Post by farren on How to stay in a method until something is finished. ^{CODESYS Forge talk (Post)}
I know I'm thinking about this wrong -- too many decades of procedural and event-driven programming and only a few months of PLC ST programming...... I've created a visualization with a button that when pushed calls a method. I want the method to take a pressure reading, wait one minute and then take another pressure reading. I'm looking for leaks. I'm using TON for the delay. It seems like what is happening is that the method gets called once and it takes the first reading and starts the TON. But then execution continues, leaves that method call, and the second reading never happens. I can force the method to keep running until the whole thing is done with a While loop, but I understand that is considered BAD in PLC programming. If it push the button again to call the method again, it picks up where it left off and if the timer is complete then it runs the remaining code. How do I keep that method running until it is complete with just one call without using a while loop that ties up the PLC for a minute? Thanks! -Farren
Last updated: 2025-10-31

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 jonasz on Deploy LicenseServer for Linux SL ^{CODESYS Forge talk (Post)}
So here's how: I manually installed the following packages: codemeter-lite_8.30.6885.501_amd64.deb codesyslicenseserver_licenseserver_4.18.0.0_all.deb codesyswbmbase_wbmbase_4.18.0.0_all.deb codesyswbmlicensing_wbmlicensing_4.18.0.0_all.deb Of course, the license server appeared immediately. Trying to install it again using Install in the Deploy tab, the same error appears. Of course, the information that such a server is already installed is also there. Configuring PLC, S_PLC, EDGE, and SAFE_TIMER_PROVIDER went smoothly, and basically everything works. I wrote a simple program for S_PLC. I'm loading the programs into PLC and S_PLC. When loading the program into S_PLC, a message appears stating that there is no connection to the S_PLC controller. Timeout error. Restart the controller, attempt to load, and see the above. After changing the cycle time for S_PLC to 50ms, the problem no longer occurs. My question, besides the difficulty of installation for a new user, is what causes the cycle time for S_PLC to be so long, and how can I fix it?
Last updated: 2025-11-14

Post by valenting on License problem with Raspberry Pi ^{CODESYS Forge talk (Post)}
Hello, I have a raspberry pi with a license installed, but Codesys stops after 2 hours, and when I start it manually I have the following message: pszInfo=!!!! no runtime license - running in demo mode(~2 hours) I tried using License Manager, and got the following message: Licensing info not available. There is no dongle attached to the device. I have this message frequently, and usually removing the content of /var/opt/codesys/.cmact_license makes it work. After doing it and restarting Codesys, I have an empty Softcontainer without my License. I tried using "Install license" using the .WibuCmRau file for the corresponding license and got the following message: Licensing info not available. The device does not support this service. I also tried using Additional Functions > Restore Licenses with the Ticket ID and got the following message: This device does not support automatic license backup. How can I reinstall the license to this Raspberry Pi?
Last updated: 2025-11-28

Post by jonasz on Deploy LicenseServer for Linux SL ^{CODESYS Forge talk (Post)}
Good morning, I'm digging into this topic because I'm curious about resolving my problem in a test environment. In my previous message, I asked about the CODESYS Safe Timeprovider SL package (4.18.0.0), which I saw in the illustration. I noticed that it runs as a service. I am asking about this because from the perspective of an "ordinary" user, this service provides easier access to the settings of the time provider's operating parameters. The basic time provider configuration is outlined at https://content.helpme-codesys.com/en/CODESYS%20Control/_rtsl_virtual_safe_time_provider.html. Why my questions? They stem from my specific case, which is experiencing timeout issues. I know that my environment is currently only a test environment. I'm assuming a real-world scenario in which I won't be able to achieve a better result with my configuration, and I will ultimately need to increase the time provider's cycle time. By running the time provider service, I can easily influence the time provider's operation and thus eliminate the problem. I know, I know, safety systems are not life-enhancing extras.
Last updated: 2025-11-19

