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 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 caprez95 on Trace Restart Visuelement ^{CODESYS Forge talk (Post)}
Hallo zusammen. Ich habe schon länger mit dem Problem zu kämpfen, dass ich einen Trend (Visuelement) nicht resetten (neustarten) kann. Ich habe es jetzt mit dem Beispiel hinbekommen, die Trace-Aufzeichnung über die CmpTraceMgr Bibliothek zu steuern. Aber wie bekomme ich diese Trace-Aufzeichnung in ein Visuelement? Der Code sieht wie folgt aus: // Configure trace IF xInit THEN // Create a trace packet PacketConfig.pszName := ADR('IECTraceConfiguration.Trace1'); // Name of trace PacketConfig.pszApplicationName := ADR('IECTraceConfiguration'); // Name of the application PacketConfig.pszIecTaskName := ADR('Task'); // Name of the task PacketConfig.pszComment := ADR('Demo packet'); PacketConfig.ulEveryNCycles := 1; PacketConfig.ulBufferEntries := 1000; PacketConfig.ulFlags := TRACE_PACKET_FLAGS.TRACE_PACKET_FLAGS_TIMESTAMP_MS AND TRACE_PACKET_FLAGS.TRACE_PACKET_FLAGS_AUTOSTART; IF (NOT fbTraceManager.CreatePacket(PacketConfig := PacketConfig, hPacket=>hPacket1)) THEN xError := TRUE; END_IF // Create a trace record RecordConfig.pszVariable := ADR('iSignal'); // This is the name of variable to record RecordConfig.tcClass := INT_TO_UDINT(TypeClass.TYPE_INT); // Type of the recording variable RecordConfig.ulSize := SIZEOF(iSignal); // Size of the recording variable pApp := AppFindApplicationByName('IECTraceConfiguration', 0); AppGetAreaOffsetByAddress(pApp, ADR(iSignal), ADR(RecordConfig.tvaAddress.taAddress.Area.usArea), ADR(RecordConfig.tvaAddress.taAddress.Area.ulOffset)); // Get and set area offsets RecordConfig.tvaAddress.ulAddressFlags := TRACE_VAR_ADDRESS_FLAGS_IEC OR TRACE_VAR_ADDRESS_FLAGS_AREA_OFFSET; RecordConfig.ulGraphColor := 16#FF00FF00; // green RecordConfig.ulGraphType := 1; // Line with points IF (NOT fbTraceManager.AddRecord(RecordConfig := RecordConfig, hPacket := hPacket1, hRecord => hRecord1)) THEN xError := TRUE; END_IF xInit := FALSE; END_IF // Starts the recording IF xStart THEN IF (NOT fbTraceManager.StartPacket(hPacket := hPacket1)) THEN xError := TRUE; END_IF xStart := FALSE; END_IF // Stop the recording IF xStop THEN IF (NOT fbTraceManager.StopPacket(hPacket := hPacket1)) THEN xError := TRUE; END_IF xStop := FALSE; END_IF // Reset the recording IF xReset THEN IF (NOT fbTraceManager.ResetPacket(hPacket := hPacket1)) THEN xError := TRUE; END_IF xReset := FALSE; END_IF
Last updated: 2024-06-04

Post by caprez95 on Trace Restart Visuelement ^{CODESYS Forge talk (Post)}
Hello everyone. I've been struggling with the problem for a long time that I can't reset (restart) a trend (visual element). With the example I have now managed to control the trace recording via the CmpTraceMgr library. But how do I get this trace recording into a visual element? The code looks like this: // Configure trace IF xInit THEN // Create a trace packet PacketConfig.pszName := ADR('IECTraceConfiguration.Trace1'); // Name of trace PacketConfig.pszApplicationName := ADR('IECTraceConfiguration'); // Name of the application PacketConfig.pszIecTaskName := ADR('Task'); // Name of the task PacketConfig.pszComment := ADR('Demo packet'); PacketConfig.ulEveryNCycles := 1; PacketConfig.ulBufferEntries := 1000; PacketConfig.ulFlags := TRACE_PACKET_FLAGS.TRACE_PACKET_FLAGS_TIMESTAMP_MS AND TRACE_PACKET_FLAGS.TRACE_PACKET_FLAGS_AUTOSTART; IF (NOT fbTraceManager.CreatePacket(PacketConfig := PacketConfig, hPacket=>hPacket1)) THEN xError := TRUE; END_IF // Create a trace record RecordConfig.pszVariable := ADR('iSignal'); // This is the name of variable to record RecordConfig.tcClass := INT_TO_UDINT(TypeClass.TYPE_INT); // Type of the recording variable RecordConfig.ulSize := SIZEOF(iSignal); // Size of the recording variable pApp := AppFindApplicationByName('IECTraceConfiguration', 0); AppGetAreaOffsetByAddress(pApp, ADR(iSignal), ADR(RecordConfig.tvaAddress.taAddress.Area.usArea), ADR(RecordConfig.tvaAddress.taAddress.Area.ulOffset)); // Get and set area offsets RecordConfig.tvaAddress.ulAddressFlags := TRACE_VAR_ADDRESS_FLAGS_IEC OR TRACE_VAR_ADDRESS_FLAGS_AREA_OFFSET; RecordConfig.ulGraphColor := 16#FF00FF00; // green RecordConfig.ulGraphType := 1; // Line with points IF (NOT fbTraceManager.AddRecord(RecordConfig := RecordConfig, hPacket := hPacket1, hRecord => hRecord1)) THEN xError := TRUE; END_IF xInit := FALSE; END_IF // Starts the recording IF xStart THEN IF (NOT fbTraceManager.StartPacket(hPacket := hPacket1)) THEN xError := TRUE; END_IF xStart := FALSE; END_IF // Stop the recording IF xStop THEN IF (NOT fbTraceManager.StopPacket(hPacket := hPacket1)) THEN xError := TRUE; END_IF xStop := FALSE; END_IF // Reset the recording IF xReset THEN IF (NOT fbTraceManager.ResetPacket(hPacket := hPacket1)) THEN xError := TRUE; END_IF xReset := FALSE; END_IF
Last updated: 2024-06-04

Post by aris on Modbus write via FB failure ^{CODESYS Forge talk (Post)}
Hi all, I am using CoDeSys V3.5 and a soft controller Win V3x64. I am trying to read a modbus slave via Function Blocks and not via the channels of the hardware tree for the Slave. I created some requests of type ModbusRequest and I notice that I can read Input Registers and Coils but I can not write Holding Registers and Coils. I am using the library IoDrvModbusTCP 4.1.0.0. When i just use a single modbus request with FC06 (or FC16), there is no request sent to the slave and although the xExecute takes its true value from a pulse of 2 seconds duration, I take almost every 3 minutes an error "TCP_COMMUNICATION_ERROR - 16#A5 - TCP Port. error. Request was not sent". My code is ok because if i change the function code for reading registers, everything works fine. Did anyone have this issue in the past? Thank you in advance.
Last updated: 2025-11-06

Post by risele on Modbus connection via Qronox PCD3 M6893 ^{CODESYS Forge talk (Post)}
You are welcome. Also note, that it's valid only if you modbus-device use same real/float value representation (IEEE 754). That's true for most of systems. But some devices may have other representation, such as integer + position of the decimal point, for example 123.456 is integer = 123456 and position = 3 Also note, that, ones again, depending on endianess of each system, you may also need to swap not just words, but bytes. TYPE u_Real : UNION rVal:REAL; wVal:ARRAY[0..1] OF WORD; bVal:ARRAY[0..3] OF BYTE; dwVAL:DWORD; //same as previous, may be easier to specify the MB register END_UNION END_TYPE than swapping may be something as VAR A,B,C,D:BYTE; //Bytes of the real value uIn, uOut:u_Real; rVal:REAL; ModbusReg1,ModbusReg2:WORD; END_VAR uIn.rVal:=rVal; uOut.A:=uIn.D; uOut.B:=uIn.C; uOut.C:=uIn.B; uOut.D:=uIn.A; ModbusReg1:=uOut.wVal[0]; ModbusReg1:=uOut.wVal[2]; Or you even need to reorder bits... Ones again, sending float/real values is not defined by Modbus protocol itself, so it is hardware- and software-dependent. The Modbus Poll (and most of modbus tools) have configuration parameters that will properly swap bytes on their side. Ones again, that's very helpful: https://www.scadacore.com/tools/programming-calculators/online-hex-converter/
Last updated: 2026-02-19

