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

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

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

Post by risele on Modbus connection via Qronox PCD3 M6893 ^{CODESYS Forge talk (Post)}
First, if you don't need to change conversion rules in runtime, take a look at "Unit conversion" module (Application -> add object -> UnitConversion). You can specify there biderectional conversion with different units, limits and so on. Second, since MODBUS don't have "real" types but only general 16-bit registers and Real is 32-bit, generally you need a byte-was conversion Real <> two Words. Note, that depending on the devices on both sides, there are two options: Real-> Word1, Word2 or Real-> Word2, Word1, where Word1 is minor register in Modbus register pair and Word2 is major. You can use simple union: TYPE u_Real : UNION rVal:REAL; wVal:ARRAY[0..1] OF WORD; dwVAL:DWORD; //same as previous, may be easier to specify the MB register END_UNION END_TYPE and convert it as following: VAR myUnion:u_Real; rValue_TO_SEND:REAL; rValue_TO_GET:REAL; END_VAR myUnion.rVal:=rValue_TO_SEND; rValue_TO_GET:=myUnion.rVal; Note, that WORD-order should be properly set in MODBUS registers, otherwise you will get strange values. This tool is helpful: https://www.scadacore.com/tools/programming-calculators/online-hex-converter/ Alternative, you can use functions as REAL_TO_DW and DW_TO_REAL from OSCAT_BASIC, for example.
Last updated: 2026-02-19

Post by alexgooi on Codesys KNX implementation ^{CODESYS Forge talk (Post)}
Dear forum, We are currently doing some research on the Codesys KNX implementation (https://store.codesys.com/en/codesys-knx-sl.html). We almost have it working but we are missing the last part. The setup: We have a Codesys virtual control container running on docker (4.17.0.0), the I/O is running over an Ethernet IP coupler (Weidmüller), and this is running fine. As far as I’m concerned this tells me that the ethernet device is working properly (the container has access to the outside world, including multicast). Underneath this ethernet adapter the KNX module is added (see picture). In the KNX device (Codesys) 2 input variables are added (see picture), and these are exported to ETS (ETS 5). In ETS A Codesys KNX device has been imported and the Codesys export was imported, afterwards the group addresses are attached to the variables (see picture). Afterwards this configuration is downloaded to the Codesys controller (Container) via ETS. ETS asks for the pressing of the programming button, when the virtual programming button is pressed the download starts and finishes without any errors. This tells me that ETS is communicating with the Codesys controller, and that the download process is ok (so far so good). Now the part where we are struggling with, somehow we need to convert the KNX TP to KNX IP. For this we have the following interface: Zenio KIPI SC (https://www.zennio.com/product/kipi-sc/) this is a KNX TP to IP interface. We have the following setup for this device (see picture) (an IP in the same subnet is used). We tried multiple combinations of IP addresses but the TP devices are simply not communicating to the Codesys container. Does anyone has any advice on what to try next. To make the question more explicit how can we link the TP bus to the Codesys device? Kind Regards Alex
Last updated: 2026-01-05

Post by egret on Issue with J1939, PGN 65267 (Vehicle Position) ^{CODESYS Forge talk (Post)}
I have a J1939 network (ISOBUS) connected to my PLC. I can receive various PGNs such as 65256 (Vehicle Direction/Speed) and 65254 (Time/Date). However, I cannot receive 65267 (Vehicle Position). PGN 65267 (VP) contains SPN 584 (Latitude) and SPN 585 (Longitude). On the network both SPNs return a value of -210 (meaning the CAN message payload is zero in both cases). The conversion settings are the default values and appear to be correct (see attached screenshot). Using a CAN analyser I can see that PGN 65267 (Vehicle Position) is being transmitted over the network with valid (non-zero) data that matches the latitude and longitude coordinates I would expect. I've created a program to read the raw J1939 data and this also returns valid data. It seems that the Codesys J1939 database has a problem with reading PGN 65267 messages. Can anybody else confirm this? I'm using Codesys Version 3.5 SP16 Patch 5.
Last updated: 2023-09-13