Post by mrtt on Nach Neuinstallation Plug-In Fehler ^{CODESYS Forge talk (Post)}
https://forge.codesys.com/forge/talk/Engineering/thread/3d0a6d3317/ Hallo, ich wollte mich etwas in Codesys einarbeiten für zukünftige Projekte. Aber ich scheitere schon an der Installation auf zwei PCs (Win10 / Win11). Problem wie im oberen Link, an beiden PCs, aber unterschiedliche Plug-Ins. Laut Installer sind die Pakete aber Installiert, wenn ich sie Deinstalliere kommen andere Meldungen :D... 3.5 19 habe ich auf Win 10 irgendwann immerhin mal zum Starten bekommen. Wenn ich dann an die Pakete mit den Paketmanager gehe, bekomme ich aber während der Installation auch immer die Fehlermeldung. Was kann da los sein? Ich versuche heute noch einen 3. PC, aber irgendwie ist das ja nicht die Lösung :(. Vor allem das es immer andere Plugins sind zwischen 3.5 19/21 und Win10/11. Also da ist irgendwie keine Richtung drin :(. Kann mir aber nicht vorstellen das dass die Regel ist, sondern ich vermute das ich da was falsch mache. Oder eine andere Abhängigkeit / Installation etwas zerschießt... Grüße Malte edit: auf einem frischen Win11 gehts, was ist mi Codesys da nicht in ordnung? edit2: Ok ich habe alles was mit C++ und Runtime war vorher Deinstalliert. Nach der Installation musste ich aber immer noch Plug-Ins korrigieren. Dann ist Codesys gestartet aber eingefroren. Geholfen hat dann noch das deinstalliere von CodeMaster.
Last updated: 2025-11-27

Post by blitz on Can't get SMC_SmoothPath to work ^{CODESYS Forge talk (Post)}
This code works well: PROGRAM PLC_PRG VAR execute : BOOL; abort : BOOL; doMDI : BOOL; manualDataInput : STRING(1024) := 'N5 G01 X0.00 Y200.00 N6 G01 X200.00 Y200.00 N7 G01 X200.00 Y0.00 N8 G01 X0.00 Y0.00'; stringStreamArray: ARRAY[0..NUMBER_OF_CHAINS-1] OF SMC_StringStream2 ; i : UDINT; readNCFromStream : SMC_ReadNCFromStream; sentencesFromStringSteam : SMC_GSentenceQueue ; interpreter : SMC_NCInterpreter; interpreterGeoInfoBuffer: ARRAY[1..GEO_INFO_BUFFERS_SIZE] OF SMC_GeoInfo; roundPath : SMC_RoundPath; roundPathGeoInfoBuffer: ARRAY[1..GEO_INFO_BUFFERS_SIZE] OF SMC_GeoInfo; END_VAR VAR CONSTANT MDI_FILE_NAME : STRING := 'MDI.nc'; NUMBER_OF_CHAINS : UDINT := 15; GEO_INFO_BUFFERS_SIZE : DINT := 500; END_VAR readNCFromStream.bExecute := interpreter.bExecute := roundPath.bExecute := execute; readNCFromStream.bAbort := interpreter.bAbort := roundPath.bAbort := abort; IF doMDI THEN stringStreamArray[0].Init(MDI_FILE_NAME); stringStreamArray[0].AppendData(manualDataInput); stringStreamArray[0].SetEndOfData(); i := 0 ; WHILE i < NUMBER_OF_CHAINS DO readNCFromStream.aStream[i] := stringStreamArray[i]; i := i + 1 ; END_WHILE readNCFromStream.bExecute := TRUE; IF readNCFromStream.bBusy THEN ; END_IF END_IF readNCFromStream( fDefaultVel := 10, fDefaultAccel := 10, fDefaultDecel := 10, fDefaultVelFF := 10, fDefaultAccelFF := 10, fDefaultDecelFF := 10, sentences := sentencesFromStringSteam ); interpreter( sentences:= sentencesFromStringSteam, nSizeOutQueue:= SIZEOF(interpreterGeoInfoBuffer), pbyBufferOutQueue:= ADR(interpreterGeoInfoBuffer)); roundPath( poqDataIn := interpreter.poqDataOut, dRadius := , dAngleTol := , nSizeOutQueue := SIZEOF(roundPathGeoInfoBuffer), pbyBufferOutQueue := ADR(roundPathGeoInfoBuffer));
Last updated: 2026-01-09

