Post by jbcregen on Accessing parameters from a structure or function block with the web interface ^{CODESYS Forge talk (Post)}
Confirmed. The Data Analyzer tool can indeed access all OPC-UA symbols. Thanks !
Last updated: 2025-12-02

Post by jarnok on How to know if output if function block is used ^{CODESYS Forge talk (Post)}
Hi, Is it possible to know of an output of a function block is used? I've found there is a way to find unused inputs of a fb, through the attribute: is_connected. But I'm wondering if the same can be done for an output. Thanks in advance!
Last updated: 2024-10-15

Post by pascaljt on Warning code C0373 ^{CODESYS Forge talk (Post)}
Hello, I wrote a function block for a controller but I have a warning code C0373 "expression or part of it has no effect" and the sub routine which contain my function block is underlined in blue. Despite, the FB works perfectly. Do you know why I have this warning ? Thanks. Pascal.
Last updated: 2024-10-30

Post by jbu0105 on Setpoints Delta robot ^{CODESYS Forge talk (Post)}
Hello, I am working on a delta robot. Now was i wondering if anyone knows whats the best way to program the different setpoints for the delta Robot. I would like to use the functions MC_MoveLinearAbsolute and the function MC_MoveCircularAbsolute with the transition on this function. Can anyone help me with al small setup?
Last updated: 2025-04-16

Post by jbu0105 on Setpoints Delta robot ^{CODESYS Forge talk (Post)}
Hello, I am working on a delta robot. Now was i wondering if anyone knows whats the best way to program the different setpoints for the delta Robot. I would like to use the functions MC_MoveLinearAbsolute and the function MC_MoveCircularAbsolute with the transition on this function. Can anyone help me with al small setup?
Last updated: 2025-04-16

Post by andrej on Creating, using an external Function. ^{CODESYS Forge talk (Post)}
Hello, many thanks for your reply. I checked the logs. It seems that dll is not loaded. However other dll such as the Webserver are loaded. Could you tell me what I need to do such that my dll is loaded. (Furthermore I changed the C-Function a bit. I used the M4.exe from the SDK.) Many thanks.
Last updated: 2025-04-23

Post by tvm on Cannot pass array of constant size to a function as a reference ^{CODESYS Forge talk (Post)}
maybe this would be a better approach, then you don't have to pass the constant at all. FUNCTION fun : INT VAR_IN_OUT arr: ARRAY[*] OF INT; END_VAR VAR lower: DINT; upper: DINT; END_VAR lower:= LOWER_BOUND(arr, 1); upper:= UPPER_BOUND(arr, 1); see here as well https://help.codesys.com/api-content/2/codesys/3.5.12.0/en/_cds_datatype_array/
Last updated: 2024-01-08

Post by tvm on Cannot pass array of constant size to a function as a reference ^{CODESYS Forge talk (Post)}
It will be a reference, because it's a VAR_IN_OUT. it's a little weird debugging the array online. It just shows as a POINTER TO INT, and you can't actually see the array from the function side. But you can still work with it as a normal array, not a pointer.
Last updated: 2024-01-09

Post by scarter on Bit / Bool data types in function parameters ^{CODESYS Forge talk (Post)}
Any reason BIT and BOOL data types are not interchangeable? Trying to make a function which takes a BOOL IN/OUT parameter (Not allowed to use BIT) In the main logic if I make a DINT variable, and want to use each bit on different functions CODESYS will not allow it.
Last updated: 2024-01-17

Post by siscu on Raspberry Pi: List of available example applications ^{CODESYS Forge talk (Post)}
Could this be turned into a library? I'd love for a way to have the main program call a function block method using the program's I2C_master device. I assume I should be passing the master as a variable for the function block, but I don't see how that could be achieved
Last updated: 2024-05-15

Post by kumareasu on Persistent variable storage ^{CODESYS Forge talk (Post)}
Is there any function function block which can store the persistent variable in HDD/SSD immediatley. My observation is that the persistent variable is getting stored when we shut down or restart the system (Windows+ CoDeSys RTE SL ). the persistent variables are not stored in HDD/SSD, if I power off the system without proper shutdown. Seeking your feedback.
Last updated: 2024-06-12

