Post by dogulas on OPC UA C# client connecting to OPC UA CODESYS server ^{CODESYS Forge talk (Post)}
Ok, I have a simple test environment. From C#, using OPC UA, I can read DINTs, write DINTs, read Structs, but when I try to write a struct I get BadNotWritable. I am using Communication Manager, OPC UA Server, and IEC Symbol Publishing. I have a struct defined with one single DINT in it. The instance of the struct is in GVL. The struct is marked read/write in IEC Symbol Publishing. Any ideas? Pointers are welcome. public static async Task WriteStructA(byte[] structAData) { if (_session == null) throw new Exception("session is null"); // create a RequestHeader RequestHeader requestHeader = new RequestHeader { Timestamp = DateTime.UtcNow, TimeoutHint = 30000 // timeout in milliseconds }; // create an ExtensionObject to wrap the value to be written ExtensionObject extensionObject = new ExtensionObject( new ExpandedNodeId("GVL_StructA", 5), structAData ); // create a WriteValue object to hold the value to be written WriteValue writeValue = new WriteValue { NodeId = _structANodeId, AttributeId = Attributes.Value, Value = new DataValue(extensionObject) }; // put the WriteValue object into a WriteValueCollection object WriteValueCollection writeValueCollection = new WriteValueCollection() { writeValue }; // perform the write operation asynchronously WriteResponse writeResponse = await _session.WriteAsync( requestHeader, writeValueCollection, CancellationToken.None ); // check the result of the write operation if (writeResponse.Results[0] != StatusCodes.Good) throw new Exception("Write failed: " + writeResponse.Results[0]); }
Last updated: 2024-12-17

Post by shubadubalu on OP UA Client - Variablen zeigen alle 0 ^{CODESYS Forge talk (Post)}
Hallo liebe Codesys Community :) Momentan versuche ich eine OPC-UA Verbindung aufzubauen, dabei habe ich ein komisches Verhalten festgestellt. Man sucht sich ja die Variablen indem man auf "Variablen aktualisieren" in Datasource klickt. Diese werden dann auch in der enstprechenden Variablenliste automatisch deklariert. Wird das Programm übertragen und die CPU (PFC200) gestartet, aktualisieren sich die Werte entsprechend. Mittels UA Expert passen die Werte aller Variablen. Starte ich jetzt die CPU neu (OPCUA Client), werden alle Variablen mit dem Wert 0 angezeigt. Unter "Allgemein und Diagnose" wird verbunden angezeigt. Auch UA Expert zeigt weiterhin die aktuellen Server Werte. Klicke ich erneut auf "Variablen aktualisieren" und übertrage das Programm funktioniert wieder alles. Ein Kalt / Warmstart hat leider keine Auswirkung. Auch den Server Neustarten bringt kein Erfolg. Wie schaffe ich es, dass die Variablen nach CPU Neustart auch die Werte des Servers annehmen? Ich freue mich über Tipps und Ideen. :) Weitere Informationen: CODESYS 64 3.5.20.50 CPU: WAGO PFC 200 750-8216 OPC UA Kommunikation Anonym und ohne Security-Strategie
Last updated: 2025-02-18

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 astutoski on No Motion with SM3_RaspiStepper (GPIO 23/24 Show No Pulses) ^{CODESYS Forge talk (Post)}
Hi everyone, I’m completely new to CODESYS and have been teaching myself. And i Want to control an Axis using SM3RaspiStepper. Following the example on the RaspiStepper home page, I set up an axis through a POU and tied the SMC_StartupDrive (Visu) template to my axis instance (sud). Unfortunately, the motor never moves and I don’t see any pulses on the PULSE pin (GPIO 23). Hardware -Raspberry Pi 4 B -Nema 17 stepper motor -A4988 stepper driver (EN pin permanently tied to GND) Software / Runtime -CODESYS 3.5 SP21 Patch 1 – Raspberry Pi runtime (demo) -SoftMotion in demo mode -Package: SM3_RaspiStepper 0.0.0.6 Axis parameters: Pulse pin GPIO 23 Direction pin GPIO 24 Enable pin 0 (unused) Disable pin 0 (unused) Whether I start the axis from the visualization template or through Online Config Mode, the motor never spins. In Online Config Mode I press Power → the state changes from Standstill to Discrete_Motion, but the motor shaft is still locked and no step pulses appear on GPIO 23 (checked with a scope). I can provide screenshots of the Visualization, PLC logs, or wiring pictures if that helps. Any ideas on what I might be missing? Happy to provide screenshots, project files, or scope captures if that helps. Thanks in advance!
Last updated: 2025-06-25

