General properties

• There is a common channel-specific interface to read and write V.E, V.G, V.A and V.CYC variables.
• There is also an axis-specific interface for axis-specific variables (V.A). In the channel-specific interface, the axis name for axis-specific variables must be affixed to the variable names to address the required axis. In the axis-specific interface on the other hand, the variable value of the current axis currently assigned to this position must be read implicitly. Example:
  Axis-specific interface: V.A.ACT_POS
  Channel-specific interface: V.A.ACT_POS.X
• Access to the variable value can take place by name or handle, whereby using the handle is faster. The exceptions here are V.CYC variables. They are only accessible by name.
  The variable handle is variable (dependent on the configuration). For this reason, a query can be made by variable name.
• In order to access the variable without “pre-knowledge”, the number of variable entries can be determined and the variable descriptions can be polled (by index).
• Variable arrays with an elementary type (including multi-dimensional fields and “end nodes” of variable structures) can be treated as a single unit. Example:
  V.E.array_sgn32, V.E.struct.array_uns32, V.G.NP[0].V, V.G.NP[1].V
  When an array variable is read or written, access can be made either to a single element or a complete field. Example:
  V.G.NP[0].V[1] -> single element
  V.G.NP[0].V -> complete array V.G.NP[0].V[0]... V.G.NP[0].V[n]
• Variable structures are resolved into their single elements, i.e. the variable name is composed of structure names, element name and array indices. Example:
  V.G.WZ_AKT.SPDL_AX_NR
  V.E.trajectory.vector.x, V.E.trajectory.vector.y, V.E.trajectory.vector.z
  V.E.struct1[0].struct2[0].array_sgn32, ..., V.E.struct1.struct1[5].struct2[8].array_sgn32
  (end node “array_sgn32” is treated as a single unit).