Post by fredashbolt on Dynamically Update JSON Payload ^{CODESYS Forge talk (Post)}
I am trying to generate a JSON payload populated with a value that updates for use with a telemetry system, the payload is to be published by MQTT. I have established the MQTT client and can publish a working JSON payload but I can't get the payload to update as the value (iValue) changes. I am using a timer to trigger the .SetValue function periodically, but the JSON will only give the value as it is when it is first initialized using xFirst IF statement. Any suggestions? Thanks VAR pJsonData : POINTER TO JSON.JSONData := factory.Create(); fb_JBuilder : JSON.JSONBuilder; diRootIndex, diObject1Index : DINT; iValue : INT := 10 ; jsonArrayWriter : JSON.JSONByteArrayWriter; wsJsonData : WSTRING(1000); xFirst : BOOL := TRUE; utf8JsonData : STRING(2000); diTempVal : DINT ; PublishTimer : TON ; END_VAR IF xFirst = TRUE THEN fb_JBuilder ( pJsonData := pJsonData , diRootObj => diRootIndex ) ; diObject1Index := fb_Jbuilder.SetKeyWithObject ( "Device" , diParentIndex := diRootIndex ) ; diTempVal := fb_Jbuilder.SetKeyWithValue ( "Temp" , iValue , diParentIndex := diObject1Index ) ; xFirst := FALSE ; END_IF PublishTimer ( IN := PublishTimer.Q = 0 , PT := T#5S ) ; IF PublishTimer.Q THEN fb_JBuilder.SetValue ( iValue , diTempVal ) ; END_IF jsonArrayWriter( xExecute := PublishTimer.Q , pwData := ADR(wsJsonData), udiSize := SIZEOF(wsJsonData), jsonData := pJsonData^, xAsyncMode := FALSE ) ; JSON.Stu.ConvertUTF16toUTF8( ADR ( wsJsonData ) , ADR ( utf8JsonData ) , SIZEOF ( utf8JsonData ) , bStrictConversion := TRUE ) ;
Last updated: 2026-03-10

Post by mjam04 on AM243 LaunchPad as PROFINET Device with CODESYS – RPC Aborted error when scanning devices ^{CODESYS Forge talk (Post)}
Hello, I am currently trying to use the AM243 LaunchPad as a PROFINET device and connect to it using CODESYS. In my setup I am also using a Raspberry Pi running the CODESYS PROFINET Runtime, which acts as the PROFINET controller. The setup of the Profinet controller is correct, so all devices are in the same subnet. However, I encounter an issue when scanning for PROFINET devices in CODESYS. The AM243 LaunchPad appears in the scan results, but the following error is reported: RPC Aborted: 0x16C9A049 Additionally, CODESYS shows the message that the identification data is not available and the IP address should be checked. Because of this error, the controller cannot establish a connection to the device. Another observation is that I cannot ping the AM243 LaunchPad from my PC, even though I configured what should be the correct IP address. Setup: PROFINET Device: AM243 LaunchPad PROFINET Stack: Industrial Communication SDK example PROFINET Controller: Raspberry Pi running CODESYS with PROFINET Runtime Engineering PC: CODESYS IDE Network: Ethernet connection between PC, Raspberry Pi, and AM243 In the attachments there is a screenshot of the corresponding error. Did anybody had the same error? Any hints or debugging suggestions would be greatly appreciated. Thank you!
Last updated: 2026-03-13

