ST_KinAxes

This structure defines the axes, which constitute a kinematics.

TYPE ST_KinAxes :
STRUCT
    nAxisIdsMcs: ARRAY[1..8] OF DWORD;
    nAxisIdsAcs: ARRAY[1..8] OF DWORD;
END_STRUCT
END_TYPE

nAxisIdsMcs: List of the Axis Ids of the Axes constituting the Machine Coordinate System. Normally the first three array elements contain the Cartesian axes (X,Y,Z), the following array elements contain rotation axes.

nAxisIdsAcs: List of the Axis Ids of the Axes constituting the Axis Coordinate System

Example

VAR
    stAxesConfig          : ST_KinAxes;
    io_X                  : AXIS_REF; 
    io_Y                  : AXIS_REF;
    io_Z                  : AXIS_REF;
    io_M1                 : AXIS_REF;
    io_M2                 : AXIS_REF;
    io_M3                 : AXIS_REF;
END_VAR

(* read the IDs from the cyclic axis interface so the axes can mapped later to the kinematic group *)
stAxesConfig.nAxisIdsAcs[1] := io_M1.NcToPlc.AxisId;
stAxesConfig.nAxisIdsAcs[2] := io_M2.NcToPlc.AxisId;
stAxesConfig.nAxisIdsAcs[3] := io_M3.NcToPlc.AxisId;
stAxesConfig.nAxisIdsMcs[1] := io_X.NcToPlc.AxisId;
stAxesConfig.nAxisIdsMcs[2] := io_Y.NcToPlc.AxisId;
stAxesConfig.nAxisIdsMcs[3] := io_Z.NcToPlc.AxisId;