Post by simone on Cannot connect to webvisu on localhost ^{CODESYS Forge talk (Post)}
As I wrote before on the title, I have difficulties to connect to see webvisu from localhost. The story: while waiting for the plc+hmi to arrive, I'm preparing the software, mainly the visual parts trough the control Win3 x64 (same version as the ide 3.5.20.10). The problem is that I can't see the webvisu with the installed webbrowser. I don't know if this is a problem, but I changed the port to 9001 (randomly "free") because 80, 8000, 8080, 8088, 3000 are all occupied by other projects (all on the Apache server). Is there something wrong with the config file? This is the url: localhost:9001/webvisu_app.htm and here the config file part "CmpWebServer". [CmpWebServer] ;The handling of startup/shutdown of the webserver: ;0->automatically start, shutdown only on shutdown of the runtime;1->automatically start, could be shutdown on demand ;2(default)->start/shutdown on demand;3->start on demand, shutdown only on shutdown of the runtime StartupType=0 ;The TCP port the webserver listens on WebServerPortNr=9001 LocalAddress=localhost ;LocalAdapterName=LAN-Connection LocalAdapterName=EthernetPCPLC ;LocalAdapterNameUnicode=L\00A\00N\00-\00C\00o\00n\00n\00e\00c\00t\00i\00o\00n\00 LocalAdapterNameUnicode=E\00t\00h\00e\00r\00n\00e\00t\00P\00C\00P\00L\00C\00 Thanks for all the help!
Last updated: 2024-07-11

Post by timl on BacNet "Unaufgelöste Referenz" ^{CODESYS Forge talk (Post)}
Hallo, ich habe Probleme beim nachbauen des BacNet2 Tutorials "Erste Schritte" aus der CODESYS Online Help. https://content.helpme-codesys.com/de/CODESYS%20BACnet/_bacnet_first_steps.html Das Anlegen des BacNet2 Servers und der danach folgenden BacNet Datenpunkte erfolgt ohne Probleme. Der Code lässt sich mit F11 auch Fehlerfrei generieren. Beim Download auf die SPS tritt dann der Fehler auf dem Bild auf. Anbei auch ein Bild des Logs nach dem Download. CODESYS BACnet 2.0.0.0 ist über den Installer runtergeladen. Device: CODESYS Control Win V3 x64 Version 3.5.19.40 CODESYS 3.5.19.40 Im Bibliotheksverwalter ist BACnet2 2.0.0.0 aufgeführt Die Konfigurationsdatei habe ich mit folgenden anpassungen abgespeichert: [ComponentManager] Component.1=CmpTargetVisuStub Component.2=CmpWebServer Component.3=CmpWebServerHandlerV3 Component.4=SysCpuMultiCore Component.5=SysReadWriteLock Component.6=SysCpuBreakpoints Component.7=SysPipeWindows ;Component.8=CmpHilscherCIFX ;Component.9=CmpPCANBasicDrv ;Component.10=CmpCANFoxDrv ;Component.11=CmpIxxatCANDrv ;Component.12=CmpBlkDrvCanServer ;Component.13=CmpBACnet Component.14=CmpBACnet2 [CmpBACnet2] ;configuration file of the BACnet stack IniFile=$PlcLogic$/bacstac2.ini ;task priority of the BACstack process task, default: TASKPRIO_NORMAL_END (159) TaskPrio=128 ;name of the named pipe for the communication with the BACstack AppName=/tmp/BACnetServer Habe ich etwas vergessen?
Last updated: 2024-02-16

Post by mtho on JSON Utilities - JSON file written with invalid structure ^{CODESYS Forge talk (Post)}
I'm using the JSON Utilities SL library to write configurations in my program to a file. I'm generating the JSON data using the builder function block and all appears to work correctly. When I write the jsondata to file, I'm finding that some of the JSON elements are not being written in the right location in the file. Rather than writing they keys under the parent object, they get written outside the root JSON object at the end of the file. If I then try to read the file back into the program, I get an invalid_structure error. I don't get any errors when populating the JSON data or when writing the file. I attached an example of the JSON writer output. The problems begin with key P200. Each P200 should go under MBR1 through MBR3. Among the rest of the keys, they are supposed to be under different parent objects. I am using default values for wsLineBreak and encoding.
Last updated: 2024-03-06