Post by gmau on Station 'xyz': AR aborted by device (alarm.ind): AR consumer DHT expired ^{CODESYS Forge talk (Post)}
Hello, I am writing to You with the problem of Profinet communication in my Codesys V2.5 SP21 project working on Codesys Control RTE V3 x64 device. I have implemented multiple Profinet devices in the network, the Profinet itself is configured properly, based on the hardware and software parameters of the industrial PC (Windows 10 IoT). My Profinet network contains such Profinet devices as a robot, IO-Link master with some devices on it, IO modules, safety, vision sensor (the configuration is attached to this topic). Once every few hours, sometimes more often, sometimes not even once a day, the error show up at one, two or a few random modules at the same time, every one is the same: "Station 'xyz': AR aborted by device (alarm.ind): AR consumer DHT expired". The communication is then lost with that module, but it is up instantly. It is not such a problem when it comes to regular IOs, but with safety or rotation table, it causes errors and machine stops. I have tried multiple solution based on any forum suggestions, manuals, etc., but it is still happening. Mabye when I turned on the Watchdog for this communication, it is happening less times, but still, I could not turning up the Watchdog parameters at the expense of cycle time of the process. The same is with Send Clock, Reduction and DHT. I have one of the ethernet port on the PC configured with CmpEt1000Drv driver. The card itself is Intel Ethernet Connection I219-LM. These devices are connected to one EKI-2728-NI-A Profinet switch (it was changed from the standard non Profinet one, but still nothing has changed). As I said ealier, I am attaching all the configurations for each device and the communication itself - if any of You had the same problems or have any ideas what could be the cause, I would be much gratefull for any help. For now I am out of ideas, if You have any additional question, please ask. Sincerely, PF
Last updated: 2025-09-04

Post by paulpotat on cm4 runtime problem ^{CODESYS Forge talk (Post)}
Hello, We are having the same kind of problem again with the last CM4 we received : ooops... this runtime was built for RASPBERRYPI. Hardware version or firmware version not supported! (-18, 0x00000BB8, 0xFFFFFFFB) Hardware Version $ cat /proc/cpuinfo processor : 0 model name : ARMv7 Processor rev 3 (v7l) BogoMIPS : 126.00 Features : half thumb fastmult vfp edsp neon vfpv3 tls vfpv4 idiva idivt vfpd32 lpae evtstrm crc32 CPU implementer : 0x41 CPU architecture: 7 CPU variant : 0x0 CPU part : 0xd08 CPU revision : 3 processor : 1 model name : ARMv7 Processor rev 3 (v7l) BogoMIPS : 126.00 Features : half thumb fastmult vfp edsp neon vfpv3 tls vfpv4 idiva idivt vfpd32 lpae evtstrm crc32 CPU implementer : 0x41 CPU architecture: 7 CPU variant : 0x0 CPU part : 0xd08 CPU revision : 3 processor : 2 model name : ARMv7 Processor rev 3 (v7l) BogoMIPS : 126.00 Features : half thumb fastmult vfp edsp neon vfpv3 tls vfpv4 idiva idivt vfpd32 lpae evtstrm crc32 CPU implementer : 0x41 CPU architecture: 7 CPU variant : 0x0 CPU part : 0xd08 CPU revision : 3 processor : 3 model name : ARMv7 Processor rev 3 (v7l) BogoMIPS : 126.00 Features : half thumb fastmult vfp edsp neon vfpv3 tls vfpv4 idiva idivt vfpd32 lpae evtstrm crc32 CPU implementer : 0x41 CPU architecture: 7 CPU variant : 0x0 CPU part : 0xd08 CPU revision : 3 Hardware : BCM2711 Revision : a03141 Serial : 1000000097594db7 Model : Raspberry Pi Compute Module 4 Rev 1.1 Kernel Version $ uname -a Linux cmr-pv2-1t00-0001 6.12.25-rt9-v7l #1 SMP PREEMPT_RT Thu Sep 25 11:53:00 CEST 2025 armv7l GNU/Linux OS Version $ cat /etc/os-release PRETTY_NAME="Raspbian GNU/Linux 12 (bookworm)" NAME="Raspbian GNU/Linux" VERSION_ID="12" VERSION="12 (bookworm)" VERSION_CODENAME=bookworm ID=raspbian ID_LIKE=debian HOME_URL="http://www.raspbian.org/" SUPPORT_URL="http://www.raspbian.org/RaspbianForums" BUG_REPORT_URL="http://www.raspbian.org/RaspbianBugs" CodeSys runtime 4.13.0.0 So far we tested runtime versions up to 4.18.0.0, here are the results : * 4.13.0.0 --> Not working ❌ * 4.14.0.0 --> Not working ❌ * 4.15.0.0 --> Not working ❌ * 4.16.0.0 --> Not working ❌ * 4.17.0.0 --> Working ✅ * 4.18.0.0 --> Working ✅ There is nothing in the 4.17.0.0 release note that mentions that, so I'm not sure what to think about this. Is this a known problem within the CodeSys development team ? If yes, how do you follow CM4 hardware evolutions ? Is there a way of making this work without having to update the runtime version ? We have several products working with the 4.13.0.0 runtime and we would like to avoid having to update them all. BR
Last updated: 2026-02-02

Post by alessandro on SysMemCmp SysMemCpy ^{CODESYS Forge talk (Post)}
VAR Data1:ARRAY[1..10] OF SINT ; Data2:ARRAY[1..10] OF SINT ; Data3:ARRAY[1..10] OF SINT ; Data4:ARRAY[1..10] OF SINT ; ex_1 : BOOL ; ex_2 : BOOL ; enable : BOOL :=0 ; END_VAR // PROGRAM // The scope of this example is compare and copy the values of two ARRAY only if some value is different using SysMemCmp and SysMemCpy. // In this 2 example we don't use a FOR cicle for do this, and pBuffer1 and pBuffer2 is just a pointer to ARRAY. See details in Library util.SysMem of Codesys // The compare funcion util.SysMem.SysMemCmp is bidirectional if Data1 chanege respect Data2 ex_1 go to 1 and if Data2 change respect Data1 also // but the copy function util.SysMem.SysMemCpy work only from source ARRAY pSrc:=ADR(Data1) to destination ARRAY pDest:=ADR(Data2) // Example 1 Full ARRAY compare and copy // This compare 2 different equal ARRAY and if there is some difference ex_1 go to 1 and if you give enable he copy Data1 in Data2 ex_1 := TO_BOOL(util.SysMem.SysMemCmp(pBuffer1:=ADR(Data1), pBuffer2:=ADR(Data2), udiCount:=SIZEOF(Data1))); IF ex_1 AND enable THEN util.SysMem.SysMemCpy(pDest:=ADR(Data2), pSrc:=ADR(Data1), udiCount:=SIZEOF(Data1)); END_IF // Example 2 Only selected area of the ARRAY compare and copy // This compare 2 different equal ARRAY starting from position number [3] for 4 byte in this case start at position [3] and finish at position number [6] // and if there is some difference only in area [3..6] of the ARRAY ex_2 go to 1 if you give enalbe he copy Data3[3..6] in Data4[3..6] // if something change in other array position[0..2] or [7..10] are ingnored ex_2 := TO_BOOL(util.SysMem.SysMemCmp(pBuffer1:=ADR(Data3[3]), pBuffer2:=ADR(Data4[3]), udiCount:=4)); IF ex_2 AND enable THEN util.SysMem.SysMemCpy(pDest:=ADR(Data4[3]), pSrc:=ADR(Data3[3]), udiCount:=4); END_IF // Attention udiCount input is intended in <byte> in the example 1 I pass to udiCount:=SIZEOF(Data1) for compare and copy the intere ARRAY and // SIZEOF pass the size of intere ARRAY in byte to the function input, in this 2 examples I used variable type SINT each one occupie 1 byte and one position in the ARRAY // and in the example 2 I pass udiCount:=4 for compare and copy only 4 position of Data3/4[3..6] if you want to extend this example and use it for an ARRAY OF WORD // remember that each WORD will occupe 2 byte (16 bit) and you will have to pass udiCount:=SIZEOF(Data1) if you need to compare intere ARRAY example 1 // but need udiCount:=(42) for the example 2 because need to compare and copy 4 word each occupie 2 byte (16 bit). // For REAL (32 bit) need udiCount:=SIZEOF(44) for LREAL or (64 bit) need udiCount:=SIZEOF(416) // a good rule is calculate the dimension of the ARRAY in byte without empty space at the end, multiple of data type number for variable bigger then 8 bit // Example : If you want to create an ARRAY for 5 REAL (32 bit) each occupie 4 byte the correct size is ARRAY[0..19] OF REAL 54=20 position. // NOTE : In the example the position of compare function util.SysMem.SysMemCmp is first and the copy function util.SysMem.SysMemCpy inside the IF is after // in one cycle of the program the two array is compared and if there is some difference and enable are copied. // If you move util.SysMem.SysMemCmp after the IF cycle he will copare the ARRAY in the current cycle but the copy of the value will do in the next cycle.</byte>
Last updated: 2025-10-24

