F_GetAcsMcsAxisIds

F_GetAcsMcsAxisIds 1:

This function reads the configured ACS and MCS axes from the cyclic interface. The IDs are written into stAxesList.

FUNCTION F_GetAcsMcsAxisIds : UDINT

VAR_IN_OUT
    stAxesList : ST_KinAxes;
    stKinRefIn : NciChannelToPlc;
END_VAR

stAxesList: List of the Axis Ids for the Axis Coordinate System and the Machine Coordinate System

stKinRefIn: Structure of the cyclic channel interface from the Kinematic Channel to the PLC. This structure is only accessed for reading.

Return value

UDINT: Error code. This function is valid from version 6 of the cyclic interface. If the version is correct 0 is returned, otherwise an error code.

Example

VAR
    stAxesList          : ST_KinAxes;
    stKinRefIn AT %I*   : NciChannelToPlc;
    nErrId              : UDINT;
END_VAR

nErrId := F_GetAcsMcsAxisIds(stAxesList, stKinRefIn);
IF nErrId=0 THEN
    ;(*Axes List is valid*)
END_IF

Requirements

This function is valid from version 6 of the cyclic interface. If the version is lower KinStatus_InvalidItfVersion (see E_KINSTATUS) is returned.