Post by fajean on CODESYS control on RPi starts, shortly runs, then exits ^{CODESYS Forge talk (Post)}
I have a Raspberry Pi 4 we have been using for years to run CODESYS for development purposes. I recently have had to re-install the OS (Raspberry OS lite). The only change to the default configuration is not creating the "pi" user during install. I (apparently successfully) installed the 4.10.0.0 control on the Raspberry Pi. We have licences on a dongle. I am able to start the control. systemctl status shows it as running for a little while (exactly, precisely 30 seconds as per my tests, every time), then it becomes exited. I can restart the control, and the same thing happens again. Every time. In the brief moments it is running, I can log in to the PLC. Working fast and restarting the control many times, I have been able to configure users. I have been able to download my application. I have been able to run the application, and stop on a breakpoint. I have been able to connect with the licence manager and confirm the dongle is detected and licences are listed as OK. I see nothing wrong until the service just exits. I have found nothing in the logs. It is like the runtime just terminates with no error code or message after exactly 30 seconds. Any help would be appreciated.
Last updated: 2024-06-13

Post by cmj-icsys on Custom configure tab in device editor ^{CODESYS Forge talk (Post)}
Hi everyone, I’m developing a custom CODESYS I/O driver for my company’s device, and I’ve been studying the example projects in CODESYS V3.5 SP20 Patch 5. In the IOMappingExample.project, I noticed that EtherCAT devices provide additional configuration tabs in the Device Editor, such as General, Process Data, etc. However, for custom I/O driver examples (based on IoDrv), the Device Editor only shows the default tabs like <devicename> I/O Mapping or <devicename> Parameters.</devicename></devicename> I’d like to create custom tabs or configuration pages in the Device Editor (e.g., “General Settings”, “Communication”, etc.) to allow users to configure parameters in a more structured way. Could anyone explain: How to define and register custom tabs or UI pages in the Device Editor? What tools or SDKs are needed to create UI elements such as combo boxes or check boxes? How to bind those UI controls to device parameters defined in the XML (device description)? Any example, SDK reference, or documentation link would be really helpful. Thanks in advance!
Last updated: 2025-10-20

Post by kiranbsiddaiah on CodeSys OPC UA client Unable to Connect To OPC UA sever through Username and password ^{CODESYS Forge talk (Post)}
Hi, I'm using codesys v3.5 sp21 software. I have downloaded the sample opc ua client project from https://content.helpme-codesys.com/en/CODESYS%20Examples/_ex_uacapi_example.html and i tested connecting to "prosys opc ua simulation server". Through Anonymous connection it is connecting to server and can read data. Later tried to connect using username and password. First got a SECURITY_CHECKS_FAILED error, trusted the client certificate in the server and this issue resolved. Next got an INVALID_CERTIFICATE error, trusted the server certificate in the client and this issue resolved. After these two error it is not establishing the connection and not giving any error messages. UAAsyncProp: UA.AsyncProperty := (tnTaskName:='UAClientTask', usiTaskPrio:=20, udiTaskInterval:=10000); UAPolicy: UA.SecurityPolicy := (sPolicy:=UA.OpcUa_SecurityPolicy.OpcUa_SecurityPolicy_Aes128Sha256RsaOaep, eSecurity:=UA.SECURITY_MODE.SIGN_AND_ENCRYPT); //UAPolicy: UA.SecurityPolicy := (sPolicy:=UA.OpcUa_SecurityPolicy.OpcUa_SecurityPolicy_None, eSecurity:=UA.SECURITY_MODE.NONE); UAAuth: UA.UserNameAuth := (sUserName:=UAVars.sUser, sPassword:=UAVars.sPass); UAClient: UA.Client := ( itfAsyncProperty:= UAAsyncProp, //sClientName:= 'MyOPC UA client name', //default: ‘CODESYS OPC UA Client’ sURL:= UAVars.sURL, sSession:= UAVars.sSession, itfPolicy:= UAPolicy, itfAuth:=UAAuth, udiTimeout:= 100000 //,itfNamespaceArray:= UAVars.itfNamespaceArray //optional use ); ----------------------------------------------------------------------------------------------------------------------- Please let me know if any additional information required. Thank you...
Last updated: 2026-05-07