Post by hammer on Cartesian XY Chart — 2-D array binding: "Element to use" enumerates the wrong dimension ^{CODESYS Forge talk (Post)}
Title: Cartesian XY Chart — 2-D array binding: "Element to use" enumerates the wrong dimension; documented example (Dialog: XY Chart Configuration, "Two-dimensional array of base type REAL") appears transposed Product / version: CODESYS Development System V3.5 SP21 Patch 40 (3.5.21.40). Cartesian XY Chart visualization element (System_VisuElemXYChart / VisuElemXYChart). Summary: When a curve's Data X/Data Y is bound to a two-dimensional array, the element treats the last array dimension as the per-point record (the one selected by "Element to use") and iterates the first dimension as the sequence of curve points. The online documentation's worked example has the dimensions in the opposite order, so following it produces a non-functional curve and a nonsensical "Element to use" list. Steps to reproduce (fails — matches the documented layout): 1. Declare aData : ARRAY[0..1, 0..4095] OF LREAL; (2 data sets × 4096 points, i.e. first dimension = set, second = point). 2. In XY Chart Configuration, bind a curve's Data X (and Y) Variable to this array. 3. Observe the "Element to use" combobox. Actual result: The "Element to use" combobox lists 4096 entries (the indices of the second dimension) instead of 2 (the data sets in the first dimension). Selecting a row does not produce the expected curve; at most a single/degenerate point is plotted. Steps to reproduce (works — transposed): 1. Declare aData : ARRAY[0..4095, 0..1] OF LREAL; (points first, set second). 2. Bind Data X/Y to this array; "Element to use" now correctly lists [0] and [1]. 3. Populate aData[point, set] and the curve plots as expected. Expected result: Either the documented example should select the data set from the first dimension (as its [1]/[2] "Element to use" implies), or the documentation should state that the last dimension is the record dimension (stride) and the first dimension is the point sequence — consistent with how the element actually behaves. Analysis: The behavior is self-consistent if the element always walks a single array by a fixed byte stride, reading one element per point — the same mechanism as the documented "one-dimensional array of a DUT" case, where it strides by SIZEOF(DUT) and "Element to use" picks the member offset. For a 2-D array the record is the last dimension: to plot column/set c it starts at [0, c] and strides by the last-dimension length to reach [1, c], [2, c], … (row-major layout makes this a contiguous column walk). Under that rule, ARRAY[0..N, 0..1] is correct (record length 2 → "Element to use" [0]/[1]), and the documented ARRAY[1..2, 1..50] with "Element to use" [1]/[2] is transposed. Documentation reference: Dialog: XY Chart Configuration → Data X / Data Y → "Example: Two-dimensional array of the base type REAL" (ARRAY[1..2, 1..50], Element to use [1]/[2], "100 array values are displayed"). This example does not plot as described in 3.5.21.40; transposing to ARRAY[1..50, 1..2] does. Request: Please confirm whether this is (a) a documentation error (example dimensions reversed) or (b) an element defect (combobox enumerates the wrong dimension). Either way, a corrected example plus an explicit statement of which dimension is the point sequence vs. the record/stride dimension would prevent others from hitting this. Two separate 1-D arrays for Data X and Data Y work correctly and are unaffected.
Last updated: 2026-08-14

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 gallusrrr on usb2can in Codeysy 3.5 Can Gateway ^{CODESYS Forge talk (Post)}
Hallo und guten Morgen, Ich danke für die Rückmeldung. ich habe das oben geschriebene durchgeführt und auch festgestellt das mit die Commandos für die Can befehle noch fehlen. (Google angeschmissen und geschaut auch gefunden) sudo apt-get install can-utils (damit auch jemanden anders der Post hilft) Anschließend habe ich das CAN System komplett aufgebaut so das ich mit einen anderen CAN Adapter schauen konnte ob die Nachricht auch ankommt. die Nachricht kommt an :) danach habe ich follgende Ausgabe: pi@Codesys:~ $ sudo ip -s -d link show can0 3: can0: <noarp,up,lower_up,echo> mtu 16 qdisc pfifo_fast state UP mode DEFAULT group default qlen 10 link/can promiscuity 0 allmulti 0 minmtu 0 maxmtu 0 can state ERROR-ACTIVE restart-ms 0 bitrate 250000 sample-point 0.875 tq 250 prop-seg 6 phase-seg1 7 phase-seg2 2 sjw 1 brp 12 gs_usb: tseg1 1..16 tseg2 1..8 sjw 1..4 brp 1..1024 brp_inc 1 clock 48000000 re-started bus-errors arbit-lost error-warn error-pass bus-off 0 0 0 0 0 0 numtxqueues 1 numrxqueues 1 gso_max_size 65536 gso_max_segs 65535 tso_max_size 65536 tso_max_segs 65535 gro_max_size 65536 parentbus usb parentdev 1-1.4:1.0 RX: bytes packets errors dropped missed mcast 3549 819 0 0 0 0 TX: bytes packets errors dropped carrier collsns 32 4 0 0 0 0</noarp,up,lower_up,echo> (Sorry habe kein Speicherplatz im Web um Bilder anzuzeigen..) man kan sehen das die Nachricht abgeht und auch 32 Byte Empfangen worden sind. Die nachricht ist auch am anderen CAN Adapter sichtbar gewesen. Wie bekomem ich den einrichteten Adapter in Codesys rein? das ich den Befehl sudo ip link set can0 up type can bitrate 500000 das ich die Einrichtungs des Can Adapters noch in die Rasperry Start rutine nehmen muss ist mir klar. Ich bedanke mich .
Last updated: 2024-01-18

Post by john-robinson on Limiting Memory Access of an Array to Within its Bounds ^{CODESYS Forge talk (Post)}
Recently we had an issue regarding some simple code to calculate a rolling average. The code indexes from zero to 199 to properly store the current input into a circular buffer which then allows us to calculate a rolling average: VAR input_5s : REAL; outs_arr : ARRAY[0..199] OF REAL; i : USINT := 0; END_VAR ___ //this code runs every five seconds, calculating a rolling average outs_arr[i] := input_5s; i := i + 1; output := OSCAT_BASIC.ARRAY_AVG(ADR(outs_arr), SIZEOF(outs_arr)); IF i >= SIZEOF(outs_arr) THEN i := 0; END_IF There is a simple bug in this code where the index will be set to 0 when it has surpassed the length of the array in bytes (800 in this case) rather than larger than the number of reals in the array (200). The solution here is simple, replacing i >= SIZEOF(outs_arr) with i >= SIZEOF(outs_arr)/SIZEOF(outs_arr[0]). In this example when the index increased to 201 and the line outs_arr[201] := input_5s was called, codesys arbitrarily wrote to the address in memory that is where outs_arr[201] would be if the array was that long. I would like to find a way to wrap the codesys array inside of a wrapper class that checks if an input is within the bounds of an array before writing to that value. I know how I would implement that for a specific array, I could create a method or class that takes an input of an array of variable length, ie. ARRAY[*] OF REAL, but I don't know how to make this for any data type. I am wondering if anyone has ever done anything similar to this, or has any better suggestions to ensure that none of the programmers on this application accidentally create code that can arbitrarily write to other locations in memory.
Last updated: 2024-03-05

