Post by mubeta on Profibus DP master with EL6731 and automatic restart of slaves ^{CODESYS Forge talk (Post)}
WHEREAS, I have already searched various posts and forums, where mostly there are few references and mostly geared toward integration in TwinCAT. I am looking for how to properly configure the EL6731 board as a DP master, (where I have its 3S license), with CoDeSys 3.5.19.x. I have three types of slaves, all integrated with their GSD descriptors. In the tab for the various slaves, I don't see options related to node restart on 'station return'. On the card manual, I read that for each slave I should be able to configure parameter 8000:2C: “8000:2C Restart behavior after DP fault Reserve, must be 0 BIT1 RW 0x00 (0dec)” However, in the project I see no way to configure this parameter, in any of the boards; and the arrays do not always have such an extensive size; most of the time they are only two or three words in size. The problem is that, after the hot reset of CoDeSys, the master restarts by starting all slave nodes, but if one or more get lost and go offline, there is then no automatic restart upon their return. I would need to figure out any solution, even via software, how to figure out that this one is back available and restart it.
Last updated: 2025-02-02

Post by timvh on Device diagnosis ( EtherCAT IO card ) ^{CODESYS Forge talk (Post)}
You can get the state by just using the name of your node (same name as in device tree): VAR etcState: IoDrvEthercatDriverLib.ETC_SLAVE_STATE; END_VAR etcState := EJ1100.wState; Alternatively, you can iterate through the device tree to get the status of all (Ethercat) nodes. See here an example (no guarantee it works, just give as suggestion): PROGRAM P_IO_State VAR CONSTANT uiMAX_NR_OF_TERMINALS : UINT := 100; END_VAR VAR // general device diagnosis // can only be used when the Device - PLC Settings - Advanced settings - enable diagnosis for devices is enabled // this will add the DED library coupler: DED.INode; terminal: DED.INode; aDeviceState: ARRAY[0..uiMAX_NR_OF_TERMINALS - 1] OF DED.DEVICE_STATE; uiTerminalCount : UINT; uiIndex : UINT; // for each terminal check if it implements device diagnostics xQueryResult: BOOL; itfDevice : DED.IDevice2; xDiagAvailable: BOOL; eError: DED.ERROR; xEverythingOK: BOOL; END_VAR uiTerminalCount := 0; // start at the top of the device tree with the first EtherCAT coupler coupler := EtherCAT_Master.FirstChildNode; WHILE coupler <> 0 DO // for each coupler that is found start at the first terminal terminal := coupler.FirstChildNode; WHILE terminal <> 0 AND uiTerminalCount < uiMAX_NR_OF_TERMINALS - 1 DO // for each terminal that is found get the status through the device diagnosis interface xQueryResult := __QUERYINTERFACE(terminal, itfDevice); IF xQueryResult THEN aDeviceState[uiTerminalCount] := itfDevice.GetDeviceState(xDiagnosisInfoAvailable => xDiagAvailable, eError => eError); uiTerminalCount := uiTerminalCount + 1; END_IF terminal := terminal.NextSiblingNode; END_WHILE coupler := coupler.NextSiblingNode; END_WHILE uiIndex := 0; xEverythingOK := TRUE; WHILE uiIndex < uiTerminalCount DO IF aDeviceState[uiIndex] <> DED.DEVICE_STATE.RUNNING THEN xEverythingOK := FALSE; EXIT; END_IF uiIndex := uiIndex + 1; END_WHILE
Last updated: 2025-02-06

Post by yannickasselin on MQTT QoS 1 & 2 ^{CODESYS Forge talk (Post)}
Hello, I am using Codesys sp20p3 and IIoT library 1.11. I am trying to test QoS 1 & 2 and I have some issues. I am using mosquitto as the broker. I am also using some other MQTT clients like Node-Red and TwinCAT. They all work as expected for every QoS levels. I only have issues with Codesys MQTT client. In the Codesys client, if I subscribe to a topic as QoS 1 or 2, and a client publishes to this topic, I receive the message. But if I disconnect the Codesys client from the network and a client publishes to the subscribed topic, when I reconnect Codesys client to the network, I don't receive the messages as expected. Also there does not seem to be an auto-reconnect feature. So I have to manually set the mqttClient.xEnable bit to FALSE then back to TRUE in order to reconnect to the broker, then I also have to set the subscribe.xEnable to FALSE and back to TRUE in order to re-subscribe to the topic, but even then, I don't receive the messages that were published while I was disconnected. What am I doing wrong? I set the cleanSession bit to FALSE and I give my client a clientID. With the TwinCAT MQTT Client, I do the same thing and everything works as expected. It even auto-reconnects to the broker. I would expect Codesys MQTT Client to be as reliable as TwinCAT. Maybe I am doing something wrong? I also noticed that when trying to publish a QoS 1 or 2 message while disconnected from the broker, it does not work. In TwinCAT, I am still able to publish. The messages are stored in the client and published once reconnected to the broker. I would expect to be able to do the same thing in Codesys. Is this all possible? Am I doing something wrong? Thank you
Last updated: 2024-10-26