Post by timvh on USB Game Controller with Raspberry Pi ^{CODESYS Forge talk (Post)}
I'm not sure it will work, but you could try it with the CmpCharDevice library. You could create a function block that looks something like this: As input for the filename, you have to use your Linux device, e.g.: '/dev/input/event0' '/dev/input/by-path/platform-button@23-event' Off course you must also pass the pointer to the memory where the data can be written to and the size (count in number of bytes) of the buffer. FUNCTION_BLOCK FB_CharDevice VAR_INPUT szFilename: STRING; pbyBuffer : POINTER TO BYTE; udCount : UDINT; END_VAR VAR_OUTPUT iState : INT := 0; nrBytesRead : DINT; END_VAR VAR xInit : BOOL := TRUE; dFlags: DINT := CmpCharDevice.ACCESS_MODE.O_RDONLY + DINT#4000; // see details for flags: http://linux.die.net/man/2/open, + DINT#4000 is for non-blocking hDevice: CmpCharDevice.CmpCharDevice_Implementation.RTS_IEC_HANDLE := -1; Result : CmpCharDevice.CmpCharDevice_Implementation.RTS_IEC_RESULT; END_VAR IF xInit THEN hDevice := CmpCharDevice.CDOpen(szFilename, dFlags ,Result); // if it would not succeed, the result is -1 (Invalid handle) IF hDevice <> 16#FFFFFFFF AND Result = 0 THEN iState := 5; END_IF xInit := FALSE; END_IF IF iState = 5 THEN nrBytesRead := CmpCharDevice.CDRead(hDevice, pbyBuffer, udCount, Result); ELSE nrBytesRead := 0; END_IF Make sure you close the connection properly, maybe by overwriting the default FB_Exit method of the FB: // Clean up device IF hDevice <> 16#FFFFFFFF THEN __TRY CmpCharDevice.CDClose(hDevice,Result); __CATCH ; __ENDTRY iState := 0; END_IF
Last updated: 2026-05-01

Post by dwpessoa on CNC Jumps G20 - SMC_NCInterpreter and long time to process ^{CODESYS Forge talk (Post)}
I am studying and developing a Softmotion+CNC system for a machine that executes multiple pieces. The G code program is written by the machine operator and each cycle execute 1 piece. The programs are large, exceeding 1000 lines and using up to 8 axes (X, Y, Z, A, B, C, P and Q). The machine needs to run cyclically, executing N pieces (selected by the Operator)... so I tested it using Looping and counters (G36 G37 and G20) and it worked, but it takes a long time to process, and the more pieces I need, the longer the processing time and this is totally impracticable. I found this solution which was very good, and for a few cycles it works well, but for 99999 pieces of a program with 1000 lines, it doesn't work very well... Another solution I tested is to maintain the interpolator with an automatic restart, that is, I load the program without looping (without G20) and give it another start as soon as it finishes. This partially resolved it, but there is still a delay in processing SMC_NCInterpreter in each restart :(. Another solution I thought of is to manually create the SMC_GEOINFO structure and then reuse it, avoinding the Interpreter, but reading the documentation and checking the structure filled by standard blocks, I noticed that there doesn't seem to be a "JUMP" function in the structure! In other words, the SMC_NCInterpreter actually keeps copying and copying the program section for each jump (G20)... If I repeat a 10-line program 1000 times, I will have a structure with more than 10000 lines... possibly this is the cause of take so long to process. Has anyone ever had a problem like this? I believe the same thing happens with typical applications with manipulator robots using Codesys in continuous cycles, and I would like to know if there is any solution, or even if I am misinterpreting the G20 question in SMC_GEOINFO. Thanks!
Last updated: 2023-09-20

