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Post by pernockham on Gateway in China - "Gateway not connected" ^{CODESYS Forge} ^talk ^(Post)
Some new test. Now I cannot connect from Automation server to my gateway in any way also from my office setup with my unit directly connected to my router by dhcp. I can use the IDE and the tool "Connect Edge Gateway" and successfully connect to my server/link to my Automation server account. However no PLC will respond from Automation server "Network scan". I guess the traffic should be initiated by the gateway towards automation server? Any tips on how I can diagnose my problem? Ports to be opened etc? Thing is that this has been working previously but not now (base system has been updated from debian 12 to debian 13, but I dont know at which point it has stopped working). Setup as before. A "Codesys Control for Linux SL" running on a debian 13 installation. Any help/tips appreciated! Per Update. Found the error. Had a wrong gateway-setting. Which meant the PLC could not reach internet. Checked by "ping google.com" from the PLC.
Last updated: 2026-02-12

Post by fajean on Issue with library updates ^{CODESYS Forge} ^talk ^(Post)
We make heavy use of internally developed libraries, which are often nested on multiple levels. I routinely work simultaneously on several libraries along with a project that use them. I make changes to a library and immediately perform a download (online or otherwise) in the project. For the longest time, we had zero issue with this. But starting a good while back, with 3.5 SP19 I think, CODESYS started not noticing library updates in other instances most of the time. When the update is missed, the project sees no need to update the code, and any download ignores the new code. A "Clean all" does not solve the issue. But if I close and then re-open the project, then the new version is noticed and the download works. The other solution is saving the library to the registry multiple times (say, 20-30 times, less if lucky), and then at some point the project notices the changed library. I am now on SP21, and it is still not fixed. This is driving me mad, any tasks probably takes me double the time or more due to this problem. My colleague has the same problem on a separate computer. Is this a known issue? Is there a setting somewhere that changes how updates are checked? Thanks for any help!
Last updated: 2026-02-13

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 tyronnosaurus on ReceiveWatchdog FB not working on J1939 P2P PGNs ^{CODESYS Forge} ^talk ^(Post)
Hi guys. I've got a device that sends a status message over J1939 and a PLC running Codesys to receive it. This message uses a P2P PGN (as opposed to a broadcast PGN). Codesys can only read it if I mark the J1939_ECU as "Local" (see screenshot 1). The message is received correctly, that is not the problem. The problem is detecting if the message stops being received. Local ECUs have no Watchdog checkbox to detect if the message has been received in the last X seconds. In order to implement a watchdog, I've used a ReceiveWatchdog FB. The same code works well for any non-P2P message, but doesn't work for this particular P2P message I'm trying to monitor. Even if I physically disconnect the device, ReceiveWatchdog.xBusy stays True, and ReceiveWatchdog.xError never triggers due to a timeout error. Is there any caveat in the ReceiveWatchdog FB that makes it unable to monitor P2P PGNs in Local J1939_ECUs?
Last updated: 2024-07-11

Post by trusty-squire on Confused by dwIpoTime input for SMC_Interpolator ^{CODESYS Forge} ^talk ^(Post)
Hi, Learning Codesys CNC, and I am confused by the dwIpoTime parameter. I have a basic demo application, using SMC_Interpolator feeding into SMC_TRAFO_Gantry2Tool2, which then sets the position of the x/y SM_Drive_Virtual axis. I also have a C axis which revolves the tool, which is controlled using a simple tangential angle calculation SMC_CalcDirectionFromVector. The GCode I'm using has feed/accel set at 500. The axis configuration limits are well above that (2000). What's strange is that, when I run the simulation, the feed speed changes drastically when I update the variable dwIpoTime. The larger the number, the faster it moves. What's going on here? The documentation only says "This variable has to be set for each call. It represents the cycle time in μsec." Why does it change the feed speed I'm seeing the in simulation? What is a good number to use? The example I was looking at set it at 5000. Screenshot attached.
Last updated: 2024-07-18