Post by ironplc on Ausführen von OPC-UA-Methodenaufrufen auf dem Server durch die SPS als Client ^{CODESYS Forge talk (Post)}
Hallo Zusammen, ich arbeite aktuell an einer Applikation, bei der im OPC-UA-Server eines Geräts ein Methodenaufruf implementiert ist, der für die Ansteuerung des Geräts erforderlich ist. Meine Steuerung agiert in diesem Fall als OPC-UA-Client und kommuniziert mit dem entsprechenden Server. Mit der Software UaExpert oder über eine entsprechende Hochsprache lässt sich der Methodenaufruf problemlos ausführen. Die Umsetzung im IEC-Code in CODESYS ist wohl etwas komplexer, wie ich festgestellt habe. Ich habe aktuell folgende Dinge schon ausprobiert: Symbolkonfiguration Diese entfällt in meinem Fall, da die Symbolkonfiguration nur die Funktionalität für einen OPC-UA Server bereitstellt (Oder?). Da meine Steuerung als Client agiert, kann ich diese Funktion wohl nicht nutzen. Kommunikationsverwalter Diesen kann ich aktuell nur eingeschränkt nutzen, da der Gerätehersteller mit kein Offline-Informationsmodell zur Verfügung stellt / oder stellen möchte. Über das Standardinformationsmodell der OPC-UA-Foundation werden lediglich nur die digitale Signale integriert, jedoch nicht die Methodenaufrufe. CODESYS OPC-UA Client/Server API Hierzu existiert zwar ein Beispielprojekt von CODESYS, jedoch ist die Bibliotheksdokumentation doch sehr knapp gehalten. Für mich ist dies nur relativ schwer zu rekonstruieren. (Aber vielleicht ein Ansatz?) Hat von euch schon jemand Erfahrungen zu dieser Thematik gemacht? Oder ist die Funktionalität im OPC-UA-Stack von CODESYS derzeit noch nicht bzw. nur eingeschränkt implementiert? Hat hier jemand weitere Informationen oder Tipps für mich? Danke schonmal im Voraus!
Last updated: 5 days ago

Post by wollvieh on Sysfile Konfiguration ^{CODESYS Forge talk (Post)}
...auch noch eine schöne Beschreibung zur Sysfile Konfiguration! Mit Version 3.5.19 wurde die Dateiverwaltung geändert. Siehe folgendes Problem: CDS-81506 – Sicherheitslücke im Dateizugriffssystem des CODESYS Control SysFile-Systems. Es gibt zwei Lösungen: Ändern Sie den Speicherort der Datei (Sie müssen zu /PlcLogic/ wechseln). Wenn Sie die Datei nicht in PlcLogic speichern möchten, fügen Sie die folgende Zeile in der CODESYSControl.cfg unter [SysFile] hinzu: ForceIecFilePath=0 Hier die offizielle Versionsbeschreibung: [[COMPATIBILITY_INFORMATION]] Durch die Aktivierung von ForceIecFilePath ist der Dateizugriff von IEC nun auf die konfigurierten Pfade beschränkt (Dateisandbox)! [SysFile] ForceIecFilePath=1 (neuer Standardwert) Der Standardpfad ist das aktuelle Verzeichnis, der PlcLogic-Unterordner oder ein konfigurierter Pfad. Jeder Dateizugriff außerhalb dieses Pfades wird über PlaceholderFilePath konfiguriert, beispielsweise der Zugriff auf temporäre Dateien oder Wechseldatenträger: [SysFile] PlaceholderFilePath.1=/tmp, $TMP$ PlaceholderFilePath.2=/media/usb, $USB$ PlaceholderFilePath.2.Volatile=1 Weitere Informationen finden Sie in unserem Tutorial „Dateipfade & Platzhalter“. Um das alte Verhalten wiederherzustellen, kann ForceIecFilePath wie folgt konfiguriert werden: [SysFile] ForceIecFilePath=0 Wir empfehlen jedoch dringend, diese Einstellung auf dem neuen Standardwert zu belassen!
Last updated: 2026-01-21

Post by mrkm-dic on CODESYS: Combining Master Redundancy with EtherCAT Ring Topology – Is it Supported? ^{CODESYS Forge talk (Post)}
Hello, I would like to ask whether it is technically supported (and practically achievable) to combine CODESYS Master Redundancy with EtherCAT ring (loop) redundancy in the same system. System setup CODESYS version: CODESYS 3.5.21.40 CODESYS Control SL for Weidmuller u-OS-4.12.2.0 Controllers (Masters): Weidmuller UC20-M4000 ×2, configured as Active / Standby using CODESYS redundancy EtherCAT Slaves: Weidmuller UR20-FBC-EC ×3, supporting EtherCAT ring / line break detection Topology: EtherCAT ring (loop) Main question Is it officially supported to use: ・CODESYS PLC/Master redundancy (Active/Standby) and ・EtherCAT ring topology (for cable redundancy) at the same time? Expected behavior Our expectation is: ・When the Active PLC fails, the Standby PLC becomes Active ・The Standby PLC then takes over the role of EtherCAT Master ・EtherCAT communication is re-established ・I/O control continues after reinitialization (a short interruption is acceptable; no strict bumpless requirement) We do not expect completely seamless / zero-cycle switchover, but we want to understand: ・Whether this combination is supported by design ・Or whether there are known limitations or restrictions when EtherCAT ring mode is used together with Master redundancy Clarification At this stage, the question is mainly about feasibility and support, not about a specific error message yet. Any official guidance, limitations, or real-world experience would be greatly appreciated. Thank you in advance.
Last updated: 2026-02-05