Post by nguyenbao on file library ifm CR2033 .lib in the CODESYS v2.3 ^{CODESYS Forge talk (Post)}
Hello everyone, I have a program file that uses the CR2033 module of iFM. I noticed that the program uses the CR2033 function, but in the CodeSystem software I installed from the file downloaded from iFM, I couldn't find the library containing this function. Where can I find the CR2033_XX.lib library?
Last updated: 2026-04-22

Post by laurits on Max lines of code, codesys CNC ? ^{CODESYS Forge talk (Post)}
Hi, yes now its working, to get "QUEUE.bFull" to work, I've had to set the "QUEUE.nNumReservedEntries" to 3. (I tried different values here, only effect for larger values i can see is the the queue capacity gets smaller.) I've noticed the movement is slowing down when it reaches the end of the "fill Up", must be because of the "checkVelocity" can only see the current "QUEUE". Any way of solving this ? BUF : ARRAY[0..20000] OF SMC_GEOINFO; xp : ARRAY[1..100000] OF REAL; yp : ARRAY[1..100000] OF REAL; CASE iState OF 000: IF R_TRIG_bStart.Q THEN iState := iState + 1; END_IF bReady := FALSE; //initialize Queue GEO.dT1:=0; GEO.dT2:=1; GEO.dToolRadius := 0; GEO.dVel := 15000; GEO.dVelEnd := 15000; GEO.dAccel := 2000; GEO.dDecel := 2000; GEO.iObjNo := 0; GEO.piDestPos.dX := 0; GEO.piDestPos.dY := 0; QUEUE.bEndOfList := FALSE; QUEUE.nPastMarker := -1; QUEUE.nWritePos := 0; QUEUE.pbyBuffer := ADR(BUF[0]); n := 0; sMC_CheckVelocities(bExecute:= FALSE); SM3_CNC.SMC_SetQueueCapacity(ADR(QUEUE), SIZEOF(BUF)); QUEUE.nNumReservedEntries := 3; 001: FOR i := 1 TO SIZEOF(xp)/SIZEOF(xp[1]) DO xp[i] := UDINT_TO_REAL(i) * 0.01; yp[i] := UDINT_TO_REAL(i) * 0.01; END_FOR iState := iState + 1; 002: WHILE NOT QUEUE.bFull DO // when the Queue is full, wait until it has been processed by the following FBs n := n + 1; GEO.iSourceLine_No := n; GEO.piStartPos := GEO.piDestPos; // copy last destination GEO.iMoveType := LIN; // generate linear movement GEO.iObjNo := GEO.iObjNo + 1; // calculate number GEO.piDestPos.dX := xp[n]; // generate position GEO.piDestPos.dY := yp[n]; SMC_CalcLengthGeo(pg := ADR(GEO)); // calculate length of object with the help of the standard function SMC_AppendObj(poq:=ADR(QUEUE), pgi:=ADR(GEO)); //append object to queue IF n = UDINT_TO_DINT( SIZEOF(xp)/SIZEOF(xp[1])) THEN // all target positions processed QUEUE.bEndOfList := TRUE; iState := iState + 1; EXIT; END_IF END_WHILE sMC_CheckVelocities(bExecute:= TRUE, poqDataIn:= ADR(QUEUE)); bReady := TRUE; // Send message to smc_interpolator to start 003:
Last updated: 2025-06-04