Post by thysonfury on OPTO22 Groov Epic PR2 Modbus Comms Dropping out every 2 hours and 4 Mins ^{CODESYS Forge talk (Post)}
Hi after some assistance with an error on a Groov PR2 PLC. We have a few different communications set up as shown below: One Modbus TCP Slave Connection - ( Sending / Receiving Data from a PC ) Two Modbus TCP Master Connection - ( Reading Data from a UPS Panel and Reading Data Gas Chromatograph) One Modbus RTU Slave Connection 485 - (Reading Data from a fire and gas panel) One Modbus RTU Master Connection 485 - (Sending Data to a Telemetry Unit) All Licenses have been installed as per OPTO22 suggestions of the order below: Modbus TCP Master Modbus TCP Slave Modbus RTU Master Modbus RTU Slave When I check on License manager the RTU Master license seems to disappear on installing the RTU. (What ever reason I’ve been told this is “normal”). If I use Device License Read It will successfully read all the licenses correctly. Now the issue is every 2 hours and between 4. For what ever reason the communications seems to end and lock up for about 20 seconds. During this time even if I was logged into the PLC it would kick me off and I’d have to re type the password to enter. Most of the devices can handle this however the RTU flags up a communications failure at the SCADA and is raising alarms every 2 hours and 4 mins. We’ve had multiple people go through the code to check for anything obvious. Does anyone have any ideas?
Last updated: 2024-04-15

Post by thysonfury on OPTO22 Groov Epic PR2 Modbus Comms Dropping out every 2 hours and 4 Mins ^{CODESYS Forge talk (Post)}
Hi after some assistance with an error on a Groov PR2 PLC. We have a few different communications set up as shown below: One Modbus TCP Slave Connection - ( Sending / Receiving Data from a PC ) Two Modbus TCP Master Connection - ( Reading Data from a UPS Panel and Reading Data Gas Chromatograph) One Modbus RTU Slave Connection 485 - (Reading Data from a fire and gas panel) One Modbus RTU Master Connection 485 - (Sending Data to a Telemetry Unit) All Licenses have been installed as per OPTO22 suggestions of the order below: Modbus TCP Master Modbus TCP Slave Modbus RTU Master Modbus RTU Slave When I check on License manager the RTU Master license seems to disappear on installing the RTU. (What ever reason I’ve been told this is “normal”). If I use Device License Read It will successfully read all the licenses correctly. Now the issue is every 2 hours and between 4. For what ever reason the communications seems to end and lock up for about 20 seconds. During this time even if I was logged into the PLC it would kick me off and I’d have to re type the password to enter. Most of the devices can handle this however the RTU flags up a communications failure at the SCADA and is raising alarms every 2 hours and 4 mins. We’ve had multiple people go through the code to check for anything obvious. Does anyone have any ideas?
Last updated: 2024-04-15

Post by thysonfury on OPTO22 Groov Epic PR2 Modbus Comms Dropping out every 2 hours and 4 Mins ^{CODESYS Forge talk (Post)}
Hi after some assistance with an error on a Groov PR2 PLC. We have a few different communications set up as shown below: One Modbus TCP Slave Connection - ( Sending / Receiving Data from a PC ) Two Modbus TCP Master Connection - ( Reading Data from a UPS Panel and Reading Data Gas Chromatograph) One Modbus RTU Slave Connection 485 - (Reading Data from a fire and gas panel) One Modbus RTU Master Connection 485 - (Sending Data to a Telemetry Unit) All Licenses have been installed as per OPTO22 suggestions of the order below: Modbus TCP Master Modbus TCP Slave Modbus RTU Master Modbus RTU Slave When I check on License manager the RTU Master license seems to disappear on installing the RTU. (What ever reason I’ve been told this is “normal”). If I use Device License Read It will successfully read all the licenses correctly. Now the issue is every 2 hours and between 4. For what ever reason the communications seems to end and lock up for about 20 seconds. During this time even if I was logged into the PLC it would kick me off and I’d have to re type the password to enter. Most of the devices can handle this however the RTU flags up a communications failure at the SCADA and is raising alarms every 2 hours and 4 mins. We’ve had multiple people go through the code to check for anything obvious. Does anyone have any ideas?
Last updated: 2024-04-15

Post by xcqt on Oop best practice ^{CODESYS Forge talk (Post)}
Hi all, I’m currently trying to improve my OOP structure in CODESYS and I’m looking for some input on how others approach this. I understand the basics like inheritance, interfaces, abstract FBs, methods, and properties, but I still struggle a bit with the overall architecture and what’s considered clean or scalable in bigger projects. As an example, I’m working on two different energy meter function blocks: FB_EnergyMeter_MQTT reads data from MQTT (strings) FB_EnergyMeter_Modbus reads data from Modbus (words) Both have their own Update() method and implement the same interface (something like IF_EnergyMeter). Later on, I’ll probably add more meter types, but they should all behave the same from the controller’s point of view. Now, there’s a FB_GridControl block that needs power data from these meters. I see two options here: Define the meter blocks inside FB_GridControl and call them directly (for example fbModbusMeter.UpdateModbus()). Keep the meter blocks outside and pass them into FB_GridControl as interface references, so the control block doesn’t know which specific type of meter it’s dealing with. Option 2 feels cleaner and more flexible to me, but I’m not entirely sure how to handle the data flow in that case. Should I pass the meter instance through an interface reference (REFERENCE TO IF_EnergyMeter)? Or is there a better way to link the external FBs to the control block? I’d like to hear how you structure this kind of setup or see an example from someone who has done something similar. EDIT: I think i need to do something like this fbModbusUpdateInput(wInput:= wWordValue); fbMqttUpdateInput(strInput:= strStringValue); IF bUseMqtt THEN Meter REF = fbMqttUpdateInput; ELSE Meter REF = fbModbusUpdateInput; END_IF fbControl.SetMeter(UsedMeter := Meter); Or am i thinking wrong? Thanks, Thomas
Last updated: 2025-10-16

Post by gilad on CODESYS SoftMotion Generic DSP402 on WAGO PFC200 + Festo CMMT-AS: MC_Power stays Busy, Controlword remains 0 ^{CODESYS Forge talk (Post)}
Hello, I am trying to connect a Festo CMMT-AS-C4-3A-MP-S1 servo drive to a WAGO PFC200 (750-8210) using EtherCAT and CODESYS SoftMotion. Hardware PLC: WAGO PFC200 750-8210 Drive: Festo CMMT-AS-C4-3A-MP-S1 Communication: EtherCAT CODESYS version: Device description version 6.3.1.1 Drive firmware: 36.10.3 Current Status EtherCAT communication is working correctly: EtherCAT master = Running Drive detected and operational PDO input and output mapping is active Statusword, position and velocity are updating correctly Current PDO mapping: Outputs: 6040 Controlword -> %QW0 6060 Modes of operation -> %QB2 607A Target position -> %QD1 60FF Target velocity -> %QD3 Inputs: 6041 Statusword -> %IW2 6061 Modes of operation display -> %IB6 6064 Position actual value -> %ID2 606C Velocity actual value -> %ID3 SoftMotion Axis I added a SoftMotion CiA402 axis under the EtherCAT slave: Axis type: SM_Drive_GenericDSP402 Axis communication state: operational (100) No SoftMotion mapping errors anymore Problem MC_Power is executed with: Enable = TRUE bRegulatorOn = TRUE bDriveStart = TRUE but: Status = FALSE Busy = TRUE Error = FALSE ErrorID = SMC_NO_ERROR The axis remains in: SMC_AXIS_STATE.power_off DSP402 state = SWITCH_ON_DISABLED The most important observation: Statusword = 32784 (0x8010) Controlword (%QW0) remains 0 all the time SoftMotion never writes 6, 7, or 15 to the Controlword. Additional Information The axis status page reports: "The license is missing or invalid. The PLC runs in demo mode." I am not sure whether: The missing SoftMotion license prevents Controlword generation completely. The axis is still not correctly connected to the EtherCAT slave despite operational communication. There is an additional CiA402 configuration step required for the Festo CMMT-AS drive. Has anyone successfully used a Festo CMMT-AS MP drive with CODESYS SoftMotion Generic DSP402 on a WAGO PFC200? Any suggestions on what should be checked next would be greatly appreciated.
Last updated: 2026-06-24