Post by hprog on Codesys 3.5.20/21 Import Geräterepository bzw. Bibliothen Repository funktioniert nicht ^{CODESYS Forge talk (Post)}
Hallo, Ich habe schon mehrfach Treiber für I2C Geräte geschrieben und keine Probleme mit dem Einbinden gehabt, aber derzeit komme ich auf keinen grünen Zweig. Der Import des Geräterepository (xml) funktioniert, der Import ins Bibliothekenrepository funktioniert auch, aber wenn ich dann das Gerät an den I2C MAster anfüge funktioniert der Import in das Projektbibiothek nicht und somit wird auch der entsprechende FB nicht instanziert und ich bekomme folgende Fehlermeldungen ------ Übersetzungslauf gestartet: Applikation: Device.Application ------- Code typisieren... [FEHLER] I2C_Test_Examples: MCP23008_X81 [Device: I²C: I2C_master]: Bibliothek Raspberry I2C MCP23008_X81, 1.1.0.1 (3S - Smart Software Solutions GmbH) konnte nicht eingefügt werden: [FEHLER] I2C_Test_Examples: C0035: Programmname, Funktion oder Funktionsbausteinstanz an Stelle von 'MCP23008_X81.AfterReadInputs' erwartet [FEHLER] I2C_Test_Examples: C0046: Bezeichner 'MCP23008_X81' nicht definiert [FEHLER] I2C_Test_Examples: C0035: Programmname, Funktion oder Funktionsbausteinstanz an Stelle von 'MCP23008_X81.BeforeWriteOutputs' erwartet [FEHLER] I2C_Test_Examples: C0046: Bezeichner 'MCP23008_X81' nicht definiert Kompilierung abgeschlossen -- 5 Fehler, 0 Warnungen Übersetzung abgeschlossen -- 5 Fehler, 0 Warnungen : Kein Download möglich Als Device habe ich Name: CODESYS Control for Raspberry Pi SL Hersteller: CODESYS Kategorien: SoftMotion Steuerungen Version: 4.13.0.0 Bestellnummer: 2302000009 Beschreibung: Eine Soft-SPS nach IEC 61131-3 für Raspberry Pi. CODESYS Control basiert auf CODESYS SDK 3.5.20.20, Release . Das ganze unabhängig von der Codesys Version
Last updated: 2025-10-06

Post by hprog on Codesys 3.5.21 Import Geräterepository bzw. Bibliothen Repository funktioniert nicht ^{CODESYS Forge talk (Post)}
Hallo, Ich habe schon mehrfach Treiber für I2C Geräte geschrieben und keine Probleme mit dem Einbinden gehabt, aber derzeit komme ich auf keinen grünen Zweig. Der Import des Geräterepository (xml) funktioniert, der Import ins Bibliothekenrepository funktioniert auch, aber wenn ich dann das Gerät an den I2C MAster anfüge funktioniert der Import in das Projektbibiothek nicht und somit wird auch der entsprechende FB nicht instanziert und ich bekomme folgende Fehlermeldungen ------ Übersetzungslauf gestartet: Applikation: Device.Application ------- Code typisieren... [FEHLER] I2C_Test_Examples: MCP23008_X81 [Device: I²C: I2C_master]: Bibliothek Raspberry I2C MCP23008_X81, 1.1.0.1 (3S - Smart Software Solutions GmbH) konnte nicht eingefügt werden: [FEHLER] I2C_Test_Examples: C0035: Programmname, Funktion oder Funktionsbausteinstanz an Stelle von 'MCP23008_X81.AfterReadInputs' erwartet [FEHLER] I2C_Test_Examples: C0046: Bezeichner 'MCP23008_X81' nicht definiert [FEHLER] I2C_Test_Examples: C0035: Programmname, Funktion oder Funktionsbausteinstanz an Stelle von 'MCP23008_X81.BeforeWriteOutputs' erwartet [FEHLER] I2C_Test_Examples: C0046: Bezeichner 'MCP23008_X81' nicht definiert Kompilierung abgeschlossen -- 5 Fehler, 0 Warnungen Übersetzung abgeschlossen -- 5 Fehler, 0 Warnungen : Kein Download möglich Als Device habe ich Name: CODESYS Control for Raspberry Pi SL Hersteller: CODESYS Kategorien: SoftMotion Steuerungen Version: 4.13.0.0 Bestellnummer: 2302000009 Beschreibung: Eine Soft-SPS nach IEC 61131-3 für Raspberry Pi. CODESYS Control basiert auf CODESYS SDK 3.5.20.20, Release . Das ganze unabhängig von der Codesys Version
Last updated: 2025-10-06

