v [...] * (0,0,1) = v [...] the TCP v

coordinates vX SMC [...] coordinate system vY SMC [...] coordinate system vZ SMC

Const v1 SMC_Vec v

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

vector v [...] rotation vRot are [...] Inout Const vTool SM

_REF 入出力 定数 v_MCS SMC_VECTOR3D vOffset_TCP SMC

Const ef ElemFun v0 SM3M.SMC_Vec v1 SM

Fun Inout vS SM3M.SMC_Vec vD SM

-velocity (fV0, fV1) resp

_REF Inout Const v_MCS SM3M.SMC_VECTOR3D vOffset_TCP SM