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Post by imdatatas on MC_CamIn did not work properly with SMC_FreeEncoder on SoftMotion 4.17.0.0 ^{CODESYS Forge talk (Post)}
Hello, I am facing a problem with the new Softmotion 4.17.0.0 version. Has anyone encountered a similar problem, what is the solution? I would be happy if you could share it. Problem description: -- "SMC_FreeEncoder" encoder axis is the master, -- The motor of the servo driver on the EtherCAT bus is the slave axis. -- When the MC_CamIn block executed, the InSync output is activated. However, although the master encoder axis position value changes, there is no movement in the slave servo axis! Test steps: 1-) EtherCAT servo axis installed, configured and motion test was performed with MC_Jog. No problem. 2-) Softmotion general axis pool > SMC_FreeEncoder was added and pulse amount configuration was performed. No problem. 3-) Incremental encoder actual count value was transferred to the "SMC_FreeEncoder.diEncoderPosition" variable as DINT under the ethercat task in every cycle and the encoder axis position value was observed. No problem. 4-) A simple CAM table with a 1:1 ratio was created under the project tree. (For example: Simply, when the encoder rotates 1 turn, the motor will rotate 1 turn.) 5-) The SMC_FreeEncoder axis enabled with MC_Power and brought to the StandStill state. 6-) The MC_CamTableSelect block was run with default input values ​​(all absolute) and only the Cam table name was specified. The Done output was seen successfully. No problem. 7-) The MC_CamIn block was activated with default input values ​​(absolute) and only the master encoder axis name, slave servo axis name, CamTableID input pins was specified and then "Execute" input set to TRUE. 8-) The InSync output information of the MC_CamIn block observed as TRUE. However, although the encoder axis value changed, the position value of the slave axis did not change at all, it did not move. It always remained at 0.0mm. 9-) When I repeated the same steps above, only changing the master axis to SM_Drive_Virtual instead of FreeEncoder and gave movement to the virtual axis, this time the slave axis moved successfully. However, when the same steps and operations are performed with the same IDE just downgrade SoftMotion version from 4.17.0.0 to 4.10.0.0, everything works normally and without problems as expected in MC_CamIn block with FreeEncoder master. (By the way, The used IDE version is Codesys V3.5 SP20patch3.) Best Regards Imdat
Last updated: 2024-11-11

Post by paulg on RasPi CAA Serial example - unexpected behavior during debug ^{CODESYS Forge talk (Post)}
I've trimmed down the CAA Serial Codesys example to only listen on one port but, when stepping through the Case structure in debug mode, it jumps out of the structure during a specific point in every scan (I'll point it out below after describing the setup and listing the code). I'm using a Pi 4 Model B, and I have an Arduino Nano Every plugged in via USB which is streaming the following serial message at 1 Hz: Time since opening connection: 1 s Time since opening connection: 2 s ...and so on. The Pi shows the Nano at /dev/ttyACM0 so I edited CODESYSControl_User.cfg to read: Linux.Devicefile=/dev/ttyACM The code in my PLC_PRG is (ignore some of the comments, I hadn't deleted them out from the original example): PROGRAM PLC_PRG VAR xStartTest : BOOL:= TRUE; iState : INT; xTestDone : BOOL;(* True, when the test was done succesfully *) (* Settings to communicate with the COM Port *) aCom1Params : ARRAY [1..7] OF COM.PARAMETER; como1 : COM.Open; comc1 : COM.Close; comw1 : COM.Write; comr1 : COM.Read; //sWrite : STRING := 'Test String!'; sRead : STRING(25); szRead : CAA.SIZE; xCom1OpenError : BOOL; xCom1CloseError : BOOL; xCom1WriteError : BOOL; xCom1ReadError : BOOL; END_VAR //This example shows the communication of two COM Ports with each other. //The first one writes a string of characters, which is read by the second one. //After successful execution, the two COM Ports are closed and the test is done. IF xStartTest THEN CASE iState OF 0: //The parameters are set for the COM Port aCom1Params[1].udiParameterId := COM.CAA_Parameter_Constants.udiPort; aCom1Params[1].udiValue := 1; // the correct Port should be adapted aCom1Params[2].udiParameterId := COM.CAA_Parameter_Constants.udiBaudrate; aCom1Params[2].udiValue := 115200; aCom1Params[3].udiParameterId := COM.CAA_Parameter_Constants.udiParity; aCom1Params[3].udiValue := INT_TO_UDINT(COM.PARITY.NONE); aCom1Params[4].udiParameterId := COM.CAA_Parameter_Constants.udiStopBits; aCom1Params[4].udiValue := INT_TO_UDINT(COM.STOPBIT.ONESTOPBIT); aCom1Params[5].udiParameterId := COM.CAA_Parameter_Constants.udiTimeout; aCom1Params[5].udiValue := 0; aCom1Params[6].udiParameterId := COM.CAA_Parameter_Constants.udiByteSize; aCom1Params[6].udiValue := 8; aCom1Params[7].udiParameterId := COM.CAA_Parameter_Constants.udiBinary; aCom1Params[7].udiValue := 0; //The first Port is opened with the given parameters como1(xExecute := TRUE, usiListLength:=SIZEOF(aCom1Params)/SIZEOF(COM.PARAMETER),pParameterList:= ADR(aCom1Params)); IF como1.xError THEN xCom1OpenError := TRUE; iState := 1000; END_IF //After a successful opening, the next state is reached IF como1.xDone THEN iState := 15; END_IF 15: // the reading process is started comr1(xExecute := TRUE,hCom:= como1.hCom, pBuffer:= ADR(sRead), szBuffer:= SIZEOF(sRead)); IF comr1.xError THEN xCom1ReadError := TRUE; END_IF //After completion the size of the written bytes are saved IF comr1.xDone OR comr1.xError THEN szRead := comr1.szSize; iState := 20; END_IF 20: // If everything was successful the ports are closed and the handles are released comc1(xExecute := TRUE,hCom:= como1.hCom); IF comc1.xError THEN xCom1CloseError := TRUE; END_IF IF comc1.xDone OR comc1.xError THEN iState := 25; END_IF 25: // The first port is closed and the used handle released xTestDone := TRUE; xStartTest := FALSE; iState := 0; como1(xExecute := FALSE); comw1(xExecute := FALSE); comc1(xExecute := FALSE); ELSE iState := 0; END_CASE END_IF I realize as I write this that the .udiPort should be 0 and not 1, but that shouldn't be causing the issue I'm seeing. I'm forcing xStartTest:=TRUE every scan so that I can step into each line and observe what's happening. What I see is that the port parameters are set and the port is opened with no errors, but the code jumps out of the case structure to the last line every time it reaches (and I step into) the iState:=15 line (at the end of the iState:=0 block). So every scan cycle it goes through the block for iState=0 and jumps out at the same spot. I'm a little new to PLC programming so I may be misunderstanding the flow, but shouldn't this case structure keep moving down in the same scan? If it only handles one case per scan, why doesn't the value of iState persist? Thanks! Update: I restarted the Codesys control today and I was then able to see an error for como1.eError of "WRONG_PARAMETER". I tried doing some digging and another post made me think I should add another line to CODESYSControl_User.cfg, so I now have: [SysCom] Linux.Devicefile=/dev/ttyACM portnum := COM.SysCom.SYS_COMPORT1 So now when I set .udiPort to 1, I get "NO_ERROR" but I also don't read anything from the port (i.e. szRead = 0 always). If I try setting the port to 0 (which I'm confused about, because I added a COMPORT1 line but the device shows on the Pi as ACM0), I get the "WRONG_PARAMETER" error again. Is there an easier way to troubleshoot the Pi and view what ports the Codesys runtime is actually able to see while the Pi is running?
Last updated: 2024-06-06

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Last updated: 2024-10-26

Post by smeitink on Timeout Error in Modbus Communication with WAGO PFC200 and iEM2050 Meter using 750-652 Module ^{CODESYS Forge talk (Post)}
Hi all, I'm looking for help with an issue I've come across while trying to facilitate Modbus communication between a WAGO PFC200 PLC using a 750-652 communication module and an iEM2050 Series Single Phase Energy Meter. I believe to have everything wired and setup correcty, but I keep running into a "Error time out" message, and by now I don't really know what else to try. My setup is as follows: A PFC200 Wago PLC, which has 2 750-652 Serial Interfaces extension modules connected to its field bus. I'm using one of these to talk to a Schneider iEM2050 - kWh-meter over modbus. I have connected terminal 23 (A) of the iEM2050 to connector 6 (A) on the 750-652. I have connected terminal 24 (B) of the iEM2050 to connector 2 (B) of the 750-652. I'm using 200mm of twisted together wires to connected them both, and I have placed a 120 ohm resistor between A and B at both ends. I've attached relevant pinout images to this post. I then wrote a simple program that configures the Mobus port, as per the datasheet of the iEM2050. You can find an image of the relavent page attached to this post too. This is my program: PROGRAM PLC_PRG VAR Master: FbMbMasterSerial; xIsConnected: BOOL; xError: BOOL; iIndex: INT := 1; xTrigger: BOOL; utQuery : typMbQuery := ( bUnitId := 1, // The Modbus unit or slave address bFunctionCode := 4, // Function code for reading input registers uiReadAddress := 1829, // adress for the Power on off counter uiReadQuantity := 1 // Quantity of registers to read ); iStep: INT; oStatusModbus: WagoSysErrorBase.FbResult; utResponseModbus: typMbResponse; xConnect: BOOL := FALSE; delayTimer: TON; END_VAR Master( xConnect:= xConnect, I_Port:= _750_652_24_1, udiBaudrate:= 9600, usiDataBits:= 8, eParity:= WagoTypesCom.eTTYParity.Even, eStopBits:= WagoTypesCom.eTTYStopBits.One, eHandshake:= WagoTypesCom.eTTYHandshake.None, ePhysical:= WagoTypesCom.eTTYPhysicalLayer.RS485_HalfDuplex, xIsConnected=> xIsConnected, xError=> xError, oStatus=> oStatusModbus, eFrameType:= WagoAppPlcModbus.eMbFrameType.RTU, tTimeOut:= T#5S, utQuery:= utQuery, xTrigger:= xTrigger, utResponse:= utResponseModbus); delayTimer(IN := TRUE, PT := T#3S); // Use the Q output of the timer to set xConnect after the delay IF delayTimer.Q THEN xConnect := TRUE; END_IF CASE iStep OF 0: //Wacht totdat de master de poort geopend heeft IF xIsConnected THEN iStep := 1; END_IF 1: //Stuur request naar de slave xTrigger := TRUE; iStep := 2; 2: //Wacht totdat de master klaar is met het afhandelen van de request IF NOT xTrigger THEN iStep := 3; END_IF END_CASE The TON delay before opening the port is due to a an error I encountered when opening it straight away. This seems to be a bug, as described here. However, the TON solved that particular issue. I tried reading multiple registers, but like I said, I still always end up with the "Error time out". What else can I test or try at this point?
Last updated: 2024-02-24

Post by scoob on ModbusFB - Slow Response Time ^{CODESYS Forge talk (Post)}
Hello, I have been trying to use the ModbusFB functions so I can put some code into libraries, but it seems to be very slow for me. I have a Modbus device with 100ms registers. I previously setup 10 channels in the 'traditional' Modbus Slave with channels and mappings - and set a cyclic trigger at 100ms - this worked fine. I then tried the ModbusFB example, and setup reading the same 10 blocks of modbus addresses, copying the example and putting all of the requests into an array and triggering the requests sequentially. I timed how long the requests are taking to get round to each one, and it is around 1s 450ms. How do I speed this up to match the cyclic time? IF NOT(init) THEN init := TRUE; // Set the required IP address: ipAddress[0] := 192; ipAddress[1] := 168; ipAddress[2] := 1; ipAddress[3] := 10; // Pass the required IP address to the clinet FB: client_NetworkSwitch.aIPaddr := ipAddress; client_NetworkSwitch.udiLogOptions := (ModbusFB.LoggingOptions.ClientConnectDisconnect OR ModbusFB.LoggingOptions.ClientReceivedValidReplies); // Try to connect the client client_NetworkSwitch(xConnect:=TRUE); // Configure all the channels to read connecting them to the client: portStatus_Request(rClient := client_NetworkSwitch, uiStartItem := 4096, uiQuantity := 32, pData := ADR(portStatus), udiReplyTimeout := udiReplyTimeout); portSpeed_Request(rClient := client_NetworkSwitch, uiStartItem := 4352, uiQuantity := 32, pData := ADR(portSpeed)); flowControl_Request(rClient := client_NetworkSwitch, uiStartItem := 4608, uiQuantity := 32, pData := ADR(flowControl)); linkUpCounter_Request(rClient := client_NetworkSwitch, uiStartItem := 5888, uiQuantity := 32, pData := ADR(linkUpCounter)); txPacketCounter1_Request(rClient := client_NetworkSwitch, uiStartItem := 8192, uiQuantity := 100, pData := ADR(txPacketCounter1)); txPacketCounter2_Request(rClient := client_NetworkSwitch, uiStartItem := 8292, uiQuantity := 28, pData := ADR(txPacketCounter2)); rxPacketCounter1_Request(rClient := client_NetworkSwitch, uiStartItem := 8448, uiQuantity := 100, pData := ADR(rxPacketCounter1)); rxPacketCounter2_Request(rClient := client_NetworkSwitch, uiStartItem := 8548, uiQuantity := 28, pData := ADR(rxPacketCounter2)); txErrors_Request(rClient := client_NetworkSwitch, uiStartItem := 8704, uiQuantity := 64, pData := ADR(txErrors)); rxErrors_Request(rClient := client_NetworkSwitch, uiStartItem := 8960, uiQuantity := 64, pData := ADR(rxErrors)); // Trigger all client requests initially FOR clientRequestsCnt := 0 TO (SIZEOF(clientRequests)/SIZEOF(clientRequests[0]))-1 DO pClientRequest := clientRequests[clientRequestsCnt]; pClientRequest^.xExecute := TRUE; END_FOR // Prepare sequential trigger / control of client requests. clientRequestsCnt := 0; pClientRequest := clientRequests[clientRequestsCnt]; END_IF // Call the client to do request processing: client_NetworkSwitch(); // Now we trigger client request sequentially ... IF NOT pClientRequest^.xExecute AND NOT pClientRequest^.xDone AND run AND client_NetworkSwitch.xConnected THEN pClientRequest^.xExecute := TRUE; END_IF // .. and check result/error IF pClientRequest^.xExecute AND run AND client_NetworkSwitch.xConnected THEN IF pClientRequest^.xDone