Post by hprog on Codesys 3.5.20/21 Import Geräterepository bzw. Bibliothen Repository funktioniert nicht ^{CODESYS Forge talk (Post)}
Hallo, Ich habe schon mehrfach Treiber für I2C Geräte geschrieben und keine Probleme mit dem Einbinden gehabt, aber derzeit komme ich auf keinen grünen Zweig. Der Import des Geräterepository (xml) funktioniert, der Import ins Bibliothekenrepository funktioniert auch, aber wenn ich dann das Gerät an den I2C MAster anfüge funktioniert der Import in das Projektbibiothek nicht und somit wird auch der entsprechende FB nicht instanziert und ich bekomme folgende Fehlermeldungen ------ Übersetzungslauf gestartet: Applikation: Device.Application ------- Code typisieren... [FEHLER] I2C_Test_Examples: MCP23008_X81 [Device: I²C: I2C_master]: Bibliothek Raspberry I2C MCP23008_X81, 1.1.0.1 (3S - Smart Software Solutions GmbH) konnte nicht eingefügt werden: [FEHLER] I2C_Test_Examples: C0035: Programmname, Funktion oder Funktionsbausteinstanz an Stelle von 'MCP23008_X81.AfterReadInputs' erwartet [FEHLER] I2C_Test_Examples: C0046: Bezeichner 'MCP23008_X81' nicht definiert [FEHLER] I2C_Test_Examples: C0035: Programmname, Funktion oder Funktionsbausteinstanz an Stelle von 'MCP23008_X81.BeforeWriteOutputs' erwartet [FEHLER] I2C_Test_Examples: C0046: Bezeichner 'MCP23008_X81' nicht definiert Kompilierung abgeschlossen -- 5 Fehler, 0 Warnungen Übersetzung abgeschlossen -- 5 Fehler, 0 Warnungen : Kein Download möglich Als Device habe ich Name: CODESYS Control for Raspberry Pi SL Hersteller: CODESYS Kategorien: SoftMotion Steuerungen Version: 4.13.0.0 Bestellnummer: 2302000009 Beschreibung: Eine Soft-SPS nach IEC 61131-3 für Raspberry Pi. CODESYS Control basiert auf CODESYS SDK 3.5.20.20, Release . Das ganze unabhängig von der Codesys Version
Last updated: 2025-10-06

Post by ragarcia on Error while using UpdateConfiguredIPSettings to change IP address ^{CODESYS Forge talk (Post)}
Hello everyone, I am trying to change dynamically by code the IP address of a Weidmuller controller. So I am basically using IoDrvEthernet library to use UpdateConfiguredIPSettings function but I am getting constantly the 'INVALID_STATE' error. Even though I am following a procedure it should work: * First I added on the config file of codesys the following: [SysSocket] Adapter.0.Name="eth0" Adapter.0.EnableSetIpAndMask=1 Adapter.1.Name="eth1" Adapter.1.EnableSetIpAndMask=1 * Secondly I am first disabling the ethernet interface by using Ethernet_0.Enable = FALSE and then executing DED.Reconfigure. After that, I run the Ethernet_1.updateConfiguredIPSettings Code: Ethernet_1.Enable:= EnableDisable; Reconfigure(xExecute:= TRUE, itfNode:= Ethernet_1, xError=> ErrorReconfigure, eError=> ErrorCodeReconfigure); IF Reconfigure.xDone THEN ErrorCodeIP:= Ethernet_1.UpdateConfiguredIPSettings(IPAddress:= newIP, SubnetMask:= newMask, Gateway:= newGW); END_IF IF Reconfigure.xDone OR Reconfigure.xError THEN Reconfigure(xExecute:= FALSE); END_IF Ethernet_1.Enable:= TRUE; Reconfigure(xExecute:= TRUE, itfNode:= Ethernet_1); IF Reconfigure.xDone OR Reconfigure.xError THEN Reconfigure(xExecute:= FALSE); END_IF Can someone help me? Thank you. All I am trying is to find a way to change dynamically with code, the IP addresses of my controller (2 ethernet ports).
Last updated: 2023-12-11

Post by alexgooi on Modbus writing on value change ^{CODESYS Forge talk (Post)}
Hi Duvan, You could make this in 1 single object (FB), Indeed don't use a function for this beacuse you need some memory to keep the old value. For i := 0 TO 200 BY 1 DO //Check if the value has been changed IF Old_Value[i] <> Value[i] THEN //Set the trigger to TRUE Trigger[i] := TRUE; Old_Value[i] := Value[i]; END_IF END_FOR If you define the Value array as an In_Out and the Trigger as an In_Out you arn't claiming any aditional memory to your system. You ofcourse then need to add some code arround it that does something with the trigger and writes it back to FALSE again. If you want more flexability you also could use pointers instead of using the IN_OUT FOR i := 0 TO 200 BY 1 DO address := address_Input + i * SIZEOF(*Put type here); IF Address^ <> Old_Value[i] THEN Trigger[i] := TRUE; Old_Value[i] := Address^; END_IF END_FOR
Last updated: 2024-04-02

