ST_KinAxes

This structure defines the axes, which form a kinematic system.

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

nAxisIdsMcs: List of axis IDs of the axes that form the MCS. Usually, the first three array elements specify the cartesian axes (X,Y,Z), the subsequent array elements specify the rotational axes.

nAxisIdsAcs: List of axis IDs of the axes that form the ACS.

Sample

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;