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

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

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

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

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

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

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

Post by mondinmr on Direct Pointers in IOMapping for EtherCAT with IoDrvEthercatLib.ETCSlave_Dia ^{CODESYS Forge talk (Post)}
I have found a very interesting solution using: IoConfigTaskMap IoConfigConnectorMap IoConfigChannelMap The first is the list of IO tasks. The second is the connector for each IO module in the IOMap. The third is the individual input or output on the IOMap. One of the properties of the connector is another pointer to a connector, which corresponds with the connector of the EtherCAT slave. Through this information, it is possible to understand to which EtherCAT slave an IO connectormap corresponds. I am attaching an FB that allows for the construction of an IO map and finding the pointer to the actual IOs in the IOMap based on the bitoffset. FUNCTION_BLOCK IOExplorer VAR_INPUT END_VAR VAR_OUTPUT END_VAR VAR inputChannels: COL.LinkedList; outputChannels: COL.LinkedList; ulintFactory: COL.UlintElementFactory; END_VAR METHOD inputAtBitOffsetOfConnector : POINTER TO BYTE VAR_INPUT conn: POINTER TO IoConfigConnectorMap; bitOffset: UDINT; END_VAR VAR it: COL.LinkedListIterator; itf: COL.IElement; elem: COL.iUlintElement; channelInfo: POINTER TO ADVChannelInfo; bitOffsetR: UDINT; END_VAR inputChannels.ElementIterator(it); WHILE it.HasNext() DO it.Next(itfElement => itf); __QUERYINTERFACE(itf, elem); {warning disable C0033} channelInfo := TO___UXINT(elem.UlintValue); {warning restire C0033} IF channelInfo^.connectorField = conn THEN IF bitOffsetR = bitOffset THEN inputAtBitOffsetOfConnector := channelInfo^.addr; RETURN; END_IF bitOffsetR := bitOffsetR + channelInfo^.size; ELSE bitOffsetR := 0; END_IF END_WHILE inputAtBitOffsetOfConnector := 0; END_METHOD METHOD outputAtBitOffsetOfConnector : POINTER TO BYTE VAR_INPUT conn: POINTER TO IoConfigConnectorMap; bitOffset: UDINT; END_VAR VAR it: COL.LinkedListIterator; itf: COL.IElement; elem: COL.iUlintElement; channelInfo: POINTER TO ADVChannelInfo; bitOffsetR: UDINT; END_VAR outputChannels.ElementIterator(it); WHILE it.HasNext() DO it.Next(itfElement => itf); __QUERYINTERFACE(itf, elem); {warning disable C0033} channelInfo := TO___UXINT(elem.UlintValue); {warning restire C0033} IF channelInfo^.connectorField = conn THEN IF bitOffsetR = bitOffset THEN outputAtBitOffsetOfConnector := channelInfo^.addr; RETURN; END_IF bitOffsetR := bitOffsetR + channelInfo^.size; ELSE bitOffsetR := 0; END_IF END_WHILE outputAtBitOffsetOfConnector := 0; END_METHOD METHOD scanIO VAR_INPUT END_VAR VAR numTasks: DINT := IoConfig_Globals.nIoConfigTaskMapCount; tType: WORD; ioTask: POINTER TO IoConfigTaskMap; numCon: WORD; connector: POINTER TO IoConfigConnectorMap; numCh: DWORD; channelInfo: POINTER TO ADVChannelInfo; iTsk: DINT; iCon: WORD; iCh: DWORD; i: DINT; _tmpConnList: COL.IList; elem: COL.IUlintElement; itf: COL.IElement; tmpCh: POINTER TO ADVChannelInfo; lastE: DINT; e: COL.COLLECTION_ERROR; e1: Error; END_VAR VAR_INST lF: COL.ListFactory; END_VAR IF outputChannels.CountElements() > 0 OR inputChannels.CountElements() > 0 THEN RETURN; END_IF _tmpConnList := lF.CreateDynamicList(16, 16); //Iterate through all IO tasks FOR iTsk := 0 TO numTasks - 1 DO ioTask := ADR(IoConfig_Globals.pIoConfigTaskMap[iTsk]); //Store the type of the task (Input or Output) tType := ioTask^.wType; numCon := ioTask^.wNumOfConnectorMap; //Iterate through all connectors of the task FOR iCon := 0 TO numCon - 1 DO connector := ADR(ioTask^.pConnectorMapList[iCon]); numCh := connector^.dwNumOfChannels; //Iterate through all channels of the connector FOR iCh := 0 TO numCh - 1 DO //Create a new channel info object and fill it with the address, connector and size of the channel //Connectors is address of field connector in this case like EtherCAT slave //Address is the address of the IOMap //Size is the size of channel data in bits in IOMap channelInfo := __NEW(ADVChannelInfo); channelInfo^.addr := connector^.pChannelMapList[iCh].pbyIecAddress; channelInfo^.connectorField := connector^.pConnector; channelInfo^.size := connector^.pChannelMapList[iCh].wSize; //We put the channel info a temporary ordered list //Order is based on the address of IOMap lastE := TO_DINT(_tmpConnList.CountElements()) - 1; FOR i := 0 TO lastE DO _tmpConnList.GetElementAt(udiPosition := TO_UDINT(i), itfElement => itf); __QUERYINTERFACE(itf, elem); {warning disable C0033} tmpCh := TO___UXINT(elem.UlintValue); {warning restire C0033} //If the address of the channel is smaller than the address of the channel in the list IF tmpCh^.addr > channelInfo^.addr THEN //Insert the channel in the list at the current position _tmpConnList.InsertElementAt(TO_UDINT(i), ulintFactory.Create(TO_ULINT(channelInfo))); //Clear the channel info pointer channelInfo := 0; //Exit the loop i := lastE + 1; END_IF END_FOR //If the channel info is not 0, it means that the channel was not inserted in the list IF channelInfo <> 0 THEN //Add the channel to the end of the list elem := ulintFactory.Create(TO_ULINT(channelInfo)); _tmpConnList.AddElement(elem); END_IF END_FOR //Iterate temporary list and add the channels to the input or output list lastE := TO_DINT(_tmpConnList.CountElements()) - 1; FOR i := 0 TO lastE DO _tmpConnList.GetElementAt(udiPosition := TO_UDINT(i), itfElement => itf); __QUERYINTERFACE(itf, elem); {warning disable C0033} tmpCh := TO___UXINT(elem.UlintValue); {warning restire C0033} //If type is input, add the channel to the input list IF tType = TaskMapTypes.TMT_INPUTS THEN e := inputChannels.AddElement(ulintFactory.Create(TO_ULINT(tmpCh))); //If type is output, add the channel to the output list ELSIF tType = TaskMapTypes.TMT_OUTPUTS THEN e := outputChannels.AddElement(ulintFactory.Create(TO_ULINT(tmpCh))); ELSE __DELETE(tmpCh); END_IF END_FOR //Clear the temporary list _tmpConnList.RemoveAllElements(); END_FOR END_FOR END_METHOD
Last updated: 2024-02-13