Post by rmaas on Fieldbus has lost synchronicity ^{CODESYS Forge talk (Post)}
Hi, On a gantry system with 2 axis i am getting the following error: SMC_DI_FIELDBUS_LOST_SYNCRONICITY This happens random, sometimes it happens every 5 minutes and sometimes no error for 2 hours... The Setup: - Using codesys 3.5 SP20 with all latest libs... - Kontron AL Pi-Tron CM4 with Preempt realtime patch (Raspberry Pi 4) - Codesys runtime 4.11.0.0 (single core) - CODESYS Control for Raspberry Pi SL licensed - Softmotion + CNC + Robotics licensed - 2x Leadshine EL8-EC400 servo drives - Axis group for a 2-axis T-Gantry Ethercat network wiring: Ethercat master softmotion -> Beckhoff EK1100 -> Servo drive #1 -> Servo drive #2 Ethercat Cycle time = 4ms Max Jitter = 140~150 What i have tried so far: - changed the sync offset from 20% to 30% - changed ethercat task priority from 1 to 0 Running tasks: - Ethercat tast: Prio = 0, Interval = 4ms - Main task: Prio = 1, Interval = 8ms - Visu task: Prio = 31, Interval = 100ms - Softmotion planning task: Prio = 15, Freewheeling - 3 other default tasks that were created by AC_Persist Motion fb's are called in the ethercat task... Does anyone have an idea how to fix this? Any help is greatly appreciated!
Last updated: 2024-04-11

Post by joachimk on Profinet Controller IP-Adresse ändern ^{CODESYS Forge talk (Post)}
Die IP-Adresse des Profinet-Controllers soll zur Laufzeit geändert werden. Dabei handelt es sich um eine Anwendung auf einem PC mit einer Standard-Ethernetschittstelle (ControlWinV3+WinPcap). Die Datei "CODESYSControl.cfg" wurde dazu angepasst: .... Adapter.0.Name="Ethernet 4" Adapter.0.EnableSetIpAndMask=1 Die konfigurierte IP-Adresse wird zur Laufzeit an die tatsächliche IP-Adresse der Netzwerkschnittstelle mit dem folgenden Befehl angepasst (die Änderung von 192.168.2.33 auf 192.168.2.34 funktioniert auch): Ethernet.UpdateConfiguredIPSettings(IpAddress:=Ethernet.IPAddress, subnetmask:=Ethernet.Subnetmask, gateway:=Ethernet.GatewayAddress); Der Profinet-Controller geht danach auf Störung und gibt die folgende Fehlermeldung aus: "Controller-Status: currently active IP does not match the controller's configuration" Unter "Ethernet diagnostic information" kann man die geänderte IP-Adresse von 192.168.2.34. Ethernet läuft auch ohne Fehler. Unter "PROFINET IO Driver diagnostic information" -> "IPParameter" sieht man noch die alte (konfigurierte) IP-Adresse 192.168.2.33. Wie kann man die Störung beseitigen? Leider habe ich keine Methode zum Ändern der IP-Adresse auf dem Profinet-Controller gefunden? Reconfiguration des Profinet-Controllers?
Last updated: 2024-06-27

Post by mil581 on Modbus TCP Server connection is ESTABLISHED but all holding registers are value 0? ^{CODESYS Forge talk (Post)}
Hello everyone! I'm facing a weird issue with CODESYS Control Win V3 x64 on a fresh Windows install. The situation is as follows: CODESYS Modbus TCP Server (Slave) is running and I can see live values in the mapping display of Modbus settings: GVL (e.g., 32, 42, 50). Port 502 is LISTENING according to netstat. When connecting via Modbus Poll or Node-RED, the connection status changes to ESTABLISHED and everything reports as fine. The Problem: Despite the successful connection, all holding registers return 0 no matter what. It's like the OS accepts the TCP handshake, the request counter goes up but the data payload never reaches Modbus Client (in this case Node-RED or Modbus Poll). Quick Stats: Firewall: Completely OFF. Unit ID: Verified & Matching. IP: Tried 127.0.0.1 and 192.168.0.1. Interface: Correctly bound in Ethernet Device settings. I already tried absolutely everything from changing IP address, subnet, port, deleting the project and starting new one and even nuking my old Windows install. Since I am near completion of my bachelor thesis only thing left for me to do is connect SoftPLC to NodeRED via Modbus but this issue is driving me crazy for weeks. I do not know what to do anymore.
Last updated: 2025-12-25