Post by bschraud on runtime received SIGABRT ^{CODESYS Forge talk (Post)}
Ich konnte den Fehler leider nicht wirklich finden. Hier mein bisheriger Fortschritt: Um nähere Informationen zu bekommen, habe ich einen strace erstellt: PID ermitteln: $ ps aux | grep codesyscontrol | grep -v grep --> 560 sudo strace -tt -f -p 560 -o /tmp/codesys_strace.log (Die Logdatei wird schnell einige hundert MB groß.) Mit grep -B 100 'si_signo=SIGABRT' /tmp/codesys_strace.log konnte ich die relevanten Einträge finden: (Die PID hat sich inzwischen wegen einem Reboot geändert) 1023 15:33:49.497136 writev(2, [{iov_base="Unexpected error 9 on netlink de"..., iov_len=45}], 1 <unfinished ...=""> .. 1023 15:33:49.498352 tgkill(545, 1023, SIGABRT <unfinished ...=""> 1023 15:33:49.498440 <... tgkill resumed> ) = 0 .. 1023 15:33:49.498730 --- SIGABRT {si_signo=SIGABRT, si_code=SI_TKILL, si_pid=545, si_uid=0}</unfinished></unfinished> Der Codesys Log zeigt zu diesem Zeitpunkt: Exception: HANDLED EXCPT <excpt>NonContinuable</excpt> in CH_COMM_CYCLE Mit sudo lsof -p 545 habe ich die Anzahl der geöffneten Dateien überprüft ohne Auffälligkeiten Mit sudo netstat -tunaep | grep codesys habe ich die offenen Netzwerkverbindungen der codesys Prozesse überprüft Hier sieht es so aus, dass codesyscontrol und codesysedge über die externen Netzwerkschnittstelle anstatt über den localhost kommunizieren: udp 0 0 172.19.11.127:1740 0.0.0.0: 0 17882 549/codesyscontrol. udp 0 0 172.19.11.255:1740 0.0.0.0: 0 17883 549/codesyscontrol. udp 0 0 172.19.11.255:1743 0.0.0.0: 0 16993 529/codesysedge.bin udp 0 0 172.19.11.127:1743 0.0.0.0: 0 16992 529/codesysedge.bin Leider kann ich keine Konfiguration mit einer anderen Schnittstelle einstellen.. Als nächstes habe ich die udp Kommunikation der beiden Prozesse aufgezeichnet: SPID des BlkDrvUdp Threads ermitteln: $ ps aux | grep codesyscontrol | grep -v grep --> 548 $ ps -T -p 548 | grep BlkDrvUdp --> 1200 Damit kann man den strace starten: sudo strace -p 1020 -f -tt -o /tmp/udp_control_trace.log -e trace=socket,connect,bind,sendto,recvfrom,close $ ps aux | grep codesysedge | grep -v grep --> 528 $ ps -T -p 528 | grep BlkDrvUdp --> 789 sudo strace -p 789 -f -tt -o /tmp/udp_edge_trace.log -e trace=socket,connect,bind,sendto,recvfrom,close Beim Aufzeichnen des Traces kamen wiederholte Fehlereinträge im codesyscontrol.log (diesmal ohne SIGABRT) nach folgendem Muster: tail -f /var/opt/codesys/codesyscontrol.log (mit UTC Zeit) 2025-04-17T11:23:43.147Z, 0x00000071, 1, 0, 0, Host : PAC4 2025-04-17T11:23:43.147Z, 0x00000071, 1, 0, 0, HTTP port : 8080 2025-04-17T11:23:43.147Z, 0x00000071, 1, 0, 0, HTTPS port : 443 2025-04-17T11:23:43.147Z, 0x00000071, 1, 0, 0, Connection type : HTTP 2025-04-17T11:23:43.147Z, 0x00000071, 1, 0, 0, ********** 2025-04-17T11:23:46.318Z, 0x00000061, 1, 0, 0, Create asymmetric key done! 2025-04-17T11:23:53.464Z, 0x00000071, 1, 404, 0, File $PlcLogic$/$visu$/favicon.ico not found on this server 2025-04-17T11:23:55.208Z, 0x0000100c, 1, 0, 0, Visu_PRG: Creating Client for Extern-ID: 2025487823 2025-04-17T11:23:55.216Z, 0x0000100c, 1, 0, 0, Visu_PRG: Creating Client successful for Extern-ID: 2025487823 Returned IEC-ID: 0 2025-04-17T11:40:43.471Z, 0x00000114, 4, 1, 0, ** ERROR: SysTaskCreate [CheckLicense0]: pthread_setname_np: Bad file descriptor Hier der dazu passende trace auszug von grep -B 100 '13:40:43' /tmp/udp_edge_trace.log: 798 13:40:42.592535 socket(AF_NETLINK, SOCK_RAW|SOCK_CLOEXEC, NETLINK_ROUTE) = 9 798 13:40:42.592794 bind(9, {sa_family=AF_NETLINK, nl_pid=0, nl_groups=00000000}, 12) = 0 798 13:40:42.593049 sendto(9, {{len=20, type=0x12 / NLMSG_??? /, flags=NLM_F_REQUEST|0x300, seq=1744890042, pid=0}, "\x00\x00\x00\x00"}, 20, 0, {sa_family=AF_NETLINK, nl_pid=0, nl_groups=00000000}, 12) = 20 798 13:40:42.602995 sendto(9, {{len=20, type=0x16 / NLMSG_??? /, flags=NLM_F_REQUEST|0x300, seq=1744890043, pid=0}, "\x00\x00\x00\x00"}, 20, 0, {sa_family=AF_NETLINK, nl_pid=0, nl_groups=00000000}, 12) = 20 798 13:40:42.614794 close(9) = 0 798 13:40:42.615065 socket(AF_UNIX, SOCK_DGRAM|SOCK_CLOEXEC, 0) = 9 798 13:40:42.615331 close(9) = 0 798 13:40:42.616159 close(9) = 0 798 13:40:42.616318 socket(AF_UNIX, SOCK_DGRAM|SOCK_CLOEXEC, 0) = 9 798 13:40:42.616555 close(9) = 0 798 13:40:42.617209 close(9) = 0 798 13:40:42.617355 socket(AF_UNIX, SOCK_DGRAM|SOCK_CLOEXEC, 0) = 9 798 13:40:42.617590 close(9) = 0 798 13:40:42.618497 close(9) = 0 798 13:40:42.618712 socket(AF_UNIX, SOCK_DGRAM|SOCK_CLOEXEC, 0) = 9 798 13:40:42.618995 close(9) = 0 798 13:40:42.619568 close(9) = 0 798 13:40:42.620247 close(9) = 0 798 13:40:42.620441 socket(AF_UNIX, SOCK_DGRAM|SOCK_CLOEXEC, 0) = 9 798 13:40:42.620690 close(9) = 0 798 13:40:42.621181 close(9) = 0 798 13:40:42.621823 close(9) = 0 798 13:40:43.520036 close(9) = 0 798 13:40:43.520406 close(9) = 0 und grep -B 100 '13:40:43' /tmp/udp_control_trace.log 1035 13:40:43.389785 socket(AF_UNIX, SOCK_DGRAM|SOCK_CLOEXEC, 0) = 20 1035 13:40:43.390043 close(20) = 0 1035 13:40:43.390681 close(20) = 0 1035 13:40:43.393690 close(20) = 0 22586 13:40:43.450945 close(0) = 0 22586 13:40:43.451230 close(0) = -1 EBADF (Ungültiger Dateideskriptor) 22586 13:40:43.451689 close(20) = 0 22586 13:40:43.452104 close(1) = 0 22586 13:40:43.452481 close(21) = 0 22586 13:40:43.452679 close(2) = 0 22586 13:40:43.452860 close(2) = -1 EBADF (Ungültiger Dateideskriptor) 1009 13:40:43.454112 close(21) = 0 22586 13:40:43.454522 close(8) = 0 22586 13:40:43.455428 close(8) = 0 22586 13:40:43.455976 close(8) = 0 22586 13:40:43.456852 close(8) = 0 22587 13:40:43.463115 close(8) = 0 22587 13:40:43.464074 close(8) = 0 22587 13:40:43.464682 close(8) = 0 22587 13:40:43.465463 close(8) = 0 22587 13:40:43.468229 close(8) = 0 22587 13:40:43.468737 close(1 <unfinished ...=""> 1009 13:40:43.468805 close(20 <unfinished ...=""> 22587 13:40:43.468849 <... close resumed> ) = 0 1009 13:40:43.468896 <... close resumed> ) = 0 22587 13:40:43.468942 close(2) = 0 22587 13:40:43.469504 +++ exited with 0 +++ 22586 13:40:43.469670 --- SIGCHLD {si_signo=SIGCHLD, si_code=CLD_EXITED, si_pid=22587, si_uid=0, si_status=0, si_utime=0, si_stime=1} --- 22586 13:40:43.470175 +++ exited with 0 +++ 1009 13:40:43.470265 close(20) = 0 546 13:40:43.470577 --- SIGCHLD {si_signo=SIGCHLD, si_code=CLD_EXITED, si_pid=22586, si_uid=0, si_status=0, si_utime=0, si_stime=2} --- 1035 13:40:43.470913 close(20) = -1 EBADF (Ungültiger Dateideskriptor) 22588 13:40:43.480352 --- SIGRT_7 {si_signo=SIGRT_7, si_code=SI_TKILL, si_pid=546, si_uid=0} --- 22588 13:40:43.481675 --- SIGRT_6 {si_signo=SIGRT_6, si_code=SI_TKILL, si_pid=546, si_uid=0} --- 22588 13:40:43.482410 +++ exited with 0 +++</unfinished></unfinished> Die Zeile 2025-04-17T11:40:43.471Z, 0x00000114, 4, 1, 0, **** ERROR: SysTaskCreate [CheckLicense0]: pthread_setname_np: Bad file descriptor zeigt, dass der EBADF-Fehler beim Versuch auftritt, einen neuen Thread namens "CheckLicense0" zu erstellen. Die Funktion pthread_setname_np() erhält einen EBADF-Fehler. Ich weiß leider nicht, ob das eine heiße Spur ist. Parallel dazu habe ich die Aufrufe von Systemfunktionen über SysProcess_Implementation.SysProcessExecuteCommand2 auskommentiert ohne den Fehler damit abzustellen. An diesem Punkt habe ich wegen Termindruck den alten Stand der Runtime (4.11.0.0) mit der Codesys Version 3.5 SP20 wiederhergestellt und die geänderten Programme und Visualisierungen manuell getauscht mit dem Ergebnis, dass der Fehler in den letzten 2 Stunden nicht mehr aufgetreten ist. Wenn jemand das Problem kennt, wäre ich für einen Austausch dankbar. Frohe Ostern!
Last updated: 2025-04-17