Post by brouwyka on JSONByteArrayWriter string result incorrect order ^{CODESYS Forge talk (Post)}
Hello everybody! We are currently working on implementing a call to an API that tracks data sent to it through a JSON body. Versions: CODESYS V3.5 SP19 Patch 7 using IIOT Libraries SL license, specifically JSON Utilities SL version 1.13.0.0. For simplicity, let's say we want to construct the following JSON body for our request (simplified to just 1 key-value pair in each of the array objects to keep things shorter, but we'd have multiple fields in each in reality): { "id": "machine_1", "readings": [ { "temp_mid": 153.8 }, { "temp_mid": 98.3 } ], "status": "RUNNING" } However, our "readings" data is added over time, not in creation, so calls to the builder would be somewhat out of order. In a simplified manner, our calls would look like this: jsonBuilder(pJsonData := JsonData, diRootObj => rootJsonIndex); // rootJsonIndex = 0. // Set "id" at root JSON object. wsValue := "machine_1"; jsonBuilder.SetKeyWithValue("id", wsValue, diParentIndex := rootJsonIndex); // JSONData KEY: diParentIndex = 0 & diIndex = 1, VALUE: diParentIndex = 1 & diIndex = 2. // ... Time passes, we get our first reading to add ... // The "readings" array does not exist yet, so we make it first at root JSON object before adding our first reading. readingsJsonArrayIndex := jsonBuilder.SetKeyWithArray("readings", diParentIndex := rootJsonIndex); // JSONData KEY: diParentIndex = 0 & diIndex = 3, VALUE: diParentIndex = 3 & diIndex = 4. // Then add the first reading, for which we first have to make an object. readingsJsonArrayObjectIndex := jsonBuilder.SetObject(diParentIndex := readingsJsonArrayIndex); // JSONData OBJECT: diParentIndex = 4 & diIndex = 5. // And then we add the field(s) in the object for the first reading. // NOTE the use of `readingsJsonArrayObjectIndex` so we set the field(s) in the first object in the array. rValue := 153.8; jsonBuilder.SetKeyWithValue("temp_mid", wsValue, diParentIndex := readingsJsonArrayObjectIndex); // JSONData KEY: diParentIndex = 5 & diIndex = 6, VALUE: diParentIndex = 6 & diIndex = 7. // ... Time passes, we want to add another root-JSON-level field ... // Set "status" at root JSON object. wsValue := "RUNNING"; jsonBuilder.SetKeyWithValue("status", wsValue, diParentIndex := rootJsonIndex); // JSONData KEY: diParentIndex = 0 & diIndex = 8, VALUE: diParentIndex = 8 & diIndex = 9. // ... Time passes, we want to add a second reading ... // "readings" array exists, so add the second reading, but first we have to make another object. // NOTE the re-use of the earlier stored `readingsJsonArrayIndex`, so we add the new object to that previously created array. readingsJsonArrayObjectIndex := jsonBuilder.SetObject(diParentIndex := readingsJsonArrayIndex); // JSONData OBJECT: diParentIndex = 4 & diIndex = 10. // And then we add the field(s) in the object for the first reading. // NOTE the use of `readingsJsonArrayObjectIndex` so we set the field(s) in the SECOND(, new) object in the array. rValue := 98.3; jsonBuilder.SetKeyWithValue("temp_mid", wsValue, diParentIndex := rootJsonIndex); // JSONData KEY: diParentIndex = 10 & diIndex = 11, VALUE: diParentIndex = 11 & diIndex = 12. // ... Finally, we want to send to the API, so we must convert the builder to data the client accepts as a body ... xTestWriteToJsonArray := TRUE; jsonArrayWriter( xExecute := xTestWriteToJsonArray, pwData := ADR(jsonDataString), udiSize := SIZEOF(jsonDataString), jsonData := JsonData^ ); IF jsonArrayWriter.xDone THEN // The writer was successful, the `jsonDataString` VAR should now contain a WString copy of the JSON object from the builder. xTestWriteToJsonArray := FALSE; END_IF We see that the JsonData STRUCT is correctly organised (in terms of the diParentIndex & diIndex set by it for each JsonElement) as we expect, as outlined in my comments in the simplified code above. However, as soon as we pass it to the jsonArrayWriter (which is a JSON.JSONByteArrayWriter), the resulting jsonDataString does not match our expectations, instead coming out like this: { "id": "machine_1", "readings": [ { "temp_mid": 153.8 } ] } { "temp_mid": 98.3 } "status": "RUNNING" The behaviour of the JSONByteArrayWriter thus seems to be the problem here. It does not seem to correctly process the children of JsonElements that are ARRAYs when additions to them are done broken up by additions to the lower level JSON OBJECT they are a part of. We have confirmed this by changing the order of the calls in our example to add both readings before adding the "status", in which case we get our expected outcome. However, in reality this is not possible for us - additions to any of the JSON's objects, arrays or array objects may happen at any time after other fields elsewhere in the JSON have been added. Does anyone know a way around this, a fix, or knows a solution we simply have not found? This same phenomenon was also noted on this forum by user @ryusoup at the end of 2023 (https://forge.codesys.com/forge/talk/Engineering/thread/c45929e2f1/#e27f) and user @mtho in early 2024 (https://forge.codesys.com/forge/talk/Engineering/thread/cd1bb450db/#1292) but both topics received no activity beyond both users' opening posts. Looking through the release notes of all the versions of the JSON Utilities SL library, I also did not see any remarks on resolutions of bugs in this vain. Thanks in advance for the assistance!
Last updated: 2026-06-10