Post by wollvieh on Sysfile Konfiguration ^{CODESYS Forge talk (Post)}
...auch noch eine schöne Beschreibung zur Sysfile Konfiguration! Mit Version 3.5.19 wurde die Dateiverwaltung geändert. Siehe folgendes Problem: CDS-81506 – Sicherheitslücke im Dateizugriffssystem des CODESYS Control SysFile-Systems. Es gibt zwei Lösungen: Ändern Sie den Speicherort der Datei (Sie müssen zu /PlcLogic/ wechseln). Wenn Sie die Datei nicht in PlcLogic speichern möchten, fügen Sie die folgende Zeile in der CODESYSControl.cfg unter [SysFile] hinzu: ForceIecFilePath=0 Hier die offizielle Versionsbeschreibung: [[COMPATIBILITY_INFORMATION]] Durch die Aktivierung von ForceIecFilePath ist der Dateizugriff von IEC nun auf die konfigurierten Pfade beschränkt (Dateisandbox)! [SysFile] ForceIecFilePath=1 (neuer Standardwert) Der Standardpfad ist das aktuelle Verzeichnis, der PlcLogic-Unterordner oder ein konfigurierter Pfad. Jeder Dateizugriff außerhalb dieses Pfades wird über PlaceholderFilePath konfiguriert, beispielsweise der Zugriff auf temporäre Dateien oder Wechseldatenträger: [SysFile] PlaceholderFilePath.1=/tmp, $TMP$ PlaceholderFilePath.2=/media/usb, $USB$ PlaceholderFilePath.2.Volatile=1 Weitere Informationen finden Sie in unserem Tutorial „Dateipfade & Platzhalter“. Um das alte Verhalten wiederherzustellen, kann ForceIecFilePath wie folgt konfiguriert werden: [SysFile] ForceIecFilePath=0 Wir empfehlen jedoch dringend, diese Einstellung auf dem neuen Standardwert zu belassen!
Last updated: 2026-01-21

Post by egr99 on Modbus TCP Server connection is ESTABLISHED but all holding registers are value 0? ^{CODESYS Forge talk (Post)}
Hi there, Read the above description and experienced the same: Reading coil/discrete input/input register/holding register doesn't fill the mapped I/O variable. Any suggestions? Defined (see attachment): - Ethernet (with parameters according to the used Ethernet adapter of my Windows 11 laptop) - -Modbus TCP Client - - -LOGO231 as Modbus TCP Server - - -WS242 as Modbus TCP Server (WaveShare Modbus TCP <-> RTU converter) - - - -WS242_01 as Modbus Server, COM port (slave-id 1 RTU) - - - -WS242_03 idem (slave-id 3 RTU) - - - -WS242_11 idem (slave-id 11 RTU) Writing coil/holding register works from a mapped I/O variable works fine. Verification of Modbus traffic with WireShark: QUERY to and the RESPONSE of all slave-ids are correct Status of all defined is CONNECTED, RESPONSE_SUCCESS, RUNNING etc. Request counters increase with expected frequency. Error counter = 0. (To have all counters works fine I had to change Modbus TCP Client's parameter OptimizationON to FALSE). LOGO231 works fine: values in mapped I/O conform expectation WS242 without Modbus Server, COM port and with defined channels (for only 1 slave-id possible) works fine. PLC Settings: Update I/O while in stop: I see xBusy changing from FALSE to TRUE and vice versa. Always update variables: Enabled 1
Last updated: 2026-04-05

Post by shamcke on Array with generic constant as persistent variable ^{CODESYS Forge talk (Post)}
Hello, I have written a function block that uses a generic constant for the upper bound of an array. I wanted to have this array in the persistent memory area, thus I constructed my FB as follows: FUNCTION_BLOCK FbWithGenericArrayLength VAR_GENERIC CONSTANT uiArrayLength : UINT := 10; END_VAR VAR PERSISTENT arr : ARRAY[1..uiArrayLength] OF INT; END_VAR In my PLC_PRG I declare an instance of said FB PROGRAM PLC_PRG VAR myFb : FbWithGenericArrayLength<10>; END_VAR This compiles just fine. When I let CODESYS fill my persistent list, it adds duplicate entries {attribute 'qualified_only'} VAR_GLOBAL PERSISTENT RETAIN // Generated instance path of persistent variable PLC_PRG.myFb.arr: ARRAY [1..uiArrayLength] OF INT; // Generated instance path of persistent variable PLC_PRG.myFb.arr: ARRAY [1..uiArrayLength] OF INT; END_VAR so I manually delete the duplicate. When i now compile, I get errors ------ Build started: Application: Device.Sim.Device.Application ------- Typify code... [ERROR] Sandbox_FW31: PersistentVars [Device: PLC Logic: Application](Line 4): C0161: Border 'uiArrayLength' of array is no constant value [ERROR] Sandbox_FW31: PersistentVars [Device: PLC Logic: Application](Line 4): Type of mapped variable is not equal to original type Compile complete -- 2 errors, 0 warnings Build complete -- 2 errors, 0 warnings : No download possible Is is simply not possible to use a generic constant for the persistent array? Thanks in advance. Edit: It seems I can manually replace the uiArrayLength in the persisten list by the value 10 I used as the generic constant for this particular instance.
Last updated: 2026-05-29

