L_MC4P, L_MC1P: Access to motion axes and axis groups in the PLC program only when using VAR_IN_OUT, otherwise compiler warning (from V03.26.00)
Function extension:
Copying axis groups and axes (e.g. as VAR_INPUT or in the form "AxisRef1 := AxisRef2") is not allowed and potentially leads to serious errors.
Therefore, a compiler warning is now issued if this occurs in the application.
Contained in which products?
Library: L_MC4P_RoboticHandling (FAST Motion) from V03.26.00
L_MC1P_MotionControlBasic (FAST Motion) from V03.26.00
(Update via Package Manager)
Application:
Programming of access to axis groups (AxesGroupRef/AxesGroupKin) or axes (AxisRef).
Note:
If access to axes (Axis_Ref) and axis groups (AxesGroupRef/AxesGroupKin) is required in FBs, methods, functions or other POUs, these should always be passed as VAR_IN_OUT.
In this case, no compiler warning will be issued, since VAR_IN_OUT does not create a copy of the input object, but only references the existing one (call by reference).
A direct assignment of an AxisRef to another AxisRef is generally not permitted.