Post by imdatatas on The default ramp type selection in SoftMotion V4.18.0.0 is Quadratic ^{CODESYS Forge talk (Post)}
Dear @gseidel, Thank you for your clarification. I fully agree that the quadratic ramp type may have certain technical advantages. However, the main problem is backward compatibility and consistency across projects. In many automation projects, application developers rely on the fact that creating a new axis object will behave exactly the same way as in previous versions. With SoftMotion V4.18.0.0 and later, if an application developer adds an axis and overlooks the changed default, the motion function blocks behave differently than expected. In particular, since the Jerk value in SM3_Basic function blocks is ineffective in trapezoid ramp type, users are accustomed to leaving this parameter empty in their projects. In many existing projects, this variable has not even been assigned. When the default is changed to quadratic, the Jerk parameter suddenly becomes relevant, which can cause errors or unexpected behaviour in the field. From a user perspective, a default setting should always be the “safe” and “expected” option, while alternative options (like quadratic) can be selected manually if desired. Keeping the default as trapezoid ensures compatibility with existing projects and prevents unexpected issues, while still allowing users to benefit from quadratic ramps if they explicitly choose so. For these reasons, I kindly ask you to reconsider making trapezoid the default again. This would significantly reduce the risk of unexpected behaviour in future projects while still preserving the advantages of the quadratic ramp type for those who actively select it. Of course, the final decision is entirely at your discretion. Best Regards, imdatatas
Last updated: 2025-09-26

Post by e13740e on Сalling the context menu from the keyboard ^{CODESYS Forge talk (Post)}
Hello. I have a question for you, perhaps you have an answer to it. Regarding calling the Context menu from the keyboard in Devices, specifically calling the context menu window from the keyboard via an assigned combination. Goal: to have the ability to navigationally add internal Objects (Methods, Properties) to Function Blocks from the keyboard without using the mouse. The Codesys environment interface does not allow Windows access to this via Shift+F10. Externally (outside the Codesys environment), the hotkey call for the context menu (Shift+F10) from the keyboard works in various environments, but at the same time, in Codesys it does not (it doesn't work). I have already tried various options on my own to achieve this (but unsuccessfully): Tools\Customize\Keyboard\Objects (the set combination does not give the desired result) Tools\Customize\Keyboard\Objects... (the set combination is extremely useful as it provides access to adding objects directly to Devices but does not provide the ability to add an internal object (Method/Property) to a Function Block). Thank you in advance for your help!!! P.S. I have already started trying to implement a script-based solution to call the context menu via AutoHotkey - by relocating the mouse cursor to the area of the navigational selection with a subsequent call of the context menu on it and relocating the mouse cursor back to its initial position. And in order not to "reinvent the wheel," I am writing this request to you!!!
Last updated: 2025-10-05

