Type Initial Comment [...] AxisStructID WORD 16#FE12 AXIS [...] CommunicationState WORD 16#FFFF

concrete type is driver [...] Out: Scope Name Type [...] configuration data. This

Out: Scope Name Type [...] axes dbgData Trj_DebugData Trajectory debug data

exchange cyclic data [...] paramterization data for each [...] parameter data with Comm

Ua_Attributes_Value 13 OpcUa_Attributes_DataType [...] Ua_Attributes_UserExecutable 22 OpcUa_Attributes_DataType [...] Ua_Attributes (ENUM) ¶ TYPE Opc

Type Comment Inout [...] Inout dbgData Trj_DebugData [...] JerkCur LREAL phaseType Trj_PhaseType

ClientObject (Method) GetTransformationData (Method) SetTransformationData [...] ) SetClientData

protocol data unit (PDU [...] “data item” width is [...] requesting register data

Out: Scope Name Type Comment Inout tyMMS_DataExchange tyIEC61850_MMS_Data

data that defines [...] Type Comment Input x [...] ToAxes). Output Config ConfigData