Post by alex-at-xana on EThercat Dynamic configuration ^{CODESYS Forge talk (Post)}
Hi Everyone, For a fast monitoring system I am using Ethercat oversampling and timestamping inputs. As the customers has a lot of different configurations out in the field, we went for a dynamic Ethercat configuration. Already got the whole detection chain working but now I am stuck since two days in debugging the configuration. Here are my quesitons: I extended the dynamic config example for the EL3632 16#0E303052: //EL3632 pSlave^.SetDCSettings(TRUE,TRUE,80,80,TRUE,4000,0,0); pSlave^.AddSyncManager(16#1000,128,16#26,TRUE,3); pSlave^.AddSyncManager(16#1080,128,16#22,TRUE,2); pSlave^.AddSyncManager(16#1100,0,16#4,TRUE,1); pSlave^.AddSyncManager(16#1110,214,16#20,TRUE,0); pSlave^.AddFMMU(0,214,0,7,16#1110,0,1,1); pSlave^.AddFMMU(0,1,0,0,16#80D,0,1,1); xKnown := TRUE; This leads to a PLL Error for these devices. I double and triple checked the configuraton, but cannot find the issue. There seems to be one difference: the config dialog creates a startup parameter: 16#10F3:16#05, Name: Command_0, Value:0. Bitlen: 16, Stop on fault: false, jumpt at fault: false: next line: 0 a) I do not find information on how to set this in my code. Can you help me there? b) Without trying to set the value, I get a PLL error for these devices in the master log. Is the config wrong? c) Do I need to set the Master to Autoconfigure or Manual? I used autoconfigure for my tests. The stack creates input data addresses for the slaves input data range (pSlaves[i].InputData) which are different from those created when I use the Engineering tools dialogs to configure Ethercat. Specifically, the addresses seem to be aligned at 16 byte boundaries when they are created using the engineering tool, but may appear at uneven addresses when I use the script in dynamic config. I did not try to access ULINT at uneven addresses yet, but I am suspecting this may be a problem. Do I need to manually align the addresses ? Any help is appreciated...
Last updated: 2024-09-10

Post by jonasz on Device diagnosis ( EtherCAT IO card ) ^{CODESYS Forge talk (Post)}
Hi, I'll link to the topic not wanting to start a new one. In the application I am building, I wanted to use the diagnostics described in the CAA Device Diagnosis library. In principle, everything is ok, except for the elements related to ModbusTCP. Despite the fact that ModbusTCP is taken into account in the documentation, it is not recognised via the interfaces. FUNCTION_BLOCK NET_HW_DIAG VAR_INPUT END_VAR VAR_OUTPUT END_VAR VAR (* Referencja do struktury z danymi dla HMI ASTRAADA.*) Visu: REFERENCE TO VISU; (* Wskaźnik na mastera EtherCAT.*) pEtherCATMaster : POINTER TO IoDrvEtherCAT; (* Wskaźnik na slave EtherCAT.*) pEtherCATSlave : POINTER TO EtcSlave; (* Interfejs dla węzła w drzewie urządzeń.*) _itfNode: DED.INode; (* Ogólny interfejs magistrali. Zapewnia podstawowe informacje o magistrali polowej.*) _itfBus: DED.IBus; (* Interfejs urządzenia. Zapewnia rozszerzone informacje o urządzeniu (magistralowym).*) _itfDevice2: DED.IDevice2; (* Ogólny interfejs magistrali. Zapewnia podstawowe informacje o magistrali polowej.*) _itfStack: DED.IStack; (* Numer węzła w drzewie urządzeń.*) uiNodes: UINT; (* Operator jest rozszerzeniem normy IEC 61131-3. W czasie wykonywania operator wykonuje konwersję typu odwołania do interfejsu na inny typ. Operator zwraca wynik BOOL. Wartość TRUE oznacza, że CODESYS pomyślnie wykonał konwersję. *) xQueryResultBus: BOOL; xQueryResultDevice2: BOOL; xQueryResultStack: BOOL; (* Struktura danych dotyczących węzłów w drzewie urządzeń.*) NetHwDiag: NW_HW_STAT; ModbusTcpClientDeviceInfo: IoDrvModbusTCP.DED.DEVICE_INFO; ModbusTcpClientDeviceState: IoDrvModbusTCP.DED.DEVICE_STATE; ModbusTcpDeviceInfo: IoDrvModbusTCP.DED.DEVICE_INFO; ModbusTcpDeviceState: IoDrvModbusTCP.DED.DEVICE_STATE; END_VAR (* Pobranie wskaźników dla pierwszego mastera i pierwszego slave w sieci EtherCAT.*) pEtherCATMaster := g_pFirstMaster; pEtherCATSlave := pEtherCATMaster^.FirstSlave; (* Diagnostyka sieci EtherCAT.*) pEtherCATMaster := g_pFirstMaster; pEtherCATSlave := pEtherCATMaster^.FirstSlave; NetHwDiag.xConfigFinished := pEtherCATMaster^.xConfigFinished; NetHwDiag.xDistributedClockInSync := pEtherCATMaster^.xDistributedClockInSync; NetHwDiag.xError := pEtherCATMaster^.xError; NetHwDiag.xSyncInWindow := pEtherCATMaster^.xSyncInWindow; NetHwDiag.sLastMessage := pEtherCATMaster^.LastMessage; NetHwDiag.LastError := pEtherCATMaster^.LastError; (* Diagnostyka drzewa urządzeń.*) uiNodes := 0; _itfNode := DED.GetRoot(); REPEAT NetHwDiag.asDeviceName[uiNodes] := DED.GetDeviceNameString(itfNode := _itfNode); xQueryResultBus := __QUERYINTERFACE(_itfNode,_itfBus); IF xQueryResultBus THEN _itfBus.GetBusInfo(buiInfo := NetHwDiag.aBusInfo[uiNodes]); NetHwDiag.aBusState[uiNodes] := _itfBus.GetBusState(); END_IF xQueryResultDevice2 := __QUERYINTERFACE(_itfNode,_itfDevice2); IF xQueryResultDevice2 THEN _itfDevice2.GetDeviceInfo(deiInfo := NetHwDiag.aDeviceInfo[uiNodes]); NetHwDiag.aDeviceState[uiNodes] := _itfDevice2.GetDeviceState(); IF pEtherCATSlave <>0 THEN pEtherCATSlave^(); IF pEtherCATSlave^.SlaveAddr = NetHwDiag.aDeviceInfo[uiNodes].idSystem THEN NetHwDiag.aAlStatus[uiNodes] := pEtherCATSlave^.ALStatus; pEtherCATSlave := pEtherCATSlave^.NextInstance; END_IF END_IF ELSE xQueryResultStack := __QUERYINTERFACE(_itfNode,_itfStack); IF xQueryResultStack THEN _itfStack.GetDeviceInfo(deiInfo := NetHwDiag.aDeviceInfo[uiNodes]); NetHwDiag.aDeviceState[uiNodes] := _itfStack.GetDeviceState(); END_IF END_IF uiNodes := uiNodes + 1; _itfNode := DED.GetNextNode(_itfNode); UNTIL _itfNode = 0 END_REPEAT (* Diagnostyka Modbus.*) Modbus_TCP_Client.GetDeviceInfo(deiInfo := ModbusTcpClientDeviceInfo); ModbusTcpClientDeviceState := Modbus_TCP_Client.GetDeviceState(); PAC_3200T.GetDeviceInfo(deiInfo := ModbusTcpDeviceInfo); ModbusTcpDeviceState := PAC_3200T.GetDeviceState(); Of course, you can take the easy way out and refer directly to the devices, but I wanted a reusable component. Any constructive help is very welcome Best regards Jonasz
Last updated: 2025-07-15

