Axis group reference AXES_GROUP_REF
The PLCopen Part4 specification requires the provision of a structure named AXES_GROUP_REF which must be transferred to the individual FBs as a VAR_IN_OUT parameter to identify the axis group commanded. The contents of the AXES_GROUP_REF structure are manufacturer-specific as stipulated in the PLCopen definition.
The ISG implementation, the AXES_GROUP_REF contains a variable HliIfcIdx which can be used for the axis group index which addresses an axis group-specific area on the HLI.
This axis index is assigned once in every PLC project by calling the FB MCV_PlatformBase.
In addition, the structure contains an array for the last six error messages that were notified by the motion controller for an axis group. However, the structure is not defined in the “McpPlcopenP4” library but in the “McpBase” library.