F_KinGetAcsMcsAxisIds

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

FUNCTION F_KinGetAcsMcsAxisIds : UDINT

VAR_IN_OUT
    stAxesList : ST_KinAxes;
    stKinRefIn : NCTOPLC_NCICHANNEL_REF;
END_VAR

stAxesList: List of axis IDs for the axis coordinate system (ACS) and the machine coordinate system (MCS).

stKinRefIn: The structure of the cyclic channel interface between the kinematic channel and the PLC. This structure is only accessed for reading.

UDINT: Error code

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

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