Post by mubeta on Profibus DP master with EL6731 and automatic restart of slaves ^{CODESYS Forge} ^talk ^(Post)
WHEREAS, I have already searched various posts and forums, where mostly there are few references and mostly geared toward integration in TwinCAT. I am looking for how to properly configure the EL6731 board as a DP master, (where I have its 3S license), with CoDeSys 3.5.19.x. I have three types of slaves, all integrated with their GSD descriptors. In the tab for the various slaves, I don't see options related to node restart on 'station return'. On the card manual, I read that for each slave I should be able to configure parameter 8000:2C: “8000:2C Restart behavior after DP fault Reserve, must be 0 BIT1 RW 0x00 (0dec)” However, in the project I see no way to configure this parameter, in any of the boards; and the arrays do not always have such an extensive size; most of the time they are only two or three words in size. The problem is that, after the hot reset of CoDeSys, the master restarts by starting all slave nodes, but if one or more get lost and go offline, there is then no automatic restart upon their return. I would need to figure out any solution, even via software, how to figure out that this one is back available and restart it.
Last updated: 2025-02-02

Post by canplum on Codesys 3.5.21 fails to copy file to USB ^{CODESYS Forge} ^talk ^(Post)
Although I have set in /etc/codesyscontrol/CODESYSControl_User.cfg the [SysFile] PlaceholderFilePath.1=/media/pi, $usb$ PlaceholderFilePath.1.View=1 PlaceholderFilePath.1.Volatile=1 I am not able to copy a file to this directory defined by the placeholder. Neither SysProcess.SysProcessExecuteCommand2 nor SysFileCopy nor FileCopy is working. If I try to copy the same file to /home/pi all is working fine. I also can create and open a different file by using SysFileOpen. I don't understand why the system allows to open (create) and write files into that directory but doesn't allow to copy into it. Obviously there is a rights problem with the USB drive. I have already set the permissions to drwxr-xr-x 2 and the user to pi but without any success. With 3.5.16 I never had such an issue. Is there anybody with some hints how to solve that problem? Cheers, canplum
Last updated: 2025-05-23

Post by canplum on Codesys 3.5.21 kann Datei nicht auf USB kopieren ^{CODESYS Forge} ^talk ^(Post)
Obwohl ich in der Datei /etc/codesyscontrol/CODESYSControl_User.cfg eingestellt habe die [SysFile] PlatzhalterDateipfad.1=/media/pi, $usb$ PlatzhalterDateipfad.1.Ansicht=1 PlatzhalterDateipfad.1.Flüchtig=1 Ich bin nicht in der Lage, eine Datei in dieses durch den Platzhalter definierte Verzeichnis zu kopieren. Weder SysProcess.SysProcessExecuteCommand2 noch SysFileCopy oder FileCopy funktionieren. Wenn ich versuche, die gleiche Datei nach /home/pi zu kopieren, funktioniert alles einwandfrei. Ich kann auch eine andere Datei mit SysFileOpen erstellen und öffnen. Ich verstehe nicht, warum das System das Öffnen (Erstellen) und Schreiben von Dateien in dieses Verzeichnis erlaubt, aber das Kopieren in dieses Verzeichnis nicht zulässt. Offensichtlich gibt es ein Rechteproblem mit dem USB-Laufwerk. Ich habe bereits die Berechtigungen auf drwxr-xr-x 2 und den Benutzer auf pi gesetzt, aber ohne Erfolg. Mit 3.5.16 hatte ich nie ein solches Problem. Hat jemand einen Tipp, wie man dieses Problem lösen kann? Vielen Dank! canplum
Last updated: 2025-05-23

