Post by nguyenkhoi on Omron R88D-KN08H-ETC with a raspberry on top... (over ethercat) ^{CODESYS Forge talk (Post)}
hi everyone, continuing the part about omron g5 axis and nx-ecc201 omron, but i have a problem with not being able to scan with "model with Z code suffix of omron china", it seems that the available softmotion file is not fully compatible mapping, often causing ethercat communication error DC distributed clock after every 10-12 hours of continuous running! omron driver: R88D-KN08H-ECT-Z
Last updated: 2025-07-01

Post by imdatatas on The default ramp type selection in SoftMotion V4.18.0.0 is Quadratic ^{CODESYS Forge talk (Post)}
Dear @gseidel, @tk096, I noticed that with SoftMotion V4.18.0.0, if a new axis is added to the project, the ramp type selection defaults to "Quadratic". In all previous versions, the velocity ramp type selection was "Trapezoidal". This causes some unexpected issues in projects with SoftMotion version V4.18.0.0 for newly created or newly added axes to existing projects. Is it possible to reconsider this situation in the next update and set the velocity ramp type to "Trapezoid" by default again? Best Regards, Imdat
Last updated: 2025-07-22

Post by imdatatas on MC_MoveAbsolute: C0138: No matching 'FB_Init' method found for instantiation of SMC_MoveAbsRelPerformerImpl [ERROR] ^{CODESYS Forge talk (Post)}
Hello everyone, Updating and converting an existing working Codesys Softmotion axis control project to the latest Codesys IDE and Softmotion version always gives the following error message during compilation. " [ERROR] sm3_basic, 4.18.0.0 (codesys): MC_MoveAbsolute: C0138: No matching 'FB_Init' method found for instantiation of SMC_MoveAbsRelPerformerImpl " -- Previously working version: Codesys IDE SP18.50, Softmotion 4.10.0.0 -- Later updated version with the error: Codesys IDE SP21.10, Softmotion 4.18.0.0 Has anyone encountered a similar issue? How can this be resolved? Regards, Imdat
Last updated: 2025-07-24

Post by bmatlove on AXIS_REF_SM3 Error Codes? ^{CODESYS Forge talk (Post)}
I'm trying to firm up alarming of axis faults. Declutter the code and figure out what's what. Diving into it, I see the AXIS_REF_SM3 function block provides uiDriveInterfaceError and dwErrorId, but I can't find any significance of these further than Drive interface error number Parameter number: 1014 and Drive specific error identifier, parameter number: 1031, respectively. Is there some corresponding appendix I could use to decode these? Also, is there any relation to the Error ID (of type SMC_Error) of the MC POUs? MC_Jog, MC_Reset, MC_MoveRelative, etc? If so, are the above errors redundant? Thanks in advance.
Last updated: 2025-09-22

Post by esave on Softmotion Axis Controll ^{CODESYS Forge talk (Post)}
Hello everybody I have two of these EtherCat CiA402 stepper driver from Leadshine: https://www.leadshine.com/product-detail/EM3E-556E.html I want to controll them. I already have implemented them in Codesys with Softmotion. I see the position, the velocity and the status word so I can read everything. See picture 1. But when I want to write something like MC_Power or MC_MoveAbsolut with the SM3_Basic library it wont work and with the MC_Reset POU it shows: "SMC_R_DRIVE_DOESNT_ANSWER". See picture 2. Can somebody help me? Thanks a lot esave
Last updated: 2024-05-24

Post by joep on Custom robotics kinematics model debugging ^{CODESYS Forge talk (Post)}
When trying to move my axis using any group move instruction I get the following error: SMC_CP_INVALID_PATH_ELEM and axisgroup goes into errorstop state. I tested my methods thoroughly which makes it hard for me to debug. Are there some hidden rules I need to abide to? How would one go about debugging a custom robotics model, since the information inside isn't accesible. Is it possible to find the source of where the function breaks? Any hint in the right direction would be appreciated. Best regards
Last updated: 2024-06-08