Post by yannickasselin on MQTT QoS 1 & 2 ^{CODESYS Forge talk (Post)}
Hello, After some more tests, here is what I found out. It seems we have to increase the uiKeepAlive and tPingInterval parameters. If I increase the uiKeepAlive value to 60s and the tPingInterval to 30s, then if I disconnect the ethernet cable from Codesys and publish some messages to which Codesys subscribes to and then reconnect within 30s, I will get the messages. If I don't reconnect the cable within 30s (ping interval), the client goes in error with "ACKNOWLEDGE_TIMEOUT". When this happens, it will not automatically reconnect after reconnecting the cable. I have to disable and re-enable the client but I will not get the published messages. I need to do more tests because there are a lot of weird things happening when playing with the ping interval and the keep alive. It is not clear to me what does what. I even ended up not receiving messages anymore, even if I disabled and re-enabled the mqtt client. The client did not give any error. The only way I was able to get messages again was by modifying my client ID. After that, if I try to re-use one of the old client IDs, nothing works (publish, subscribe) and I get a TCP_INIT_ERROR and sometimes a TCP_READ_ERROR. I need more explanation/documentation about these weird behaviors. Maybe it is the way I use it, maybe it is related to the broker (I am using Mosquitto with default parameters). When using a Node-Red client, everything works perfectly. I am trying to achieve the same behavior with Codesys but it seems impossible so far.
Last updated: 2024-10-30

Post by mubeta on Some 'pathetic' errors in SoftMotion program ^{CODESYS Forge talk (Post)}
Hello everyone, I have a very simple program for the process, but it's driving me crazy and I can't see the problems I'm left with: Short topological description: Dual Core Berghof controller with softmotion runtime version 3.5.19.30; Two axes with servodrive on canopen bus, clocked distributed from master; Ethercat I/O node; 2 ms ethercat task, 2 ms canopen bus cycle time; I/O objects of the canopen master and canopen drives connected to the ethercat task cycle; Problem 1: Two separate programs each manage their own axis and drive, with separate state machines. A first axis moves primarily in velocity, except having to position itself absolutely at a predetermined point at the end of the job; the second axis, on the other hand, is a paper unwinder that changes, for each job cycle, from actions in absolute, relative, and cam displacement with the master axis. Well, the state machine of both axes was written in such a way as to call running the useful FB and change it on state change in this way: CASE i_stateMachine OF 0: o_Power(Enable := TRUE, bRegulatorOn := FALSE, bDriveStart := FALSE, Axis := o_PaperUnwinderAxis); o_MoveAbs(Execute := FALSE, Axis := o_PaperUnwinderAxis); o_MoveRel(Execute := FALSE, Axis := o_PaperUnwinderAxis); o_CamSelect(Execute := FALSE, Master := o_MachineAxis, Slave := o_PaperUnwinderAxis, CamTable := cam_PaperUnwinder); o_CamIn(Execute := FALSE, Master := MachineEncoder, Slave := o_PaperUnwinderAxis); o_CamOut(Execute := FALSE, Slave := o_PaperUnwinderAxis); o_SetPosition(Execute := FALSE, Axis := o_PaperUnwinderAxis); IF ... THEN i_StateMachine := 10; END_IF; 10: o_Power( Enable := TRUE, bRegulatorOn := TRUE, bDriveStart := TRUE, Axis := o_PaperUnwinderAxis ); IF o_Power.Status THEN i_StateMachine := 20; END_IF; 20: (* Avanzamento carta *) o_MoveAbs( Execute := TRUE, Position := o_Somewhere, Velocity := 25.0, Acceleration := 3666.7, Deceleration := 3666.7, Jerk := 48000.0, Direction := MC_DIRECTION.positive, Axis := o_PaperUnwinderAxis ); IF o_MoveAbs.Done THEN o_MoveAbs(Execute := FALSE, Axis := o_PaperUnwinderAxis); i_StateMachine := 30; END_IF 30: d_HomingPosition := ...; o_SetPosition( Execute := TRUE, Position := d_HomingPosition, Mode := FALSE, Axis := o_PaperUnwinderAxis ); (* ... *) IF o_SetPosition.Done = TRUE THEN o_SetPosition(Execute := FALSE, Axis := o_PaperUnwinderAxis ); o_LogServer.Append(sMessage := '...', lscClass := LOGSERVER_CLASS.ALWAYS, sdt := o_CommonsMgrData.systime.sdtLocal); i_StateMachine := 40; END_IF; 50: ... The code above is a sketchy example of what I wanted to write. But it gives me a spot problem: in some, the state change results in a drive error, which is unrecoverable except with a reinitialization via SM3_ReinitDrive(). Things are improved a little if in the program I always run the call of all softmotion blocks in this way: o_Power(Axis := o_PaperUnwinderAxis); o_Jog(Axis := o_PaperUnwinderAxis); o_Halt(Axis := o_PaperUnwinderAxis); o_MoveAbs(Axis := o_PaperUnwinderAxis); o_MoveRel(Axis := o_PaperUnwinderAxis); o_CamIn(Master := MachineEncoder, Slave := o_PaperUnwinderAxis); o_CamOut(Slave := o_PaperUnwinderAxis); If I don't execute all the calls of all the motion FBs used, when exchanging machine state often (but not always), the axis goes into error with event id THE_FB_WASNT_CALL... Done a little diagnostics it seems that the FBs return the bDone, before they are completely terminated. I tried doing the machine state exchange not with the bDone bit of the FBs, but with the 'standstill' state of the axis. It didn't seem to change anything. Problem 2: During the use SM3_ReinitDrive() I get the erro in the log: "NetID 0: SDO read error for object 16#607C..." Assuming that the device involved it's one of the two servodrive, (no others device are present in the network), I don't found any object 0x607C in the 'possible object list in/out' of the two drive, and I don't understand where this object can be listed. So any ideas and suggestions regarding these two issues will be very, very welcome. If you need the source project, I am willing to send it.
Last updated: 2024-07-17

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