Post by konstantin on Lenze i950 Servo and WAGO PFC200 ^{CODESYS Forge talk (Post)}
Hello, In our workshop we have a Lenze i950 servo drive that has an EtherCAT bus and CiA402 compatibility. The WAGO is PFC200 750-8212 and as per documentation it has built-in license for SoftMotion Light functionality. It is not capable of supporting the full SoftMotion functionality like gearing and synchronizing. I added the EtherCAT esi files from Lenze and the EtherCAT master does see the drive, then I added a SoftMotion Light Axis object. The problem is that I can only energize the axis, I cannot execute any other commands. I set the positive and negative torque limits from the PDOs to 200% and when I try to move the axis by force it does not move back to its original position. I use the SML function blocks from the PLCOpen library and the error from the function blocks is that the op mode cannot be changed. Then I tried using a standard SoftMotion axis object and everything works fine, except the MC_Home function block. The axis moves back to its position when forced out of it. I follow this guide from Lenze - Lenze i950 CODESYS V3 What could cause this issue with the SoftMotion Light axis object? Best Regards Konstantin Kolev
Last updated: 2026-02-11

Post by yannickasselin on Lenze i950 Servo and WAGO PFC200 ^{CODESYS Forge talk (Post)}
In order to use SoftMotion Light, a servo drive needs to support CiA 402 operating modes: Profile Position (PP), Profile Velocity (PV) and Homing Mode (HM). https://content.helpme-codesys.com/en/CODESYS%20SoftMotion%20Light/_sm_light_requirements.html According to the Lenze i950 documentation you linked in your post, none of these modes are supported. Not even Homing Mode which explains why MC_Home does not work even with the full SoftMotion. The full SoftMotion uses Cyclic Synchronous Position Mode (CSP) but still uses Homing Mode (HM) when using MC_Home. You can monitor PDO 0x6060 (Mode of Operation). When using SoftMotion Light you will see it set to 1 (PP) for a MC_MoveAbsolute_SML and MC_MoveRelative_SML and to 3 (PV) for MC_MoveVelocity_SML and to 6 (HM) for MC_Home_SML. When using the SoftMotion instructions, it will pretty much always be set to 8 (CSP) except when using MC_Home, then it will be set to 6 (HM).
Last updated: 2026-02-13

Post by ilya-vah on Table element issues ^{CODESYS Forge talk (Post)}
Hello, First post here. I would like to clarify whether the following behavior is known or if it is a bugs. Issue 1 — First row not displayed when using Maximum array index with 1-based arrays Description: When displaying data from an array that is indexed starting from 1 (e.g., ARRAY[1..N]), and the number of displayed rows is limited using the Maximum array index property, the first row of the array is not shown in the visualization. Steps to reproduce: Create an array indexed from 1 (e.g., ARRAY[1..N]). Bind the array to a Table element. Limit the number of displayed rows using the Maximum array index property. Run the visualization. Actual result: The first array element (index 1) is not displayed in the table. Issue 2 — Tooltip string placeholder cannot be bound to string variable from array Description: It is not possible to use a string placeholder in the tooltip that is bound to a string variable from the array. Steps to reproduce: Use a table bound to an array containing string variables. Configure a tooltip using a string placeholder referencing a string field from the array. Run the visualization. Actual result: Tooltip doesn't show any text. A test project demonstrating both issues is attached. Thank you for your time and support.
Last updated: 2026-02-16