Post by mgabryel on Problems with CAN 2.0 comunication on Wago PLC (Codesys 3.5) ^{CODESYS Forge talk (Post)}
Hello, I am trying to program CAN Bus comunication on WAGO PLC (more precisely on WAGO Touch Monitor model TP600). I am using for this purpose library "WagoAppCanLayer2" from Wago company. My IDE for programming this device is CODESYS V3.5 SP19 Patch 2 + (64-bit). My program is written in Structured text using function blocks from previously mentioned library. Here is code of this program: 1) Variables declarations: PROGRAM PLC_PRG VAR oOpenInterface : WagoAppCanLayer2.FbCanL2Open :=( udiBaudrate := 125000 ); xInterfaceIsOpen : BOOL; sInterfaceInfo : STRING; oReceive : WagoAppCanLayer2.FbCanRx29BitFrame :=( xBufferMode := FALSE, wCanId := 16#181 ); xRecv : BOOL; sReceiveInfo : STRING; oSend : WagoAppCanLayer2.FbCanTx29BitFrame :=( dwCanId := 16#100, //was 16#201 xRtrFrame := FALSE ); xSend : BOOL; sSendInfo : STRING; oCanDiag : WagoAppCanLayer2.FbCanErrorInfo; xRst : BOOL; aSendData : ARRAY [1..8] OF BYTE; bSendLen : BYTE; TON_0 : TON; TON_1 : TON; END_VAR 2) Program body: oOpenInterface( xEnable := NOT xInterfaceIsOpen, I_Port := IoConfig_Globals.WAGO_CAN_LAYER2_DEVICE ); sInterfaceInfo := oOpenInterface.oStatus.GetDescription(); xInterfaceIsOpen S= oOpenInterface.xValid AND NOT oOpenInterface.xError; oReceive( xEnable := xInterfaceIsOpen, I_Port := IoConfig_Globals.WAGO_CAN_LAYER2_DEVICE, xRxTrigger := xRecv ); sReceiveInfo := oReceive.oStatus.GetDescription(); IF NOT xRecv THEN IF oReceive.bRxNBytes > 0 THEN oReceive.aRxBuffer[1]; oReceive.aRxBuffer[2]; oReceive.aRxBuffer[3]; oReceive.aRxBuffer[4]; oReceive.aRxBuffer[5]; oReceive.aRxBuffer[6]; oReceive.aRxBuffer[7]; oReceive.aRxBuffer[8]; END_IF xRecv := TRUE; END_IF aSendData[1] := 224; aSendData[2] := 13; aSendData[3] := 14; aSendData[4] := 15; aSendData[5] := 222; aSendData[6] := 13; aSendData[7] := 14; aSendData[8] := 15; bSendLen := 8; TON_0(IN:= NOT TON_1.Q, PT:= T#2S , Q=>xSend, ET=> ); TON_1(IN:= TON_0.Q, PT:= T#2S , Q=>, ET=> ); oSend( xEnable := xInterfaceIsOpen, I_Port := IoConfig_Globals.WAGO_CAN_LAYER2_DEVICE, aTxBuffer := aSendData, bTxNBytes := bSendLen, xTxTrigger := xSend ); sSendInfo := oSend.oStatus.GetDescription(); oCanDiag( xEnable := TRUE, I_Port := IoConfig_Globals.WAGO_CAN_LAYER2_DEVICE, xTriggerResetCounter := xRst, xValid=> , xError=> , oStatus=> , wBusState=> , wBusDiag=> , uiRxOverflowsL2=> , uiTxOverflowsL2=> , uiRxOverflows=> , uiMsgTimeouts=> , uiBusOffs=> , uiBusWarnings=> ); Program first opens comunication on CAN 2 device and then periodically try send one CAN data frame. After starting program CAN 2 interface is properly open. The xSend variable is toggling with period 2s. When program sends data an "Tx overflow" error appears. When I am watching CAN_H line on DSub 9 socket i am not able to see proper CAN frames - see screenshot attached to this message. Could somebody help me determine what is wrong with this program. Best regards
Last updated: 2024-08-02

