Post by gseidel on Using an Axis of an Axis Group in Torque Conctrol ^{CODESYS Forge talk (Post)}
Hi manuknecht, the axis group currently always writes the axis set torque values. If no dynamic model has been configured for the axis group, then the set torques are written to 0. The solution for your use case is to call SMC_GroupUpdate [0] before you call SMC_SetTorque on the axes. This way, the axis group will write 0 to the set torques in the call to SMC_GroupUpdate(), and SMC_SetTorque then will write the desired set torque. Best regards, Georg [0] https://content.helpme-codesys.com/en/libs/SM3_Robotics/Current/SM3_Robotics/POUs/AdministrativeConfiguration/Computation/SMC_GroupUpdate.html
Last updated: 2025-09-09

Post by simotion on Variable indicating axis pending gearing or camming ^{CODESYS Forge talk (Post)}
Is there a variable indicating that a gearing or camming operation is pending? For instance MC_Gearin has beeen triggered, but starting point of master axis to start the sychronisation movement is not reached yet, so the slave axis is just waiting for this. I should be able to differ between a pending and active gearing or camming
Last updated: 2023-11-28

Post by totorovic on Pointer to Softmotion axis ^{CODESYS Forge talk (Post)}
I get the same warning message with initialized variable. Codesys 3.5.19.20
Last updated: 2023-11-09

Post by konstantinoskr on AXIS Rollover ^{CODESYS Forge talk (Post)}
The MC_Home or MC_SetPosition requires a programm cycle to be completed. In my application the speed is approximately 120m/min and the programm cycle is 2ms. That means that i will have a 4mm loss on each Trigger of either MC_Home or MC_SetPosition. The best option is to change the value defined in the axis configuration. I tried the SMC_SetMovementType but it only works with the axis standstill or powered off. I need to be able to change it while the axis is moving.
Last updated: 2025-03-12

Post by attarzade on Servo motor as an slave and AC motor as an Mster ^{CODESYS Forge talk (Post)}
Hello, I would like to control a servo motor via EtherCAT as a slave axis, and have it follow a master axis that is driven by a Control Techniques C200 AC drive (ethercat communication).Could anyone help me with how to achieve this setup? I use codesys version 3.5.20 and crevis Ethercat cards. AC drive is master axis and Servo drive is slave axis Thanks in advance
Last updated: 2025-07-14

Post by eschwellinger on Softmotion axis to CANopen Maxon IDX drive ^{CODESYS Forge talk (Post)}
can you add here the EDS file?
Last updated: 2024-01-07

Post by reinier-geers on Inheritance of axis ^{CODESYS Forge talk (Post)}
Do You have a solution ? Ive want the same
Last updated: 2024-01-12

Post by chir on SMC_REGULATOR_OR_START_NOT_SET issue ^{CODESYS Forge talk (Post)}
Drive: Inovance MD520 In a project I add SoftMotion CiA402 Axis
Last updated: 2024-04-22

Post by gseidel on Hydraulic Axis Controller ^{CODESYS Forge talk (Post)}
Hi kumareasu, yes, correct. Best regards, Georg
Last updated: 2024-04-30

Post by jonasz on Discontinuity of A/B/C axis movement. ^{CODESYS Forge talk (Post)}
PrtScr
Last updated: 2024-05-09

Post by transcend on Movesuperimposed Command Aborted Error ^{CODESYS Forge talk (Post)}
Hello everyone, I am building a 3-axis packaging machine. First, I created a virtual axis and connected the knife to the virtual axis using a CAM. I also linked the conveyor system to the virtual axis with GearIn. However, I’m facing the following issue: when I use SUPERIMPOSED to change the conveyor’s motion, I get a COMMAND ABORTED error. The exact error is: SMC_ERROR.SMC_FB_WASNT_CALLED_DURING_MOTION. Why am I getting this error?
Last updated: 2026-04-11

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

Post by jschu on Dynamical scaling of bar graph without the bar itself ^{CODESYS Forge talk (Post)}
Hi there, Task: dynamical changing the scaling of an bar graph, linear scaling whitout showing the bar only the scaling values and Lines for Main and partial steps. Define 4 Limits for Hi and LO Values with different colors Option 1 : use the bar graph whitout showing the actual bar whitout showing the bar, only the scaling values and lines for main and partial steps. Then what to do with the 4 Limits ? I could use 4 moveable Rectangles with the start and end value fo the areas but then the whoel bargraph must be transparent. Best way would be if only the scale ist possible to show as it is possible for the Meter 180° but this option does not exist for the bargraph. Option 2 : user defined HMTL5 Widgets wich may be some allreay has created or where is a dome for using this kind of html5 widget. The expanse for use html is in my eyes to big and gives more option for errors. Have some one experience in this topic or a hint how to do it the easiest way? Thanks for your help.
Last updated: 2025-05-15