Post by e13740e on Сalling the context menu from the keyboard ^{CODESYS Forge talk (Post)}
Hello. I have a question for you, perhaps you have an answer to it. Regarding calling the Context menu from the keyboard in Devices, specifically calling the context menu window from the keyboard via an assigned combination. Goal: to have the ability to navigationally add internal Objects (Methods, Properties) to Function Blocks from the keyboard without using the mouse. The Codesys environment interface does not allow Windows access to this via Shift+F10. Externally (outside the Codesys environment), the hotkey call for the context menu (Shift+F10) from the keyboard works in various environments, but at the same time, in Codesys it does not (it doesn't work). I have already tried various options on my own to achieve this (but unsuccessfully): Tools\Customize\Keyboard\Objects (the set combination does not give the desired result) Tools\Customize\Keyboard\Objects... (the set combination is extremely useful as it provides access to adding objects directly to Devices but does not provide the ability to add an internal object (Method/Property) to a Function Block). Thank you in advance for your help!!! P.S. I have already started trying to implement a script-based solution to call the context menu via AutoHotkey - by relocating the mouse cursor to the area of the navigational selection with a subsequent call of the context menu on it and relocating the mouse cursor back to its initial position. And in order not to "reinvent the wheel," I am writing this request to you!!!
Last updated: 2025-10-05

Post by timvh on How to implement an interface (IElement)? ^{CODESYS Forge talk (Post)}
See: https://forge.codesys.com/prj/codesys-example/element-collect/home/Home/ This contains an application "OnlineChangeSafeLinkedListExample". What you should do is create a new interface which has your "Priority" property. Then your FB should extend the base element function block and implement your own interface: E.g. FUNCTION_BLOCK MyElement EXTENDS COL.LinkedListElementBase IMPLEMENTS I_MyInterface Then the __QUERYINTERFACE does the magic to check if your "element" also implements your interface. Something like this: // Compares this element with itfElement. // Returns 0 if the elements are equal, < 0 if the element is less than itfElement, // > 0 if the element is greater than itfElement. // This method will be called from sorted collections (e.g. |COL.SortedList|) to sort the elements. // IMPORTANT: The underlying value to be compared with MUST NOT be changed during the lifecycle of the object. METHOD ElementCompareTo : INT VAR_INPUT (* The element to compare*) itfElement : COL.IElement; END_VAR VAR itfIntElement : I_MyInterface; xResult : BOOL; END_VAR // We use integer iInt1 for sorting. xResult := __QUERYINTERFACE(itfElement, itfIntElement); IF xResult THEN IF iInt1 < itfIntElement.Priority THEN ElementCompareTo := -1; ELSIF iInt1 > itfIntElement.Priority THEN ElementCompareTo := 1; ELSE ElementCompareTo := 0; END_IF ELSE ElementCompareTo := -1; END_IF
Last updated: 2024-07-22

Post by pouyavakili on Execute Codesys Tests with python ^{CODESYS Forge talk (Post)}
Thank you for your input! What I'm ultimately trying to achieve is automated test execution as part of a CI/CD pipeline (e.g. in GitLab or Azure DevOps). For this, I need to: Open a CODESYS project via script Build the project Run the Test Manager tests from a .TestRepository.xml Collect test results (e.g., pass/fail + a report) Exit with a proper return code (for pipeline success/failure) To integrate this into automation, I’m using the CODESYS scripting engine via Python (headless), but the issue is that the get_testmanager() function isn't available on the project object — even though Test Manager is installed, licensed, and works interactively in the IDE. Are you suggesting that I should: Use the Test Manager GUI to script the logic with its internal scripting language? Or is there a way to launch the Test Manager in headless/scripted mode, while still being able to control things via Python? If there's a supported way to automate tests with the Test Manager using scripting, especially from pipelines or headless environments, I’d really appreciate any pointers or example workflows. Thanks again!
Last updated: 2025-07-24