Post by kurtk on SysProcess Execute Command unable to run commands with special characters ^{CODESYS Forge talk (Post)}
Thank you for this additional information. Could you please provide the references to the official documentation where you found this information ? I got as far as: Then insert this: [SysProcess] BasePriority=Realtime Command=AllowAll devoid of references of where the CodesysContol.cfg file was located or of the need to run codesys as root I incrementally located bits of information with perplexity searches but remained mired at error 25 ERR_NO_ACCESS I am curious whether root access is MANDATORY to run SysProcessExecuteCommand (- and/or any other SysProcess functions) or if a more access-constrained User=quasiroot could suffice without the security concerns ? Apparently codesys runs fine without User=root for almost everything... That raises the question: What IS the default codesys user ? I notice in the prototypes: VAR sCommand : STRING := '/usr/bin/whoami'; sOutput : STRING(255); refCommand : REFERENCE TO STRING; refOutput : REFERENCE TO STRING; resultCmd : UDINT; END_VAR whenever I attempt to build this Codesys v3.5 SP2 whines that "cannot convert type REFERENCE TO STRING to STRING" don't remember the exact message... Apparently this happens whenever a fixed-length string is involved. if I get rid of (255) and just set the string := ' '; that is sufficient to make the compiler happy. Is this a recently enforced constraint ? Why does this compile for you and not for me ? There are references to functions / utilities which are used/needed to massage the string references - but I see no specific details... I also notice you specify: Make sure the lib SysProcessImplementation, SysTypes, and CmpErrors is on the project. I don't comprehend why all of the dependent libraries are not automatically referenced, added ? I don't recall seeing anywhere but here that SysProcessImplementation must be included... It just seems odd that the default is to exclude essential libraries, or require alchemical conjuring to assemble all the ingredients for gnat soup ;-) Thanks a lot... I'm still a codesys newby getting my wheels on - or sometimes just partially on
Last updated: 2025-09-12

Post by greenwood on CODESYS Control Raspberry Pi mit Servotreiber T6 von StepperOnline ^{CODESYS Forge talk (Post)}
Hallo, ich versuche, eine Modbus-RTU-Kommunikation zwischen meinem Raspberry Pi mit CODESYS Control für Raspberry Pi 64 SL und einem Servotreiber von StepperOnline, Typ T6, herzustellen. Die Verbindung ist wie folgt: RJ45-Stecker am Servotreiber -> Kabel mit RJ45 an einem Ende und USB-A-Stecker am anderen Ende -> Seriell-zu-USB-Konverter -> Raspberry Pi. Der Seriell-zu-USB-Konverter und die Kabel habe ich zusammen mit dem Motor und Treiber von StepperOnline gekauft und sie sind dafür gedacht, den Servotreiber mit einem Computer zu verbinden, auf dem deren Setup-Software läuft. dmesg | grep tty auf dem Pi sagt mir, dass der USB-zu-Seriell-Konverter auf ttyusb0 ist. Ich weiß nicht, wie man das in einen COM-Port übersetzt, ich habe COM 1 genommen. Ich habe ein Projekt in Codesys erstellt und ein Modbus_COM-Gerät hinzugefügt, einen Modbus_Master_COM_Port und einen Modbus_Slave_COM_Port angehängt. Auf der Registerkarte "Allgemein" des Modbus_COM habe ich die folgenden Werte eingestellt: Slave address 1 Baud rate 9600 Parity None Data bits 8 Stop bits 2 Ich habe den Servotreiber auf die gleichen Werte eingestellt. (Ich habe auch andere Werte getestet, aber mit dem gleichen Ergebnis). Auf der Registerkarte "Modbus Slave Channel" des Modbus_Slave_COM_Port habe ich einen Kanal hinzugefügt und die folgenden Werte eingetragen: Access type Read Holding Registers (Function Code 3) Read Register offset 0x0000 Length 1 Ich habe noch keinen Code geschrieben, weil ich noch nicht herausgefunden habe, wie man die Kommunikation programmiert. Wenn ich das Projekt zum Raspberry Pi herunterlade scheint der Modbus_Master_COM_Port zu laufen (grünes Symbol), aber der Modbus_Slave_COM_Port nicht (rotes Dreiecksymbol). Wenn ich einen anderen COM-Port eintrage, haben sowohl der Master als auch der Slave das rote Dreiecksymbol. Ich habe dies auch mit meinem Windows-PC unter Verwendung von Codesys Control Win 64 versucht und die gleichen Ergebnisse bekommen. Ich wäre dankbar für jede Hilfe oder Tipps, wie ich den Grund dafür herausfinden kann, warum der Servotreiberreiber nicht reagiert.
Last updated: 2024-05-31

Post by struccc on Backtick identifiers ^{CODESYS Forge talk (Post)}
Important: ` - Backtick - ASCII 96 ' - Apostrophe or Single Quote - ASCII 39 In the online help for some reason it renders ’ ... The only issue I don't get, why identifiers are still case-insensitive, even within `backtricks`? `mPa` and `MPa` for milli-, mega Pascal are the same identifiers, unfortunately... Is this a bug or a feature? Otherwise can do pretty nasty things with it: // A practical (?) ASCII table served as crazy strict enumeration // Just for hangover Monday mornings {attribute 'qualified_only'} {attribute 'strict'} TYPE ASCII : ( NULL := 16#00, START_OF_HEADING := 16#01, START_OF_TEXT := 16#02, END_OF_TEXT := 16#03, END_OF_TRANSMISSION := 16#04, ENQUIRY := 16#05, BELL := 16#06, ACKNOWLEDGE := 16#07, BACKSPACE := 16#08, HORIZONTAL_TAB := 16#09, LINE_FEED := 16#0A, VERTICAL_TAB := 16#0B, FORM_FEED := 16#0C, CARRIAGE_RETURN := 16#0D, SHIFT_OUT := 16#0E, SHIFT_IN := 16#0F, DATA_LINK_ESCAPE := 16#10, DEVICE_CONTROL_1 := 16#11, DEVICE_CONTROL_2 := 16#12, DEVICE_CONTROL_3 := 16#13, DEVICE_CONTROL_4 := 16#14, NEGATIVE_ACKNOWLEDGE := 16#15, SYNCHRONOUS_IDLE := 16#16, END_OF_TRANS_BLOCK := 16#17, CANCEL := 16#18, END_OF_MEDIUM := 16#19, SUBSTITUTE := 16#1A, ESCAPE := 16#1B, FILE_SEPARATOR := 16#1C, GROUP_SEPARATOR := 16#1D, RECORD_SEPARATOR := 16#1E, UNIT_SEPARATOR := 16#1F, ` ` := 16#20, `!` := 16#21, `$"` := 16#22, `#` := 16#23, `$$` := 16#24, `%` := 16#25, `&` := 16#26, `$'` := 16#27, `(` := 16#28, `)` := 16#29, `*` := 16#2A, `+` := 16#2B, `,` := 16#2C, `-` := 16#2D, `.` := 16#2E, `/` := 16#2F, `0` := 16#30, `1` := 16#31, `2` := 16#32, `3` := 16#33, `4` := 16#34, `5` := 16#35, `6` := 16#36, `7` := 16#37, `8` := 16#38, `9` := 16#39, `:` := 16#3A, `;` := 16#3B, `<` := 16#3C, `=` := 16#3D, `>` := 16#3E, `?` := 16#3F, `@` := 16#40, A := 16#41, B := 16#42, C := 16#43, D := 16#44, E := 16#45, F := 16#46, G := 16#47, H := 16#48, I := 16#49, J := 16#4A, K := 16#4B, L := 16#4C, M := 16#4D, N := 16#4E, O := 16#4F, P := 16#50, Q := 16#51, `R ` := 16#52, `S ` := 16#53, T := 16#54, U := 16#55, V := 16#56, W := 16#57, X := 16#58, Y := 16#59, Z := 16#5A, `[` := 16#5B, `\` := 16#5C, `]` := 16#5D, `^` := 16#5E, `_` := 16#5F, `agrave`:= 16#60, `a` := 16#61, `b` := 16#62, `c` := 16#63, `d` := 16#64, `e` := 16#65, `f` := 16#66, `g` := 16#67, `h` := 16#68, `i` := 16#69, `j` := 16#6A, `k` := 16#6B, `l` := 16#6C, `m` := 16#6D, `n` := 16#6E, `o` := 16#6F, `p` := 16#70, `q` := 16#71, `r` := 16#72, `s` := 16#73, `t` := 16#74, `u` := 16#75, `v` := 16#76, `w` := 16#77, `x` := 16#78, `y` := 16#79, `z` := 16#7A, `{`{} := 16#7B, `|` := 16#7C, `}` := 16#7D, `~` := 16#7E, DEL := 16#7F ) BYTE; END_TYPE
Last updated: 2025-11-05