Post by mohammedben on Fail communication between CODESYS and Fuxa SCADA via OPC UA ^{CODESYS Forge talk (Post)}
hi, When I try to establish communication between CODESYS and Fuxa SCADA via OPC UA, the connection fails, and I receive the following error: 2026-02-15T08:38:13.618Z [ERR] 'codesys' connect failure! Error: The connection may have been rejected by server, Err = (ClientTCP_transport6: socket has been disconnected by third party) 2026-02-15T08:38:13.619Z [ERR] 'codesys' try to connect error! Error: The connection may have been rejected by server, Err = (ClientTCP_transport6: socket has been disconnected by third party) 2026-02-15T08:38:13.622Z [ERR] 'codesys' connect error! undefined (1) Note that there are no problems when I establish communication with the UaExpert and OPC UA Client Simulator software. I also previously tried communicating with RapidSCADA and received the following error: Endpoint with the specified security options not found. And when I try to connect with "none" in the security policy, I get this error: BadSecureChannelClosed I have tried almost all the solutions available online and have not found a solution. I hope you can provide me with a solution that solves this problem. Thanks in advance
Last updated: 2026-02-16

Post by fpawlak on How to register own component - CMAddComponent() or CMAddComponent2() ^{CODESYS Forge talk (Post)}
Hi All, I wonder which way is correct or better? I would like to register my own component in order to use it in CMPLog. I can use CMAddComponent() or CMAddComponent2() to do it. The main difference is whether I provide udiCmpId myself or it will be generated by runtime. But I don't know which way is correct. Please look at those two examples below. I don't know if CMAddComponent2() is newer and then should be used? CMAddComponent() + providing my own udiCmpId //16#FFFF0000 for unknown myVendorId := 16#FFFF0000; myLibId := 1; myComponentId := myVendorId OR CMPID_IecCode OR myLibId; componentHandle := CMAddComponent(pszComponent:= 'myComponent', udiCmpId:= myComponentId, udiVersion:= 1, pResult:= ADR(result)); IF componentHandle <> RTS_INVALID_HANDLE AND result = CmpErrors.Errors.ERR_OK THEN LogAdd2( hLogger:= STD_LOGGER, udiCmpID:= myComponentId, udiClassID:= CmpLog.LogClass.LOG_ERROR, udiErrorID:= 0, udiInfoID:= 0, pszInfo:= 'myComponent regidtered succsefull.' ); ELSE LogAdd2( hLogger:= STD_LOGGER, udiCmpID:= CMPID_CmpMgr, udiClassID:= CmpLog.LogClass.LOG_ERROR, udiErrorID:= 0, udiInfoID:= 0, pszInfo:= 'Error while regidtering myComponent.'); END_IF CMAddComponent2() + udiCmpId generated by runtime componentHandle := CMAddComponent2(pszComponent:= 'myComponent2', udiVersion:= 1, udiCmpId:= ADR(myComponentId), pResult:= ADR(result)); IF componentHandle <> RTS_INVALID_HANDLE AND result = CmpErrors.Errors.ERR_OK THEN LogAdd2( hLogger:= STD_LOGGER, udiCmpID:= myComponentId, udiClassID:= CmpLog.LogClass.LOG_ERROR, udiErrorID:= 0, udiInfoID:= 0, pszInfo:= 'myComponent2 regidtered succsefull.' ); ELSE LogAdd2( hLogger:= STD_LOGGER, udiCmpID:= CMPID_CmpMgr, udiClassID:= CmpLog.LogClass.LOG_ERROR, udiErrorID:= 0, udiInfoID:= 0, pszInfo:= 'Error while regidtering myComponent2.'); END_IF
Last updated: 2026-02-27

Post by eschwellinger on Editor FIND highlight color ^{CODESYS Forge talk (Post)}
To change the color of search result markings (the "find color") in the CODESYS Text Editor using Themes, follow these steps: Go to the menu: Tools → Options. In the Options dialog, select the Text editor category. Switch to the Theme tab. Here, you can select your desired color theme for the text editor. The available color schemes (themes) are stored in the installation directory in the Themes folder. To specifically adjust the color for search result markings, go to the Text Area tab within the Text editor options. Here, you can customize the Selection color – Inactive parameter, which determines the color used to highlight search results. Changing the theme will apply a new set of color settings, including those for selections and search highlights. If you want further customization, you can manually edit or create your own theme files in the Themes folder of your installation directory Example "c:\Program Files\CODESYS 3.5.21.50\CODESYS\Themes\myDefault.editortheme" https://content.helpme-codesys.com/en/CODESYS%20Development%20System/_cds_dlg_options_text_editor.html
Last updated: 2026-03-12

