Unable to set function code 0x780 for CANopen rxpdo5 ^{CODESYS Forge talk (Thread)}
Unable to set function code 0x780 for CANopen rxpdo5
Last updated: 2017-03-08

Execute external Phyton script with GPIO pin, PLC function ? ^{CODESYS Forge talk (Thread)}
Execute external Phyton script with GPIO pin, PLC function ?
Last updated: 2015-05-23

CAA File Library. Problems with function blocks. ^{CODESYS Forge talk (Thread)}
CAA File Library. Problems with function blocks.
Last updated: 2020-04-13

Retrieve number of elements in an array of function blocks ^{CODESYS Forge talk (Thread)}
Retrieve number of elements in an array of function blocks
Last updated: 2020-04-19

Function in Codesys and the wrong return value ^{CODESYS Forge talk (Thread)}
Function in Codesys and the wrong return value
Last updated: 2021-03-16

RT SPE and WebServer function - problems ^{CODESYS Forge talk (Thread)}
RT SPE and WebServer function - problems
Last updated: 2009-01-27

how can I use STATIC VARIABLE in FUNCTION ^{CODESYS Forge talk (Thread)}
how can I use STATIC VARIABLE in FUNCTION
Last updated: 2012-09-25

Determination of User defined instances of function by a POU ^{CODESYS Forge talk (Thread)}
Determination of User defined instances of function by a POU
Last updated: 2011-02-15

difference of Var_in_out in function & function_block ^{CODESYS Forge talk (Thread)}
difference of Var_in_out in function & function_block
Last updated: 2014-09-05

Generate Sin Waveform with GEN Function ^{CODESYS Forge talk (Thread)}
Generate Sin Waveform with GEN Function
Last updated: 2012-11-14

Function in Codesys and the wrong return value ^{CODESYS Forge talk (Thread)}
Function in Codesys and the wrong return value
Last updated: 2021-03-17

library function listing for oscat basic 3 ^{CODESYS Forge talk (Thread)}
library function listing for oscat basic 3
Last updated: 2014-03-06

Modbus TCP function code 43 for raspberry Pi ^{CODESYS Forge talk (Thread)}
Modbus TCP function code 43 for raspberry Pi
Last updated: 2019-02-28

ERROR using CAA File - Directory function : DirRemove ^{CODESYS Forge talk (Thread)}
ERROR using CAA File - Directory function : DirRemove
Last updated: 2015-06-19

Is there a string compare function in ST ? ^{CODESYS Forge talk (Thread)}
Is there a string compare function in ST ?
Last updated: 2017-11-08

Help w Function design: Can Codesys use optional parameters? ^{CODESYS Forge talk (Thread)}
Help w Function design: Can Codesys use optional parameters?
Last updated: 2012-06-11

Boolean function as a IF condition CODESYS ^{CODESYS Forge talk (Thread)}
Boolean function as a IF condition CODESYS
Last updated: 2023-05-05

Is there a 'deepcopy' type function in Codesys STL? ^{CODESYS Forge talk (Thread)}
Is there a 'deepcopy' type function in Codesys STL?
Last updated: 2022-10-06

GPIO donot function on Raspberry Pi 4 ^{CODESYS Forge talk (Thread)}
GPIO donot function on Raspberry Pi 4
Last updated: 2021-03-04

Is there any function to generate a rand number？ ^{CODESYS Forge talk (Thread)}
Is there any function to generate a rand number？
Last updated: 2014-01-10

Blink Function definition is wrong in codesys online help ^{CODESYS Forge talk (Thread)}
Blink Function definition is wrong in codesys online help
Last updated: 2023-12-28

Bit / Bool data types in function parameters ^{CODESYS Forge talk (Thread)}
Bit / Bool data types in function parameters
Last updated: 2024-01-18

Post by jackbrady on Function Blocks and arrays of function blocks ^{CODESYS Forge talk (Post)}
Thanks for the reply. Much appreciated.
Last updated: 2024-02-15

Post by tk096 on Some 'pathetic' errors in SoftMotion program ^{CODESYS Forge talk (Post)}
Meanwhile, I would like to understand why the motion FB instances must still be called even after the Execute is set to FALSE, especially in view of the fact that the next instruction is programmed to abort the previous one, with BufferMode set to 'Aborting'. All these unnecessary FB calls are an unnecessary overhead on the CPU anyway. Is there any precise rule about when to cease calling the various instances? (It should precisely be the 'done' status that says this one has finished its work). In general: - Motion function blocks have to be called until they report 'Done', 'Error', 'CommandAborted' or a subsequent motion FB with BufferMode=Aborting is started in the current cycle. - Setting the Execute input to FALSE will not abort any ongoing motion of the motion function block. For example, one case that is often problematic is the execution of the Axis Halt instruction. When, after a MoveAbosulte instruction this returns the event as 'done' and indeed the axis is in standstill, the state machine first sets the move instruction to FALSE, and the next cycle sets the Halt request to TRUE. Some of the time everything works out fine. Occasionally, however, in this exchange, the axis goes into fault, also losing the OPERATIONAL state. I think the error SMC_FB_WASNT_CALLED_DURING_MOTION is only a follow-up (and misleading) error that results from the axis not being in operational state anymore (bus problems). Is there an error 'regulator or start not set' in the device log before the error 'motion generating FB wasn't called for at least one cycle'? Which error does the respective function block (Halt.ErrorId) report?
Last updated: 2024-07-22

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

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