Post by kenth1973 on MC_Phasing state explenation ^{CODESYS Forge talk (Post)}
My MC_Phasing FB was stuck in iPhasingState=1 and error output HIGH on one axis. I could manually overwrite the state to 0 in the instance data. During normal run I see the state change from 0 to 10 to 100 back to 0 (maybe more states that I couldnt catch with the naked eye) But - what are the states numbers and their different explenations? This is not explained in the FB guide on codesys. (the pictures show state = 0 after I reset)
Last updated: 2025-11-22

Post by gseidel on AXIS_REF_SM3 Error Codes? ^{CODESYS Forge talk (Post)}
Hi SLUCodesys, dwErrorId is a drive specific error number. The drive documentation should be consulted to interpret it. (Note that you should use MC_ReadAxisError to read this error, see https://content.helpme-codesys.com/en/libs/SM3_Basic/Current/SM3_Basic/POUs/Diagnostics/MC_ReadAxisError.html. Accessing the internal variable will result in outdated values if the acis error is not mapped by PDO and is not recommended in general.) uiDriveInterfaceError holds errors of the SoftMotion driver for the drive. It is also an internal variable, not intended for direct access. It is intended for logging, the PLC log will contain the drive interface error, consisting of this number and an error text. My recommendation for handling axis errors in the CODESYS application: 1) Use MC_ReadStatus on the axis to find out whether it is in state Errorstop 2) If in Errorstop, there are two possibilities: an error reported by the drive (MC_ReadAxisError) or an error of the SoftMotion function blocks (output MC_ReadStatus.FBErrorOccured). 3) If there is no drive error, you can use SMC_ReadFBError https://content.helpme-codesys.com/en/libs/SM3_Basic/Current/SM3_Basic/POUs/Diagnostics/FBError/SMC_ReadFBError.html Best regards, Georg
Last updated: 2025-09-24

Post by spiessli on Softmotion axis to CANopen Maxon IDX drive ^{CODESYS Forge talk (Post)}
Thanks for the advise, indeed, this was somewhat, what my intention was. I tried around again with EDSes and DCFs, anyway. It appears that the DCFs end up in a subfolder in the attach device dialog. Astonishingly, when attaching the DCF version I get a device in the device tree, where I can add a SoftMotion axis, whereas when I attach the device not in the subfolder, then I cannot. Further astonishingly, when looking in the CANopen parameters in supported profiles, "402" is listed in the case of the DCF variant, whereas in the EDS variant "0" is shown. Comparing EDS and DCF files I cannot guess, where the difference is coming from. I cannot tell either why I have always attached the EDS variant and apparantly never the DCF variant. As I am not in the lab right now, I cannot test if the connection actually is working. Thanks again, spiessli
Last updated: 2024-01-07

Post by gseidel on Mismatch between coordinate monitor and actual motion using SMC_GroupJog2, MC_MoveLinearAbsolute (6DOF) ^{CODESYS Forge talk (Post)}
Hi darwin03, when all joints are 0°, then the 6-axis robot is in a so called singularity. This means that it is in a special position where it cannot move freely in all directions but is restricted by its own construction. For a simple example, imagine a scara robot where the arm is fully stretched. In this position it cannot move freely. You can find a lot of information about robot configurations in the www. As far as CODESYS SoftMotion Robotics is concerned, this page holds the most important links, look for the error SMC_CP_CONFIGS_DIFFER: https://content.helpme-codesys.com/en/CODESYS%20SoftMotion/_sm_robotics_errors.html The most important rules: 1) CP movements (linear moves, circular moves, cartesian jogging) cannot change the configuration during the movement. Both start- and endpoint must be in the same configuration. This excludes also the edge case that one or both of them are in a singularity. 2) PTP movements can move through singularities and cross configurations without problems. 3) SMC_SetKinConfiguration can be used to set the configuration of the axis group. Regards, Georg
Last updated: 2026-05-04