Post by kporter on High-resolution drive with SoftMotion ^{CODESYS Forge talk (Post)}
I'm beta-testing a new EtherCAT drive for a rotary (modulo) axis in a system where the encoder resolution is 81920000 counts per rotation. If I enter this in the SoftMotion Scaling/Mapping tab for "increments <=> motor turns", I get the error below on the Commissioning tab. Is SM unable to handle a high-resolution encoder? The bus cycle is currently set to the default of 4 msec (Control Win V3 x64), although I plan to reduce that to reduce latency, possibly by switching to the realtime (RT) master. Is SoftMotion incompatible with high-resolution encoders? SMC_CGR_INVALID_POSPERIOD Invalid modulo period (<= 0 or greater than half the bus bandwidth)
Last updated: 2025-08-25

Post by felipemsgarcia on Axis EtherCAT address ^{CODESYS Forge talk (Post)}
Hello, I'd like to write some parameters to axes from inside a function block where I passed axis by reference, using ETC_CO_SdoWrite. Is it possible to get the device address from inside the function block? Please see example below. Thank you!
Last updated: 2025-03-06

Post by reinier-geers on Pointer Axis ^{CODESYS Forge talk (Post)}
I want to make a FB of MC. But i need a variable for Axis. How do i have to declare that ? ptAxe : AXIS_Ref_SM3; //:= SM_Drive_ETC_Delta_ASDA_A2 ; this is somehowe a problem
Last updated: 2024-01-12

Post by victor on Trend-Trace / Time x-axis ^{CODESYS Forge talk (Post)}
Good morning, I am new to codesys, I am currently manipulating the Trace and Trend elements and I would like to know if it was possible to configure a variable or a trigger to reset the "X" axis to 0. have a good day.
Last updated: 2024-01-26

Post by reinier-geers on Axis declare ^{CODESYS Forge talk (Post)}
In motioncontrol every block start with Axis. How can i make a variable to make my own FB ? Somthink like : _Axe : pointer to Axis_Ref_MC := Axis_1 ;
Last updated: 2024-02-13

Post by manuknecht on Creating softmotion axis dynamically ^{CODESYS Forge talk (Post)}
Hi I was wondering the same thing. I managed to dynamically add an EtherCat Slave but I could not find out how to add a softmotion axis to it. Does anyone have an answer to this? Thanks in advance!
Last updated: 2024-02-21

Post by k2saki on Discontinuity of A/B/C axis movement. ^{CODESYS Forge talk (Post)}
Hello. Good morning. I have a same problem with short-segment G01 in GCode even in XY Axis. ( I'm using SMC_ReadNcFile2, SMC_NcInterpreter, SMC_CheckVelocities before IPO , watching Youtube tutorial video.. ) How did you solve this problem ?
Last updated: 2024-04-29

Post by julianramirez on Codesys Trend - setting Y axis minimum and maximum as variables - error ^{CODESYS Forge talk (Post)}
Hello Hannibal, I am using real vars and it works, however, if I update those vars in real time it doesnt quite change it on y axis, do you think it is because it is not an integer?
Last updated: 2026-05-21

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

Post by hannibal on Codesys Trend - setting Y axis minimum and maximum as variables - error ^{CODESYS Forge talk (Post)}
I am experiencing an issue when trying to define the Y-axis limits in a Trend Graphic using variables. When I set the Minimum and Maximum values as variables, an error is triggered. My goal is to make the Y-axis limits dynamic so they can adjust according to the installation. Both variables are initialized as follows: gP_YMin = -100.0 gP_YMax = 100.0 However, I still get the following error: "The minimum axis value must be less than the maximum axis value" Does anyone have an idea why this is happening or how to resolve it?
Last updated: 2026-03-22

Post by hannibal on Codesys Trend - setting Y axis minimum and maximum as variables - error ^{CODESYS Forge talk (Post)}
I am experiencing an issue when trying to define the Y-axis limits in a Trend Graphic using variables. When I set the Minimum and Maximum values as variables, an error is triggered. My goal is to make the Y-axis limits dynamic so they can adjust according to the installation. Both variables are initialized as follows: gP_YMin = -100.0 gP_YMax = 100.0 However, I still get the following error: "The minimum axis value must be less than the maximum axis value" Does anyone have an idea why this is happening or how to resolve it?
Last updated: 2026-03-22

Post by matthew on High resolution displays with 150% scaling causes CodeSys IDE to be blurry ^{CODESYS Forge talk (Post)}
I have just upgraded my laptop which has a high res display 2560x1600 and I have to have scaling switch on at 150% but everything looks blurry and not crisp, It seems CodeSys IDE is the only software on my system to look this bad, if I switch to 100% it's crisp but way to small. From a bit of research this could be due to the use of old windows forms or something? I have found a temp workaround that sort of works but not great. You have to run CodeSys in compatibility mode and adjust the DPI settings, this works ok and the editor is clear and crisp again but the actual tool bars are small like running at 100% Anyone got any tips for running CodeSys on high res displays with scaling?
Last updated: 2025-03-03

Sort by relevance or date