Post by jackbrady on Function Blocks and arrays of function blocks ^{CODESYS Forge talk (Post)}
Hello, I am new to Codesys and PLC programming in general (please go easy ha!) I'm not looking for code to be written for me just some help and pointing in the right direction. I am writing some code to send commands to a relay based on input values (to put it simply). Quite basic stuff. I have wrote a function block that takes a global variable (Open_command:BOOL) and outputs to another global variable (Opened : BOOL). The function block is simulating a device so I'll eventually get the globals from that. I now need to create multiple versions of this function block/ device (lets say 100) but I need each iteration of that function block to reference it's own relevant global variable. I think that the best way of doing this would be to use arrays, although I could be wrong. I am aware that for up to 100 instances I could very well manually assign everything but that seems rather time consuming and I want a fancier way of doing it. Here is a very basic example of what I am looking to do, please note I have not written this in proper code it's just to show what I mean. Global Variables V[0-100] int Open_command [0-100] Bool Opened [0-100] Bool Function Block var input x : BOOL Var output y : BOOL if x then y = TRUE ELSE y = FALSE The input to my function block will be Open_command, output will be Opened Example code. If V[x] > 10 then Open_command [x] = TRUE ELSE Open_command [x] = FALSE (So when V1 goes above 10 I need Open_command1 = TRUE therefore initiating FB1 output. V2 > 10, open_command2 = True > FB2 output V3 > 10, open_command3 = True > FB3 output ... ... ) What I can't seem to figure out is how to tie all this together, I have read through the codesys documentation and if anything it has confused me more! ha. Apologies for the poorly written post but hopefully you understand what I am trying to get at. Thanks, Jack
Last updated: 2024-02-14

Post by lraja on Codesys Programming with phyBOARD®-Pollux i.MX8M Plus ^{CODESYS Forge talk (Post)}
Dear All, I am trying to Developing a PLC using phyBOARD®-Pollux i.MX 8M Plus. It is very difficult to find the suitable Codesys control for i.MX8M. I have tried to install CODESYS Control for Linux ARM SL , but unable install it and I am getting the following error, [INFORMATION] Executing SSH command on root@192.168.0.10: Retrieving architecture from package management [ERROR] Expected exit value of command failed: expected 0, received 127 [INFORMATION] Standard output: sh: line 1: dpkg: command not found Kindly check and help phyBOARD®-Pollux i.MX 8M Plus Link : https://www.phytec.eu/en/produkte/single-board-computer/phyboard-pollux/
Last updated: 2023-09-23