Post by svenkaro on Codesyscontrol.service stoppt nach 30s ^{CODESYS Forge talk (Post)}
Wie Du schon vermutet hast, es meint, die Hardware/Firmware sei nicht kompatibel ... ooops... this runtime was built for RASPBERRYPI. Hardware version or firmware version not supported! (-18, 0x00000BB8, 0xFFFFFFFB) Architecture: aarch64 Byte Order: Little Endian CPU(s): 4 On-line CPU(s) list: 0-3 Vendor ID: ARM Model name: Cortex-A72 Model: 3 Thread(s) per core: 1 Core(s) per cluster: 4 Socket(s): - Cluster(s): 1 Stepping: r0p3 CPU(s) scaling MHz: 40% CPU max MHz: 1500.0000 CPU min MHz: 600.0000 BogoMIPS: 108.00 Flags: fp asimd evtstrm crc32 cpuid Caches (sum of all): L1d: 128 KiB (4 instances) L1i: 192 KiB (4 instances) L2: 1 MiB (1 instance) Vulnerabilities: Gather data sampling: Not affected Itlb multihit: Not affected L1tf: Not affected Mds: Not affected Meltdown: Not affected Mmio stale data: Not affected Retbleed: Not affected Spec rstack overflow: Not affected Spec store bypass: Vulnerable Spectre v1: Mitigation; __user pointer sanitization Spectre v2: Vulnerable Srbds: Not affected Tsx async abort: Not affected Allerdings habe ich schon reichlich Firmware versionen getestet.
Last updated: 2024-06-21

Post by toffeebonbon on EL7041-0052 - does it run with EL7041 SoftMotion? ^{CODESYS Forge talk (Post)}
I let this project rest for a while and picked it up last week. I have been in contact with the support from beckhoff and got the information that the terminals were identical (communication wise). As the Log of the Axis (not the drive's log) shows the error when trying to write into the register 0x8012 and set the value for an encoder to a value that is the default - at least according to the manual - I was wondering if it is possible to "not write that value" to skip that part? Or am I misunderstanding the way the library communicates with the drive?
Last updated: 2024-07-24

Post by r-c-r on SM3RaspiStepper 0.0.0.6 issue ^{CODESYS Forge talk (Post)}
Hello, I noticed that version 0.0.0.6 is now available, so I tested it using CODESYS V3.5 SP19 Patch 7 and SoftMotion 4.17.0.0. While the project compiles and downloads without issues, I encountered a problem with the 'Enable: GPIO pin number that is set when the axis is enabled (with MC_Power) (0: not used)' functionality — it no longer works (HIGH level not present at the output pin). I observed the same behavior with version 0.0.0.5, whereas version 0.0.0.4 functions correctly. Could you help me identify what might be causing this issue or suggest how to resolve it? Thanks.
Last updated: 2025-03-19

Post by esave on Softmotion Light Problem: The license is missing or invalid ^{CODESYS Forge talk (Post)}
Hello everybody I want to controll a stepper driver from Leadshine (EM3E-556E). The EtherCat slave is CiA 402 compatible. Because of this I bought the Softmotion Light Package from Codesys and implemented it in my project. I rightclicked the EtherCat slave and added the Softmotion Light axis. But now the error message shows: "The license is missing or invalid. The PLC runs in demo mode." What have i done wrong? I use Codesys 3.5.17. Is it possible that the stepper driver is not compatible with the Softmotion license? Thanks for all your help
Last updated: 2024-05-02

Post by imdatatas on Unrecoverable SoftMotion state after switch to PreOp ^{CODESYS Forge talk (Post)}
Dear @alimans, Additionally, As far as I know since starting from Softmotion V4.18.0.0 automatic restart behaviour for an axis has been changed for this issue. See below explanation from release notes. "With CODESYS SoftMotion 4.18.0.0, the behavior of SoftMotion axes after a loss of communication to the servo drive has changed. Now, an automatic reinitialization is performed as soon as the communication is established again. Before, an explicit call to SMC3_ReinitDrive had to be performed. An example for a loss of communication is that the cable to one of the drives is unplugged." Regards, imdatatas
Last updated: 2025-10-23