Post by lukasz on Unresolved reference when trying to upload to Codesys Runtime V3 ^{CODESYS Forge talk (Post)}
Hello! I'm working with Codesys SP21 Patch 4. The project builds without any errors. When trying to upload my project to Codesys Runtime V3 x64 I get a lot of Unresolved Reference errors, all with FU- at the start and then -CLOSELAYER2, -GETBUSINFO, -GETFRAME etc. I also get a error pop-up that I should 'update device' in the project but it's not specified to which version or anything useful really.There's also not much to choose from. When I check Runtime version in the systray I get 3.5.21.40 and it's the same as I have set up in the project as the device. All information I get is that it should be clear from the errors but no useful information is provided in the errors. Do I need to install some library? I checked other posts and for different reference error and this was the answer. Thanks in advance!
Last updated: 2026-03-25

Post by egr99 on Modbus TCP Server connection is ESTABLISHED but all holding registers are value 0? ^{CODESYS Forge talk (Post)}
Hi there, Read the above description and experienced the same: Reading coil/discrete input/input register/holding register doesn't fill the mapped I/O variable. Any suggestions? Defined (see attachment): - Ethernet (with parameters according to the used Ethernet adapter of my Windows 11 laptop) - -Modbus TCP Client - - -LOGO231 as Modbus TCP Server - - -WS242 as Modbus TCP Server (WaveShare Modbus TCP <-> RTU converter) - - - -WS242_01 as Modbus Server, COM port (slave-id 1 RTU) - - - -WS242_03 idem (slave-id 3 RTU) - - - -WS242_11 idem (slave-id 11 RTU) Writing coil/holding register works from a mapped I/O variable works fine. Verification of Modbus traffic with WireShark: QUERY to and the RESPONSE of all slave-ids are correct Status of all defined is CONNECTED, RESPONSE_SUCCESS, RUNNING etc. Request counters increase with expected frequency. Error counter = 0. (To have all counters works fine I had to change Modbus TCP Client's parameter OptimizationON to FALSE). LOGO231 works fine: values in mapped I/O conform expectation WS242 without Modbus Server, COM port and with defined channels (for only 1 slave-id possible) works fine. PLC Settings: Update I/O while in stop: I see xBusy changing from FALSE to TRUE and vice versa. Always update variables: Enabled 1
Last updated: 2026-04-05

Post by mubeta on Strange problem with the ‘MC_SetPosition’ function ^{CODESYS Forge talk (Post)}
How are the servo drives controlled? EtherCAT, step/dir pulses, other? CANOpen, 1 Mb/s, bus load 35%, cycle time 2ms. Another thought is that - if it's step/dir pulse based control - the pulses from the PLC to the drive are getting missed/lost at high frequencies? If that's the case then there would be multiple troubleshooting steps/corrections that could be investigated. Here, it seems to me that we are getting completely off track with the observed problem. You could try to create a simplified program I had already written this elsewhere. The program before being brought into machines was exhaustively tested in SW emulation and the problem did not occur. However, in emulation I was interested in checking other aspects of the process, not this specific one which is for real a correction made necessary after the fact. The part of the program that does this correction with the function mentioned in the topic, came up from its origins, but I didn't know or didn't think it was really useful. A scruple that later turned out to be necessary. However, for now I do not think I will spend any more time on this verification, already lacking any to do my normal. I remain amazed, however, that a function intended to correct the axis position with the motor in motion and that it should not interfere with this, in fact instead changes behavior as the motor speed changes. Mah! When you manually control the motor directly from the servo drive software at the speeds you are calling for, does it move precisely to the target position? The drive and motor have been working fine for about 10 years. In replacing the machine control system, I opted for CoDeSys where before there was something else. But this is not the subject of the problem. What I need to resolve is the fact that a clutch specially placed at a certain point can slip and, therefore, I have the undeniable need to phase the 'prime mover' to the mechanical position of the machine, detected by a cam for each turn, in order to properly stop at its optimum point. Which for now I have ruled out doing. In fact, if I really have to say, since we have now gone brutally OT, I originally thought that this clutch should only come into action in cases of extreme necessity, as happens in most trials. But this one, the way it is made, slips more easily than I could estimate and the servo-controlled 'prime mover,' and the machine, get out of phase, maybe by a little, but frequently, and when the machine work at it's high speed, (in fact all of the time), I can't adjust properly the 'prime mover' position at fly.
Last updated: 2025-01-18