Post by ryandmg on Web Client (HMI) Disconnects from Webvisu (Weidmuller u-OS) ^{CODESYS Forge talk (Post)}
Hey Everyone, I'm having a bit of a struggle finding settings that will reliably maintain a connection between the webvisu and a touchscreen client. Every so often the HMI disconnects and will perpetually display the red spinning arrow with the "Error Happened, Will resume automatically" text. Power cycling the HMI to force a reconnect will re-establish comms. It seems to happen during periods of inactivity if that's a clue. From what I've gathered so far this seems to have something to do with the webvisu update rate, buffer size as well as the visu task scan rate. We first tried the default settings as follows: Webvisu Update Rate: 200 ms Webvisu Buffer Size: 50,000 Visu Task Scan Rate: 100 ms Priority 31 Other Tasks for Reference: Main Task Scan Rate: 100 ms Priority 1 Alarm Manager Scan Rate: 50 ms Priority 31 Ethercat Task: 4 ms Priority 1 This would disconnect some what regularly. We then made the following changes to try and stabilize: Webvisu Update Rate: 150 ms Webvisu Buffer Size: 75,000 Visu Task Scan Rate: 75 ms Kept other tasks the same. This seems to disconnect even more frequently. Also for reference the network is very small and only consists of the PLC, a small switch and the HMI. We're also not controlling frames from outside the visu program itself. The frame changes are all done natively. Any suggestions to get this to stop disconnecting? Oh and whatever the issue is the log does not record it. Figured I would ask here before opening a ticket. Thanks in advance for your help!
Last updated: 2023-09-06

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

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