Post by rau00 on Touch Probe 0x60B8 writting ^{CODESYS Forge talk (Post)}
Hi erveyone, Rau here, first time asking on CODESYS Forge: When working with my servodrives, a special behaviour is required on dsp402 0x60B8 object, a control that is not supported by MC_TouchProbe. For this reason, I'd like to ask: Anyone knows if there is any way to bypass or change the softmotion axis writting into 0x60B8 object? My main problem is that MC_TouchProbe.TriggerInput.iTriggerNumber only allows to choose between TP 1 and TP 2 (not both at the same time). iTriggerNumber only allows values [0, 1, 2, 3], other values triggers an error in the FB, wether SMC_TP_COMM_ERROR for values [4, 5, 6, 7] and SMC_TRIGGER_OUT_OF_RANGE with any other value. Best regards, Guillem
Last updated: 2026-04-10

Post by gseidel on Limit Axis CNC Jerk using SMC_Polynomial_AbsMaxLocs ^{CODESYS Forge talk (Post)}
Dear josepmariarams, this (internal) function has been removed with SoftMotion 4.17.0.0. We do not have public functions to compute the extrema of a polynomial. On which polynomials exactly did you call SMC_Polynomial_AbsMaxLocs? (Maybe if I understand better how you limit the jerk I can come up with an alternative.) There is no functionality to limit the jerk of individual axes in the CNC. With SMC_LimitDynamics, you can limit the velocity and acceleration of cartesian (X/Y/Z) and additional (P/Q/U/V/W/A/B/C) axes, but not the jerk. And with a quadratic ramp type you can limit the jerk on the path. Best regards, Georg
Last updated: 2026-06-10

Post by imdatatas on The default ramp type selection in SoftMotion V4.18.0.0 is Quadratic ^{CODESYS Forge talk (Post)}
Dear @gseidel, Thank you for your clarification. I fully agree that the quadratic ramp type may have certain technical advantages. However, the main problem is backward compatibility and consistency across projects. In many automation projects, application developers rely on the fact that creating a new axis object will behave exactly the same way as in previous versions. With SoftMotion V4.18.0.0 and later, if an application developer adds an axis and overlooks the changed default, the motion function blocks behave differently than expected. In particular, since the Jerk value in SM3_Basic function blocks is ineffective in trapezoid ramp type, users are accustomed to leaving this parameter empty in their projects. In many existing projects, this variable has not even been assigned. When the default is changed to quadratic, the Jerk parameter suddenly becomes relevant, which can cause errors or unexpected behaviour in the field. From a user perspective, a default setting should always be the “safe” and “expected” option, while alternative options (like quadratic) can be selected manually if desired. Keeping the default as trapezoid ensures compatibility with existing projects and prevents unexpected issues, while still allowing users to benefit from quadratic ramps if they explicitly choose so. For these reasons, I kindly ask you to reconsider making trapezoid the default again. This would significantly reduce the risk of unexpected behaviour in future projects while still preserving the advantages of the quadratic ramp type for those who actively select it. Of course, the final decision is entirely at your discretion. Best Regards, imdatatas
Last updated: 2025-09-26

Post by mubeta on parker servo and position ^{CODESYS Forge talk (Post)}
In general, drives have parameter sets to adjust behaviour in such cases: position recovery, adaptation with resistant torque, out-of-position window failure, etc. (Much depends on the type of configuration set for the axis: positioner, speed controller, torque controller, etc.). I have used that type of drive very little, in only two cases and a long time ago. To tell you what is normal is impossible. I know by reputation they are very simple objects, without too many pretensions and adjustments possible. Try running traces by monitoring actual position, motor current, torque and following error. These are the most sensible curves to understand what is going on. Maybe by fine tuning the motor tuning, the current controller or the speed controller you will get something closer to what you want. For example, from DS, the motor has a standstill torque of 3 Nm. Observe with traces whether this is effective: motor current trend. And afterwards, when you have your own accurate picture of the situation, you can also hear from the product's local support to see if you can steal a few more things from it performance-wise.
Last updated: 2024-08-05