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

Post by thommy54 on CODESYSControl_User cfg richtig konfigurieren ^{CODESYS Forge talk (Post)}
Hallo, nach Erwerb eines neueren Raspberry pi 4 (V1.5) musste ich zwangsläufig von Codesys 3.5.16 hochwechseln - ich habe auf 3.5.20.1 geupdated. Da schlugen mir plötzlich ne Menge Einschränkungen entgegen, deren Behebung einige Zeit dauerte. Eine davon ist, das ein SysFile.SysFileOpen nicht mehr funktioniert. Ich habe das Problem mit Einträgen in der /etc/CODESYSControl.cfg behoben: [SysFile] FilePath.1=/etc/, 3S.dat IecFilePath.1=/proc/, cpuinfo IecFilePath.2=/proc/, iomem PlaceholderFilePath.1=/sys/devices/w1_bus_master1, $OneWire$ PlcLogicPrefix=1 ; ; ---------------------- ; selbst eingefügt PlaceholderFilePath.2=/home/root, $my_home_root$ PlaceholderFilePath.3=/etc/init.d, $my_conf$ PlaceholderFilePath.4=/var/lib/mpd, $my_music$ PlaceholderFilePath.5=/root/Rasp_SPS_Filesystem, $my_Rasp$ Ob die Einträge sich etwas überlappen, kann mir gern jemand sagen, das ist aber nicht das Problem. Ich habe bei den vielen Versuchen, das Teil zum Laufen zu bringen, bemerkt, daß die Einträge auch ganz schnell mal verschwinden. Das ist ja auch so beschrieben, wenn die nächste Version kommt, sind meine Einträge weg. Da ich ähnliche Probleme mit dem Funktionieren von "SysProcessExecuteCommand2()" hatte, die ich ebenfalls mit Einträgen in die /etc/CODESYSControl.cfg hätte beheben können, habe ich gelesen, das man "private" Einträge lieber in die Datei /etc/CODESYSControl_User.cfg machen soll. Gesagt getan und "SysProcessExecuteCommand2()" lief: [SysProcess] Command=AllowAll Command.0=shutdown Aber auch irgendwo stand, das so ein Beteichner wie [SysFile] oder [SysProcess] nur einmal in den beiden Files /etc/CODESYSControl.cfg oder(!) /etc/CODESYSControl_User.cfg vorkommen darf. Das ist nun die eigentliche Frage! Ist das so ? Bei [SysProcess] ist das kein Problem, das gibt es in /etc/CODESYSControl.cfg nicht. Aber bei [SysFile] sieht das anders aus. Da sind 5 Zeilen schon in /etc/CODESYSControl.cfg drin. Würde ich diese in die User-Datei rüberschieben, könnte beim nächsten Update was fehlen oder, oder... Lasse ich es so wie es ist, sind meine Einträge beim Update weg - das sollte ja verhindert werden. Kann da jemand genaue Auskunft geben ?? Vielen Dank Thomas
Last updated: 2024-06-28

Post by paulpotat on cm4 runtime problem ^{CODESYS Forge talk (Post)}
Hello, I have exactly the same issue, with the following configuration : Hardware version >>> cat /proc/cpuinfo processor : 0 model name : ARMv7 Processor rev 3 (v7l) BogoMIPS : 108.00 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 : 108.00 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 : 108.00 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 : 108.00 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 : 10000000d5be5b5f Model : Raspberry Pi Compute Module 4 Rev 1.1 Kernel version >>> uname -a Linux raspberrypi 6.1.21-v7l+ #1642 SMP Mon Apr 3 17:22:30 BST 2023 armv7l GNU/Linux OS Version >>> cat /etc/os-release PRETTY_NAME="Raspbian GNU/Linux 11 (bullseye)" NAME="Raspbian GNU/Linux" VERSION_ID="11" VERSION="11 (bullseye)" VERSION_CODENAME=bullseye 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" /boot/config.txt I added the following line : arm_64bit=0 CodeSys runtime version 4.10 Were you able to solve the issue @michelebianchi ? Any help with this would be appreciated... BR
Last updated: 2024-08-28

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

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