Post by lsislsis on SIGABRT Error ^{CODESYS Forge talk (Post)}
Please help us. Why we take this errors. We try different versions like 4.12.0 and 4.13.0 with same results. ;*********;<loggername>codesyscontrol.log</loggername>;<logoptions>; <enable>1</enable>; <type>normal</type>; <timestamp>rtc high resolution</timestamp>; <deactivatable>0</deactivatable>; <dump>always</dump>; <filter>0x0000000f<filter>; <maxentries>100000</maxentries>; <maxfiles>1</maxfiles>; <maxfilesize>1000000</maxfilesize>;</filter></filter></logoptions>;<entries>;Timestamp, CmpId, ClassId, ErrorId, InfoId, InfoText;ClassId: LOG_INFO =1;ClassId: LOG_WARNING =2;ClassId: LOG_ERROR =4;ClassId: LOG_EXCEPTION =8;ClassId: LOG_DEBUG =16;ClassId: LOG_PRINTF =32;ClassId: LOG_COM =64;</entries>;*********2024-11-05T08:23:59.728Z, 0x0000100c, 1, 0, 0, VisuFctCheckForUnusedClients: Removing Client with IEC-ID: 1 Time delta: T#33s1ms Locks: Paintbuffer: TRUE 2024-11-05T08:23:59.728Z, 0x0000100c, 1, 0, 0, VisuFctCheckForUnusedClients: Successfully Removed Client at Address: 547195449944, IEC-ID was: 1, EXT-ID: 431000373 2024-11-05T08:28:57.913Z, 0x0000100c, 1, 0, 0, Visu_PRG: Creating Client for Extern-ID: 347055752 2024-11-05T08:28:57.926Z, 0x0000100c, 1, 0, 0, Visu_PRG: Creating Client successful for Extern-ID: 347055752 Returned IEC-ID: 1 2024-11-05T08:30:51.103Z, 0x0000100c, 1, 0, 0, Visu_PRG: Successfully Removed Client with IEC-ID: 1, Extern-ID: 347055752 2024-11-05T08:37:36.517Z, 0x00000103, 65544, 1, 0, runtime received SIGABRT - system may be in an inconsistent state* We recommend a reboot of the controller now! 2024-11-05T08:37:36.517Z, 0x00000111, 8, 260, 3, #### Exception: HANDLED EXCPT <excpt>NonContinuable</excpt> in CH_COMM_CYCLE 2024-11-05T08:47:42.117Z, 0x00000103, 65544, 1, 0, runtime received SIGABRT - system may be in an inconsistent state We recommend a reboot of the controller now! 2024-11-05T08:47:42.117Z, 0x00000111, 8, 260, 3, #### Exception: HANDLED EXCPT <excpt>NonContinuable</excpt> in CH_COMM_CYCLE 2024-11-05T09:14:41.316Z, 0x00000071, 1, 0, 13, Webserver stopped 2024-11-05T09:14:44.485Z, 0x0000013d, 1, 0, 4, Number of licensed cores for IEC-tasks: 1 from 4 2024-11-05T09:14:44.487Z, 0x0000013d, 1, 0, 4, Number of licensed cores for IEC-tasks: 4 from 4 2024-11-05T09:14:44.540Z, 0x00000002, 1, 0, 2, Application [<app>Application</app>] loaded via [Download] 2024-11-05T09:14:55.894Z, 0x00001012, 1, 0, 0, Opened alarm storage file, version: 6 2024-11-05T09:14:55.951Z, 0x0000100c, 1, 0, 0, Visuinitialization starting. 2024-11-05T09:14:55.983Z, 0x0000100c, 1, 0, 0, Visuinitialization done. 2024-11-05T09:14:55.995Z, 0x00000071, 1, 0, 12, Webserver started 2024-11-05T09:15:01.753Z, 0x0000100c, 1, 0, 0, Visu_PRG: Creating Client for Extern-ID: 2279884529 2024-11-05T09:15:01.753Z, 0x0000100c, 1, 0, 0, Visu_PRG: Creating Client successful for Extern-ID: 2279884529 Returned IEC-ID: 0 2024-11-05T09:34:44.667Z, 0x00000103, 65544, 1, 0, runtime received SIGABRT - system may be in an inconsistent state We recommend a reboot of the controller now! 2024-11-05T09:34:44.667Z, 0x00000111, 8, 260, 3, #### Exception: More than 2 exceptions in CH_COMM_CYCLE: Stop logging 2024-11-05T10:13:26.867Z, 0x00000103, 65544, 1, 0, runtime received SIGABRT - system may be in an inconsistent state We recommend a reboot of the controller now! 2024-11-05T10:15:21.966Z, 0x00000103, 65544, 1, 0, runtime received SIGABRT - system may be in an inconsistent state We recommend a reboot of the controller now! 2024-11-05T10:19:12.167Z, 0x00000103, 65544, 1, 0, runtime received SIGABRT - system may be in an inconsistent state We recommend a reboot of the controller now! 2024-11-05T10:26:02.566Z, 0x00000103, 65544, 1, 0, runtime received SIGABRT - system may be in an inconsistent state We recommend a reboot of the controller now! 2024-11-05T10:31:42.866Z, 0x00000103, 65544, 1, 0, runtime received SIGABRT - system may be in an inconsistent state We recommend a reboot of the controller now! 2024-11-05T11:01:54.468Z, 0x00000103, 65544, 1, 0, runtime received SIGABRT - system may be in an inconsistent state We recommend a reboot of the controller now! 2024-11-05T11:09:29.868Z, 0x00000103, 65544, 1, 0, runtime received SIGABRT - system may be in an inconsistent state We recommend a reboot of the controller now! 2024-11-05T11:14:44.540Z, 0x0000100d, 1, 0, 0, Demo mode expired. 2024-11-05T11:27:20.868Z, 0x00000103, 65544, 1, 0, runtime received SIGABRT - system may be in an inconsistent state We recommend a reboot of the controller now! * Regards
Last updated: 2024-11-05