Post by imdatatas on Read "Homed" status from EtherCAT drive ^{CODESYS Forge talk (Post)}
Hello, I have experienced such situations with some servo drive devices in the past. The home completion information is reported to the upper controller by the slave drive with the states of the relevant bits in the StatusWord (for example; 6041h Bit10, Bit12 in Home mode). If the states of these bits are correct in terms of number and state but the motor does not actually perform the action; You can contact the slave drive manufacturer. There may be a problem with the device firmware. Another area you can play around with is looking at the settings in the "Advanced configuration" for Softmotion axis on the page the link to below, and trying it out and using the one that works for you. https://content.helpme-codesys.com/en/CODESYS%20SoftMotion/_sm_cmd_add_softmotion_cia402_axis.html A method I recommended worked for a user as in below message. https://forge.codesys.com/forge/talk/Engineering/thread/40bc82454d/ I hope your problem will be solved as soon as possible and by sharing the result here, you will help others to know and overcome it. Good luck. Best regards, Imdat
Last updated: 2025-01-08

Post by laurits on Max lines of code, codesys CNC ? ^{CODESYS Forge talk (Post)}
Hi, okay here's the project, it's a modified version of "CNC Example 10: Programming Dynamic CNC Paths", no need for G Code text file (i have also tried with G code text file, same problem) in "PROGRAM PLC_PRG" you can set bStart to true, and the program should start running, go to "PROGRAM CNC" and you can see axis moving. lrXpos := IoConfig_Globals.XAixs.fSetPosition; lrYpos := IoConfig_Globals.YAxis.fSetPosition; Now you can can change the number of movements in the the "PROGRAM PLC_PRG" From this number of movements in "program PLC_PRG" BUF : ARRAY[0..32010] OF SMC_GEOINFO; xp : ARRAY[1..32000] OF REAL; yp : ARRAY[1..32000] OF REAL; to this number to this number of movements BUF : ARRAY[0..132010] OF SMC_GEOINFO; xp : ARRAY[1..132000] OF REAL; yp : ARRAY[1..132000] OF REAL; Now if you start the program again you should see an error in the "sMC_Interpolator: SM3_CNC.SMC_Interpolator;" function block Let me know if you can not get it running.
Last updated: 2025-06-03

Post by k2saki on CNC / G01 Speed is very slow (or go-stop motion) in Continuous short segment . ^{CODESYS Forge talk (Post)}
I'm using CAD/CAM that outputs GCode with G01 many short segments from NURBS Curve, only X-Y axis. But CODESYS CNC motion seems much slower ( or stop-go motion ) in simulation mode than F-Value (I checked value from SMC_Interpolator - dVel ). In GCode G01, F value is F500, but movement is very slow, actual speed (dVel) is between 0 to 30 back and forth. I think very old CNC can move like that, but nowadays, a lot of CNC can move smoothly to process free curve ( somethimes option switch ) I tried to use G51 Dxx but I got the same result. My questions are 1) How do I improve CODESYS CNC motion in this case ? 2) How can I graph the sampling from dVel of SMC_Interpolate in CODESYS? From my GCode N2006 G01 X1.4364 Y-14.6847 F500 N2007 G01 X1.6759 Y-14.6768 N2008 G01 X1.9152 Y-14.6486 N2009 G01 X2.1547 Y-14.6400 N2010 G01 X2.3943 Y-14.6090 N2011 G01 X2.6336 Y-14.6002 N2012 G01 X2.8732 Y-14.5716 N2013 G01 X3.1127 Y-14.5634 N2014 G01 X3.3520 Y-14.5410 N2015 G01 X3.5915 Y-14.5336 N2016 G01 X3.8308 Y-14.5307 ... Thansk.
Last updated: 2024-04-29