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 hanoues on setting date and time on CPX-E ^{CODESYS Forge talk (Post)}
Hello, Can anybody here tell me how to modify the time and date on my CPX-E? I used the code I found on CODESYS online help, but it doesn't work. What am I missing? FUNCTION current_date_time : STRING VAR stUTC_Timestamp : SysTime; //utc time // ULINT#1528280694913 stLocal_TimeStamp : SysTime; //local time but is in general equal // ULINT#1528280694913 stdNow : SysTimeDate; //local time in an object to access each number (day, month...) dtNow : DATE_AND_TIME;//DT#2018-6-6-10:24:54 todNow : TIME_OF_DAY; // TOD#10:24:54.913 datNow : DATE; // D#2018-6-6 END_VAR SysTimeRtcHighResGet(stUTC_Timestamp); // ULINT#1528273494913 SysTimeRtcConvertHighResToLocal(stUTC_Timestamp, stdNow); //convert UTC ULINT to Local SysTime // stdNow.wYear = UINT#2018 // stdNow.wMonth = UINT#6 // stdNowy.wDay = UINT#6 // stdNow.wHour = UINT#10 // stdNow.wMinute = UINT#24 // stdNow.wSecond = UINT#54 // stdNow.wMilliseconds = UINT#913 // stdNow.wDayOfWeek = UINT#3 // stdNow.wYday = UINT#157 SysTimeRtcConvertDateToHighRes(stdNow, stLocal_TimeStamp); // ULINT#1528280694913 dtNow := TO_DT(stLocal_TimeStamp / 1000 ( ms )); // DT#2018-6-6-10:24:54 todNow := TO_TOD(stLocal_TimeStamp MOD TO_ULINT(T#1D)); // TOD#10:24:54.913 datNow := TO_DATE(dtNow); // D#2018-6-6 (convert to appropriate string) current_date_time := concat('$N[', TO_STRING(dtNow)); current_date_time:= concat(current_date_time,'.'); current_date_time:= concat(current_date_time, TO_STRING(stdNow.wMilliseconds)); current_date_time:= concat(current_date_time,'] - '); RETURN;
Last updated: 2024-05-21

Post by alimans on OPC-UA Server, Symbol Set: Raise an error: Object reference not set to an instance of an object. ^{CODESYS Forge talk (Post)}
Hi everyone, I just created a very simple library without any code and, added it to my very simple project. after adding this library, I get an error when I try to open "Symbol Set" in "OPC UA Server" in "Communication Manager". Here is the code of my POU in the library: FUNCTION_BLOCK POU VAR eCommand : (CMD_NONE:=0, CMD_RESET:=-1) INT := CMD_NONE; END_VAR Attached is the error that I get. I also noticed that by removing the enumeration variable above (eCommand), I can open the "Symbol Set" again. Anybody has any idea why this error is raised and how could I use enumeration variables without error in "OPC UA Symbol Set"?
Last updated: 2024-08-08

Post by sigurdrb on OPC server in "Communication manager" ^{CODESYS Forge talk (Post)}
Hi! I was thinking of switching the OPC server config from "Symbol Configuration" to the "Communication manager" in the device tree. I Have a lot of arrays of structs that I have previously declared in the "Persistent Variable" object in the device tree. It seems as it is not supported to directly expose persistant variables to the OPC server like the "older" way of doing it in the symbol config. Is this correct? Do you recommend to just do it the old fashioned way, or should I edit the structure of the global variable list / persistant data / OPC server and set up the OPC server from the "Communication manager" object?
Last updated: 2025-01-20

Post by alberto on ExportPLCopenXML is failing ^{CODESYS Forge talk (Post)}
I'm trying to export my whole project through the option ExportPLCopenXML. It seems working, but when I'm trying to import the xml I have the following error during the importation process: Object reference not set to an instance of an object. It seems a usual issue with this process that affects to the pointer to user classes inside a procedure. I receive this error for two general functions that have this pointer declarations in the VAR_INPUT section. It seems a bug into the export/import process of CodeSYS and I couldn't skip it so far. Anyone could help me? Thanks in advance.
Last updated: 2025-03-15

Post by spiessli on Objects in OPC UA Information Model ^{CODESYS Forge talk (Post)}
Hi, I have an OPC UA information model with objects defined in it. I can import the model and use the data types defined in it and create instances of these types. These instances are accessible at Root > Objects > DeviceSet > CODE[...] > Resources > Application > GlobalVars > OPC_UA_Symbols for created instances and at [...] > Programs > PLC_PRG for mapped instances. The object defined in the information model is accessible in UA Expert by the name I have defined in the information model (Manipulator) at Root > Objects > Manipulator. How can I assign values to the Variables defined in the object "Manipulator"? Cheers, spiessli
Last updated: 2025-03-27

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