Post by matthew on Persistence Manager Backup ^{CODESYS Forge talk (Post)}
Hi, Is there a process to restore Persistence Manager files? I have backups of persistence variables used in a machine that is currently operating and tuned and all set points adjusted. There are about 500 persistence variables, they are building another identical machine. I would like to use Persistence Manager files from the first machine in the second also. I have tried copying the files and replacing them on the new RPI but then the Persistence Manager gets errors and then they are all reset to 0 etc I have tried adjusting the times to match. Instead of replacing whole file, I tried just changing the contents inside the file, but still does not work. I may be missing something here, but surely there must be a way to load a backup. Thanks!
Last updated: 2023-10-18

Post by eschwellinger on SP19 Runtime Zugriff auf lokales Dateisystem ^{CODESYS Forge talk (Post)}
seit SP19 nur noch im PLcLogic pfad. c:\ProgramData\CODESYS...usw datein schreiben lesen [SysFile] PlaceholderFilePath.1=/tmp, $TMP$ PlaceholderFilePath.2=/media/usb, $USB$ PlaceholderFilePath.2.Volatile=1 Seit der Behebung kann der IEC-Code aus Security-Gründen nur noch auf das Arbeitsverzeichnis PLCLogic zugreifen. Sollte auf Dateien außerhalb dieses Pfades zugegriffen werden müssen, dann können diese per Platzhalter bekannt gemacht werden und sind dann zugreifbar. Darüber hinaus kann weiterhin ForceIecFilePath=0 gesetzt werden, um das bisherige Verhalten wiederherzustellen. Von letzterem raten wir aber dringend ab, da dann der IEC-Code wieder auf das gesamte Filesystem zugreifen kann. Daher sollte beides nur nach einer eingehenden Securitybewertung erfolgen.
Last updated: 2023-11-23

Post by riccardo on Codesys SP19 patch 4 ^{CODESYS Forge talk (Post)}
Hallo everyone, I am working on new PLC of Weidmueller that uses Codesys SP19. I made the upgrade at the Patch 4 coming from patch 0. Unce made the upgrade everything is working well in the progect except the web visu user menagent. In the new version, when I perfom the login, I cannot use the keyboard of the device; the window where to digit the user name and password opens, the buttons "OK" and "Cancel" work but the system doesn't allow to put input from the device keybord, the mouse behaves as it is an image. If I active the virtual keypad or numpad it works otherwise nothing. I am wondering if it is a bug of the new package or if I must set something else. Thanks in advance, Riccardo.
Last updated: 2023-11-27

Post by mahmutbeyaz on Create a Motion Profile ^{CODESYS Forge talk (Post)}
Dear All, I hope first to get notice and somebody answer my question. How can I create a motion profile with the axis following it (once or periodically)? As my research shows, Schineder has a UI-based (Motion Sizer) program that helps create a motion with different configurations, which is Codesys-based. I need to create a motion profile based on position, changing the speed. (i.e., 0-300mm moves with 300 mm/s, 300-400mm moves with 500 mm/s, 500-800mm moves with 1000 mm/s, and 800-0mm moves with 2000 mm/s). MC_PositionProfile does it time-based, which is not working for me as the axis may not stabilize the position in time, which may cause a big failure in the system.
Last updated: 2023-11-30

Post by jmorit on CAM Table - Quadratic velocity ramp with jerk limitation ^{CODESYS Forge talk (Post)}
Hello, I'm working on setup a CAM table by using the Codesys CAM Editor. My purpouse is to obtain a quadratic velocity ramp with jerk limitation motion profile, for which i define the accel/decel phases with Poly5 segment type, but the problem is that due to the fact i can "only" adjust until the acceleration, and the jerk is always setup to 0, and i cannot change the jerk values, i cannot achieve the desired results, as i need to generate jerk steps. Is there any way it can be achieved with the editor, or maybe by using PLC runtime code? Thank you in advance for your help BR, Jordi Morito
Last updated: 2023-12-02

Post by jegerjon on Testing of Codesys program ^{CODESYS Forge talk (Post)}
I have a simulation function that toggle xSimActive. I map all IO variables to "IO GVLs" when xSimActive=0. I map IO corresponding SimIO GVL to "IO GVLs" when xSimActive=1. Then I write code for the simulation program that runs when xSimActive=1. Typically increase flow corresponding to pump speed, simulate tankfilling corresponding to flow and so on. I made a FC that require a correct code to activate simulation to avoid unintended activation by service dept. When comissioned remove any possibility to activate simulation. Super when officetesting and supporting service dept. + cheap as it requires no additional equipment, and it is easier to support customer later on in the life cycle as you can test proposed changes without setting up a testlab.
Last updated: 2023-12-07

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