Post by timvh on License problem gateway ^{CODESYS Forge talk (Post)}
What we are trying to explain is that, yes CODESYS creates the software, but Epis decides how they implement it on their hardware, which runtime version they use and they decide which functionality they support. So it is always a combination of the two. What CODESYS provides is a runtime with options for e.g. visualization or softmotion. Epis could add this softmotion license as default to their controller, but if they don't then CODESYS provides another option with a single license in a "Wibu CodeMeter" container. Eventhough the feature exists, Epis has to add this "CodeMeter" software on their controller to be able to access the licenses in the container. We don't know if they did this. Then finally it depends on what type of runtime is on this controller and which license Epis is using. So if they have an OEM license (not an application based license), then most likely you will need the Softmotion license (not a number of axis). See https://store.codesys.com/en/codesys-softmotion-sl-bundle.html. But to be sure if this is supported by the Epis controller, you must ask Epis.
Last updated: 2024-04-30

Post by serwis on Dynamic target position tracking ^{CODESYS Forge talk (Post)}
Hello, I am trying to control a servo drive and dynamically set its position. I control the drive via EtherCAT with a cycle time of 500us. I use the MC_MoveAbsolute block for this. The problem is that when using a PID controller, I generate the positions I want the drive to move to on an ongoing basis, and I would like the position to be set immediately. The MC_MoveAbsolute block must receive a rising edge to execute, and I would like the movement to be performed without waiting for this edge. I have created a function that generates a rising edge every 1 ms, but I am unable to change this time to 500 µs because the TON function does not support times shorter than 1 ms. Below is the code to call the rising edge: IF Exe = TRUE THEN delay1(IN:=TRUE, PT:=T#1MS); IF delay1.Q = TRUE THEN Exe := FALSE; delay1(IN:=FALSE); END_IF END_IF IF Exe = FALSE THEN delay(IN:=TRUE, PT:=T#1MS); IF delay.Q = TRUE THEN Exe := TRUE; delay(IN:=FALSE); END_IF END_IF END_IF Here is the code for calling the MC_MoveAbsolute function: MoveDegree( Axis:= Tilt, Execute:= Exe, Position:= position_target - (base_angle_real * feedforward_turn), Velocity:= vel, Acceleration:= acc, Deceleration:= dec, Jerk:= jerk, Direction:= MC_DIRECTION.shortest, BufferMode:= MC_BUFFER_MODE.Aborting, Done=> , Busy=> , Active=> , CommandAborted=> , Error=> , ErrorID=> ); I realize that there are probably better methods for performing this type of task. How can I implement motion with a dynamically changing setpoint? THANKS
Last updated: 2025-09-05

Post by manuknecht on Maximum dynamic limits of MC_MoveLinearAbsolute and MC_MoveLinearRelative ^{CODESYS Forge talk (Post)}
Hello all I use an axis group with two linear axes in a kinematic system. Using MC_MoveLinearAbsolute and MC_MoveLinearRelative, I am trying to realise dynamic movements (set velocity: 1 m/s, set acceleration: 30 m/s^2) with the highest possible jerk, as I want to compare this with a movement with a trapezoidal velocity profile. However, my measurements show that the axes accelerate with a maximum jerk of approx. 800 m/s^3, even if the value in the function block was set to 10,000 m/s^3. I have already increased the dynamic limits of the two axes accordingly (Velocity: 5000 u/s, Acc-/Deceleration: 250'000 u/s^2, Jerk: 100'000'000 u/s^3, where 1 u = 1 mm), but this had no effect. I have checked the input parameters of the function blocks and the VelFactor, AccFactor and JerkFactor factors are all set to the maximum (value 1). Reducing the cycle time has resulted in a higher jerk, but as we are already working with a cycle time of 1 ms, there is nothing more that can be done here. The axes themselves are still a long way from drawing the maximum current, which is why I assume that this should not be a problem either. Are there other factors or parameters that influence the dynamic limits and therefore allow faster movements? The PLC I am using is a Raspberry Pi 4 and Codesys V3.5 SP20 with all libraries up to date. Thanks in advance Manuel
Last updated: 2024-05-08

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