Post by darko7417 on When running as a service, CodesysControl doesn't write log files to the disk (and other CmpLog related issuess) ^{CODESYS Forge talk (Post)}
I run CODESYS runtime as a service and use CmpLog (the LogAdd2 function) to log different events to a file. I have done this many times before on various projects and hardware, and it works fine. On this particular system, I have CODESYS 3.5.20.40 running on a Windows 11 PC. The CODESYSControlService autostarts (with Local System credentials, the default), and the application runs fine. However, the configuration file is not read (or at least not the one that should be, or not the CmpLog section), and log files are not written to the disk. I would be thankful if anyone knew why this is happening and how to fix it. A note to CODESYS people: you must provide more information on the codesys configuration file, CODESYSControlService.exe and other major components and system behaviour. You created the service and various features (i.e. logging), but haven't explained how they work, which, in my opinion, is below standard for industrial automation software. These are my observations: - When running as a service, the config file is not read (none of them), or at least the CmpLog section is not read. I checked the log using Codesys IDE, and the CmpLog parameters are not the ones I have set in any of the config files. Which CmpLog config values does the service use, and where does it read them from? I have no idea, but it's not the config files. Here are the codesys config files I located on the PC's disk: o C:\Program Files (x86)\CODESYS 3.5.20.40\GatewayPLC\CODESYSControl.cfg (only 2 lines in this config) o C:\Program Files (x86)\CODESYS 3.5.20.40\GatewayPLC\AppDataFiles\CODESYSControlWinV3\CODESYSControl.cfg o C:\Users\SRV\AppData\Roaming\CODESYS\CODESYSControlWinV3\C4DBB537\CODESYSControl.cfg o C:\Program Files (x86)\CODESYS 3.5.20.40\GatewayPLC\tempCFG\CODESYSControl.cfg - When I run codesys as an app (e.g. by clicking the icon), this config file is read C:\Users\SRV\AppData\Roaming\CODESYS\CODESYSControlWinV3\C4DBB537\CODESYSControl.cfg and log files are written ok. The icon target is "C:\Program Files (x86)\CODESYS 3.5.20.40\GatewayPLC\CODESYSControlService.exe" -d o the -d option, I think, starts a cmd-like window showing service debug output (the output shown in log in the IDE) o the -i option, again I think, means install the service - I tried adding -d to service start parameters in the registry, but it started only once and after that it refused to start. Knowing what -d does and which other options are available would be great (e.g. can I make the service read a different config file). - Syslog UDP logging works fine in any case. - These are my CmpLog parameters ~~~ [CmpLog] Logger.0.Name=PlcLog3 Logger.0.Filter=0xFFFFFFFF Logger.0.Enable=1 Logger.0.MaxEntries=10003 Logger.0.MaxFileSize=50003 Logger.0.MaxFiles=33 Logger.0.Backend.0.ClassId=0x0000010B ;sends logger messages to SysOut Logger.0.Backend.1.ClassId=0x00000104 ;writes logger messages in a file Logger.0.Backend.2.ClassId=0x00000135 ;sends logger messages as UDP syslog Logger.0.Type=0x314 ;Set the timestamp to RTC ~~~
Last updated: 2025-02-27

Post by ihatemaryfisher on Sorting array of any-sized structure ^{CODESYS Forge talk (Post)}
In my machine's operation, I need to display multiples tables containing arrays of structured variables. The arrays change during operation, and my supervisor has advised me to write a new bubble-sort for each array. I think I can make a function to sort an array of any data type. This was my own project, and I'm a relatively new coder. I want to know the weaknesses in my approach, and a better method, if one exists. As far as I can test, the function accepts an array of a structured variable of any size, and sort it by any VAR in that structure. But it relies heavily on pointers, which I've heard are bad practice? Function call: // SORT BY BYTE-SIZED VAR IF xDoIt[6] THEN FUNBubbleSortSansBuffer( IN_pbySourcePointer := ADR(astArray[1]), // address of first byte in first element of array IN_pbyComparePointer:= ADR(astArray[1].byCompByte), // points to first byte of the comparing variable (variable you sort by) IN_uiStructureSize := SIZEOF(TYPE_STRUCTURE), // size, in bytes, of the structured variable IN_uiCompareSize := SIZEOF(astArray[1].byCompByte), // size, in bytes, of the comparing variable (variable you sort by) diArrayElements := UPPER_BOUND(astArray,1), // number of elements in array IN_xSmallToLarge := xSortOrder // whether to sort by small2large or large2small ); END_IF Function: FUNCTION FUNBubbleSortSansBuffer : BOOL VAR_INPUT IN_pbySourcePointer : POINTER TO BYTE; // points to beginning of array (first byte of first element) IN_pbyComparePointer: POINTER TO BYTE; // points to first byte of the comparing variable (variable you sort by) IN_uiStructureSize : UINT; // size, in bytes, of the structured variable IN_uiCompareSize : UINT; // size, in bytes, of the comparing variable (variable you sort by) diArrayElements : DINT; // number of elements in array IN_xSmallToLarge : BOOL; // whether to sort by small2large or large2small END_VAR VAR j : DINT; // repeat iteration over array until array ends i : DINT; // iterarte over array, swapping when necesary k : DINT; // iterator from 1 to size of structure (stepping 'through' a single element in array) dwSize : DWORD; // internal var for use in MEMUtils.MemCpy(<size>) // FOR SORTING BY BYTE VAR pbySourcePointer : POINTER TO BYTE; pbySourcePointer2 : POINTER TO BYTE; pbyComparePointer : POINTER TO BYTE; pbyComparePointer2 : POINTER TO BYTE; pbyPointerToBuffer : POINTER TO BYTE; // pointer to single byte buffer byBufferByte : BYTE; // single byte buffer END_VAR dwSize := UINT_TO_DWORD(IN_uiStructureSize); // get structure size (number of bytes) pbyPointerToBuffer := ADR(byBufferByte); // assign pointer to address of buffer byte (because MEMUtils.MemCpy requires a pointer input) CASE IN_uiCompareSize OF // depending on the size of the VAR to sort by (current functionality for BYTE and WORD/INT 1: // BYTE (8 BIT) FOR j := 1 TO diArrayElements DO // for number of elements in array FOR i := 1 TO (diArrayElements-1) DO // same thing, but row[i+1] row is included in swap logic pbySourcePointer := IN_pbySourcePointer + dwSize*(i-1); // point at #1 byte in array element[i] pbySourcePointer2 := pbySourcePointer + dwSize; // point at #1 byte in array element[i+1] // NOTE: because of memory locations, each array element is offset from one another by a number of bytes equal to the size of the structure // We can "walk" from array[i] to array[i+1] via steps equal to the size of the structure // e.g., ADR(array[i+1]) == ADR(array[i]) + SIZEOF([array datatype]) pbyComparePointer := IN_pbyComparePointer + dwSize*(i-1); // point to sorting variable in array element[i] pbyComparePointer2 := pbyComparePointer + dwSize; // point to sorting variable in array element[i+1] // using sort order (small -> large/large -> small) IF SEL(IN_xSmallToLarge, (pbyComparePointer2^ > pbyComparePointer^),(pbyComparePointer2^ < pbyComparePointer^)) THEN // This is where it gets tricky. We've identified pointers for the starting bytes of aArray[i] and aArray[i+1] // and we know the size of aArray[i]. We are going to swap individual bytes, one at a time, from aArray[i] and aArray[i+1] // this allows us to use only a single byte var as a buffer or temporary data storage // e.g., consider a structure consisting of a word, a byte, and a string. it is stored like this // |------WORD-------| |--BYTE-| |STRING------...| // astArray[1] == 1000 0100 0010 0001 1100 0011 1010 1010.... etc // astArray[2] == 0001 0010 0100 1000 0011 1100 0101 0101.... etc // performing a single swap (copy into a buffer, etc.) of the first byte of each array element creates this // astArray[1] == 0001 0100 0010 0001 1100 0011 1010 1010.... etc // astArray[2] == 1000 0010 0100 1000 0011 1100 0101 0101.... etc // incrementing the pointer adresses for the swap by 1 and swapping again swaps the next byte in each array element // astArray[1] == 0001 0010 0010 0001 1100 0011 1010 1010.... etc // astArray[2] == 1000 0100 0100 1000 0011 1100 0101 0101.... etc // continuing this from k to SIZEOF(TYPE_STRUCTURE) results in a toally swapped row FOR k := 1 TO IN_uiStructureSize DO // copy single byte[k] of array element 1 to buffer MEMUtils.MemCpy(pbyDest := (pbyPointerToBuffer), pbySrc := (pbySourcePointer+k-1), dwSize := 1); // copy single byte[k] of array element 2 to 1 MEMUtils.MemCpy(pbyDest := pbySourcePointer+k-1, pbySrc := (pbySourcePointer2+k-1), dwSize := 1); // copy buffer to byte[k] array element 2 MEMUtils.MemCpy(pbyDest := (pbySourcePointer2+k-1), pbySrc := pbyPointerToBuffer, dwSize := 1); END_FOR END_IF END_FOR END_FOR
Last updated: 2023-08-17

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