input kin TRAFO.MC_KIN_REF_SM3

trafof SM3_CNC.SMC_Trafo [...] Positions ARRAY [0..5] OF SMC_Vector3 [...] SMC_Trafo