https://forge.codesys.com/forge/talk/Motion/thread/699da5903e/2020-02-27T18:50:49.065000ZRecent posts to Error with MC_AddAxisToGroup / SMC_AXIS_GROUP_AXIS_IN_DIFFERENT_TASK2020-02-27T18:50:49.065000Z2020-02-27T18:50:49.065000Zmedlockhttps://forge.codesys.com/u/medlock/https://forge.codesys.com8eb6ce25bcded11c5dbdd865557ca287db558d2f

<div class="markdown_content"><blockquote> <p><strong>Edwin Schwellinger hat geschrieben:</strong><br/> Hi,<br/> there will come an example implementation for an Gantry kinematic in this example project.<br/> Attached an exampleproject.<br/> BR<br/> Edwin</p> </blockquote> <p>The example seems to be empty. Can you post again?</p></div>

2020-02-27T18:50:47.901000Z2020-02-27T18:50:47.901000Zjosepmariaramshttps://forge.codesys.com/u/josepmariarams/https://forge.codesys.come497009ad2239a22866e612c0b065acb0a727ec8

<div class="markdown_content"><p>Dears.</p> <p>If I need a diferent kinematic transformation than the ones predefined:</p> <p>I need to create an predefided group and after change the kinematic transformation?</p> <p>Or can I create an re_axis_group and call it every cycle?</p> <p>At the end the question is:</p> <p>The path os generated in the ref_axis_group or in any hidden fb?</p> <p>Enviat des del meu HUAWEI LYO-L21 usant Tapatalk</p></div>

2020-02-27T18:50:44.622000Z2020-02-27T18:50:44.622000Zcyril-ghttps://forge.codesys.com/u/cyril-g/https://forge.codesys.comb4d996d30a0a5ae083d5e9b1d30c93480fec9f50

<div class="markdown_content"><p>Many thanks!<br/> Your example project helped me solving the issues I was facing.<br/> Thanks for your great support.</p></div>

2020-02-27T18:50:43.454000Z2020-02-27T18:50:43.454000Zeschwellingerhttps://forge.codesys.com/u/eschwellinger/https://forge.codesys.com5fa1c3e240a37b47be6fada587f732d8d4f7ca2f

<div class="markdown_content"><p>Hi,<br/> there will come an example implementation for an Gantry kinematic in this example project.<br/> Attached an exampleproject.</p> <p>BR<br/> Edwin</p> <p><a class="" href="https://forum.codesys.com//download/file.php?id=3016" rel="nofollow">Trafo Implementation.project <span><span>[111.15 KiB]</span></span></a></p></div>

2020-02-27T18:50:40.164000Z2020-02-27T18:50:40.164000Zcyril-ghttps://forge.codesys.com/u/cyril-g/https://forge.codesys.comb413711e24715e5f57934c8df2341b6849db8e16

<div class="markdown_content"><p>Hi Edwin,<br/> Thanks for your reply.<br/> I guess this means the answer to my previous question about implementing an axis group the way it is done in PLCopen part4, paragraph 4.1 is no. <br/> Fine for me. </p> <p>Actually I do also prefer using the axis group configurator. However, my robot's kinematic is not supported by the SM3_Transformation library. I've then followed the steps defined in Softmotion's documentation to define my own kinemactics. As mentionned earlier, I've implemented the TRAFO.MC_KIN_REF_SM3 interface but I don't see it appearing in the list of kinematics in the axis group configurator. My implementation of the MC_KIN_REF3 interface is a POU in the same application where I want to configure an axis group. <br/> How can I make my custom kinematics visible from the axis group configurator ?<br/> Do you have an example project you could share with me that I could use to look into how to create my own custom kinematics ?<br/> Thanks ahead.</p></div>

2020-02-27T18:50:38.986000Z2020-02-27T18:50:38.986000Zeschwellingerhttps://forge.codesys.com/u/eschwellinger/https://forge.codesys.combc87ead9860e4121185f6e79faa99ca133625c44

<div class="markdown_content"><p>Hi,<br/> it does not make really sense to add all these fb's manually in the appication code.<br/> All these global init code and implcit fb calls are missing then (which gives the SoftMotion if you use the editors/configuration).<br/> So I would recommend to check the examples (which are all using the configuration for kinematics)</p> <p>BR<br/> Edwin</p></div>

2020-02-27T18:50:35.711000Z2020-02-27T18:50:35.711000Zcyril-ghttps://forge.codesys.com/u/cyril-g/https://forge.codesys.coma4e7c96eed1511daaf05b8d65b387f4d11f12316

<div class="markdown_content"><p>Is this not what the program I've copied in a previous post doing ?<br/> I'm not sure I fully understand your comment. Maybe you would like to attach some example code to make your comment more clear for me?</p> <p>EDIT: For your convenience, I am attaching a simple project which can be used to reproduce the SMC_AXIS_GROUP_AXIS_IN_DIFFERENT_TASK error.</p> <p><a class="" href="https://forum.codesys.com//download/file.php?id=3010" rel="nofollow">TestAddGroup.project <span><span>[131.43 KiB]</span></span></a></p></div>

2020-02-27T18:50:34.556000Z2020-02-27T18:50:34.556000Zjosepmariaramshttps://forge.codesys.com/u/josepmariarams/https://forge.codesys.com6ee45781937da716f00b60f1fddfcdfae29b4abe

<div class="markdown_content"><p>Have you test to call your refgroup from the beguining of your program?</p></div>

2020-02-27T18:50:33.365000Z2020-02-27T18:50:33.365000Zcyril-ghttps://forge.codesys.com/u/cyril-g/https://forge.codesys.com62b1b1d63efc1f128412a413acbd7f60ecd3c70e

<div class="markdown_content"><p>Ok, I see.<br/> The thing is, I was trying to make a new axis group based solely on PLCopen function blocks (MC_AddAxisToGroup/MC_SetKinTransform/MC_GroupEnable).<br/> Hence I only declare the axis group and then populate it with the axes and a kinematic transform (basically just the same as what is described in PLCopen part4, paragraph 4.1). Is this not possible with CodeSys 3.5SP11 ? Do I have to use the axis group configurator in any case ? <br/> If yes, then my next question will be how to set my custom kinematics to an axis group ? I've implemented the TRAFO.MC_KIN_REF_SM3 interface but I don't see it appearing in the list of kinematics in the axis group configurator. My implementation of the MC_KIN_REF3 interface is a POU in the same application where I want to configure an axis group.</p></div>

2020-02-27T18:50:30.088000Z2020-02-27T18:50:30.088000Zjosepmariaramshttps://forge.codesys.com/u/josepmariarams/https://forge.codesys.com7953e0e946abd258a8578e017ee2e7dc78b10df6

<div class="markdown_content"><p>It seems that you not have a task assigned to the axis group.</p> <p><img alt="IMG: demo2.jpeg" rel="nofollow" src="https://forum.codesys.com//download/file.php?id=3007"/></p></div>