THEN // Prepare next trigger of client request (a rising edge of xExecute) pClientRequest^.xExecute := FALSE; IF clientRequestsCnt < SIZEOF(clientRequests)/SIZEOF(clientRequests[0])-1 THEN // next client request clientRequestsCnt := clientRequestsCnt + 1; ELSE clientRequestsIterationCounter := clientRequestsIterationCounter + 1; clientRequestsCnt := 0; END_IF pClientRequest := clientRequests[clientRequestsCnt]; END_IF END_IF I did try a semi-coded way using the IoDrvModbusTCP library, and setting the slave com settings, then 10 commands and 10 requests, then using a TP on xDone as a pause, before triggering another request - this is time the delay is around 120ms - so the device is fine with the speed, just something I am doing wrong in the ModbusFB method I am sure.
Last updated: 2024-04-26

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Apply the Promo Code: • At the checkout page, find the "Promo Code" box. • Enter the code [acq557317] and click "Apply." The $100 discount will be reflected in your order total. 4. Review and Complete Your Purchase: • Make sure the discount is applied to your order. Review your cart and proceed with payment. • Enjoy your savings and the products you've purchased! Additional Benefits: • Exclusive Deals: Using promo code [acq557317] not only gives you $100 off but may also unlock additional deals and promotions tailored for August and September. • Combining Discounts: You can often combine this promo code with other ongoing promotions for even greater savings. Keep an eye on Temu's website and app for additional offers. • Free Shipping: Depending on the promotion, you might also benefit from free shipping on eligible items. Important Details: • Validity: This $100 off promo code is valid only from August 1, 2024, to September 30, 2024. Make sure to use it within this time frame to take advantage of the offer. • Minimum Purchase: The offer applies to purchases of $100 or more. Ensure your cart meets this minimum before applying the promo code. • One-Time Use: The promo code [acq557317] can typically be used only once per customer. Make sure to apply it to your largest purchase to maximize savings. FAQs: Q: Can new and existing customers both use the promo code [acq557317]? • A: Yes, the promo code is available to both new and existing Temu customers. Q: Is there a minimum purchase requirement to use the promo code? • A: Yes, you need to have a minimum purchase of $100 to apply the $100 discount. Q: Can the promo code be combined with other offers? • A: Yes, in many cases, you can combine the promo code [acq557317] with other ongoing promotions and discounts. Q: What should I do if the promo code does not work? • A: Double-check that the code [acq557317] is entered correctly and that your order meets the minimum purchase requirement. If you continue to have issues, contact Temu's customer service for assistance. Take advantage of this exclusive offer today and enjoy substantial savings on your next Temu purchase. With up to $100 off, there's never been a better time to shop for high-quality products at unbeatable prices. Remember, this offer is only available for a limited time, so don't delay—start shopping and saving now! Are you looking to save big while shopping on Temu? You're in the right place! Temu is quickly becoming a favorite online marketplace, and with our exclusive Temu Coupon Codes like [acq557317], you can enjoy significant discounts, including $100 off your first order and up to 90% off selected items this October 2024. In this article, we’re diving into everything you need to know about using Temu Coupon Codes, including their legitimacy and tips on maximizing your savings. Let’s get started! What is Temu? Temu is an emerging e-commerce platform that offers a wide range of products, including electronics, clothing, accessories, home decor, and much more. Known for its affordability, Temu provides various opportunities to save even more with the right coupon codes. Whether you are a new user or an existing customer, the savings potential is substantial. Temu Coupon Code [acq557317]: What Can You Expect? Here are some of the top offers you can enjoy with the Temu Coupon Code [acq557317]: • $100 Off on your first order • Up to 90% Discount on selected items • 30% Off across various products • Free shipping for new users and first-time customers These promo codes are valid for October 2024, giving you ample time to grab your favorite items without breaking the bank. How to Apply Temu Coupon Code [acq557317]? Applying a Temu Coupon Code like [acq557317] is easy! Here’s how to do it:
Last updated: 2024-10-26

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