IDENT_IN_GROUP_REF

IDENT_IN_GROUP_REF defines how an axis is interpreted in a group. Global variables can be used for multi-dimensional movements. For PTP collision-avoidance groups, the UDINT_TO_IDENTINGROUP function must be called.

Use of integer values for the input IdentInGroup The use of integer values for the input IdentInGroup is NOT supported and may lead to incompatibility with future releases. If integer values are used, it may no longer be possible to build the project. We recommend using global variables (e.g. MCS_X) or the conversion function UDINT_TO_IDENTINGROUP.

The constants below define axes as Cartesian axes in the machine coordinate system (MCS). A to C define the rotation axis (C: rotation around Z; B: rotation around Y; A: rotation around X). The number determines the rotation order. For example, if one axis is defined as MCS_C1 and another as MCS_B2, the system will first rotate around the Z-axis and second around the Y-axis

VAR_GLOBAL
    MCS_X                           : IDENT_IN_GROUP_REF;
    MCS_Y                           : IDENT_IN_GROUP_REF;
    MCS_Z                           : IDENT_IN_GROUP_REF;
    
    MCS_A1                          : IDENT_IN_GROUP_REF;
    MCS_A2                          : IDENT_IN_GROUP_REF;
    MCS_A3                          : IDENT_IN_GROUP_REF;
    
    MCS_B1                          : IDENT_IN_GROUP_REF;
    MCS_B2                          : IDENT_IN_GROUP_REF;
    MCS_B3                          : IDENT_IN_GROUP_REF;
    
    MCS_C1                          : IDENT_IN_GROUP_REF;
    MCS_C2                          : IDENT_IN_GROUP_REF;
    MCS_C3                          : IDENT_IN_GROUP_REF;

//new from TF5400 V3.1.10.1, only compatible with MC Group Coordinated Motion
    ADDAX1                          : IDENT_IN_GROUP_REF;
    ADDAX2                          : IDENT_IN_GROUP_REF;
    ADDAX3                          : IDENT_IN_GROUP_REF;
    ADDAX4                          : IDENT_IN_GROUP_REF;

// new from TF5400 V3.2.27, only compatible with MC Group
    ADDAX5                          : IDENT_IN_GROUP_REF;
    ADDAX6                          : IDENT_IN_GROUP_REF;
    ADDAX7                          : IDENT_IN_GROUP_REF;
    ADDAX8                          : IDENT_IN_GROUP_REF;
END_VAR