Post by k2saki on CNC / G01 Speed is very slow (or go-stop motion) in Continuous short segment . ^{CODESYS Forge} ^talk ^(Post)
I'm using CAD/CAM that outputs GCode with G01 many short segments from NURBS Curve, only X-Y axis. But CODESYS CNC motion seems much slower ( or stop-go motion ) in simulation mode than F-Value (I checked value from SMC_Interpolator - dVel ). In GCode G01, F value is F500, but movement is very slow, actual speed (dVel) is between 0 to 30 back and forth. I think very old CNC can move like that, but nowadays, a lot of CNC can move smoothly to process free curve ( somethimes option switch ) I tried to use G51 Dxx but I got the same result. My questions are 1) How do I improve CODESYS CNC motion in this case ? 2) How can I graph the sampling from dVel of SMC_Interpolate in CODESYS? From my GCode N2006 G01 X1.4364 Y-14.6847 F500 N2007 G01 X1.6759 Y-14.6768 N2008 G01 X1.9152 Y-14.6486 N2009 G01 X2.1547 Y-14.6400 N2010 G01 X2.3943 Y-14.6090 N2011 G01 X2.6336 Y-14.6002 N2012 G01 X2.8732 Y-14.5716 N2013 G01 X3.1127 Y-14.5634 N2014 G01 X3.3520 Y-14.5410 N2015 G01 X3.5915 Y-14.5336 N2016 G01 X3.8308 Y-14.5307 ... Thansk.
Last updated: 2024-04-29

Post by mogam on Internal error:System.NullReferenceException: The object reference was not set to an object instance. ^{CODESYS Forge} ^talk ^(Post)
Hi everyone, I have a my App that reads values from a shared memory than 2 variables x,y were calculated. here as you can see in my code: PROGRAM PLC_PRG VAR szName : STRING := '/SM'; ( Name of the shared memory.) uxiSize : __UXINT := 646 * 2 * SIZEOF(REAL); ( Size of the shared memory. ) hShm : RTS_IEC_HANDLE; ( Handle to the shared memory ) pStart : POINTER TO REAL; ( Pointer to the first element in the memory ) pData : POINTER TO REAL; ( Pointer, which is incremented until the last sign in the memory is reached. ) shared_data :ARRAY[0..645, 0..1] OF REAL; velocity : ARRAY[0..2] OF REAL; ( Velocity array ) position : ARRAY[0..2] OF REAL; ( Position array ) angleDepth : ARRAY[0..645, 0..1] OF REAL; ( Angle and depth array ) xEndOfMemory : BOOL; x : ARRAY[0..645] OF REAL := 1.0; y : ARRAY[0..645] OF REAL := 1.0; (* Result of actions at the memory. *) OpenResult : RTS_IEC_RESULT; ReadResult : RTS_IEC_RESULT; PointerResult : RTS_IEC_RESULT; DeleteResult : RTS_IEC_RESULT; CloseResult : RTS_IEC_RESULT; i : INT; END_VAR ( Open the shared memory ) hShm := SysSharedMemoryOpen2(szName, 0, ADR(uxiSize), ADR(OpenResult)); IF hShm <> RTS_INVALID_HANDLE THEN (* Read the entire shared memory table *) SysSharedMemoryRead(hShm:= hShm, ulOffset:= 0, pbyData:= ADR(shared_data), ulSize:= uxiSize, pResult:= ADR(ReadResult)); (* Fetch the pointer from the shared memory. The pointer is pointing to the first element address *) //pStart := SysSharedMemoryGetPointer(hShm, ADR(PointerResult)); (* Close the shared memory *) //CloseResult := SysSharedMemoryClose(hShm := hShm); (* Read velocity and position data from the shared memory *) FOR i := 0 TO 2 DO velocity[i] := shared_data[i, 0]; position[i] := shared_data[i, 1]; END_FOR; (* Read angle and depth data from the shared memory *) FOR i := 0 TO 645 DO angleDepth[i, 0] := shared_data[(i + 6), 0]; angleDepth[i, 1] := shared_data[(i + 6), 1]; END_FOR; FOR i := 0 TO 645 DO x[i] := angleDepth[i, 1]*COS(angleDepth[i, 0]); y[i] := angleDepth[i, 1]*SIN(angleDepth[i, 0]); END_FOR; END_IF For these values an XY-CHART needs to be done and when i create a visualisation and set the x data and y data when i try to compile, i recieve this error: ------ Übersetzungslauf gestartet: Applikation: Device.Read_App ------- Code typisieren ... [FEHLER] Internal error:System.NullReferenceException: Der Objektverweis wurde nicht auf eine Objektinstanz festgelegt. bei _3S.CoDeSys.LanguageModelManager.LDateType.Accept(ITypeVisitor typvis) bei ..(_IVariable , IScope5 , _ICompileContext , _ISignature ) bei ..(_ISignature , IScope5 , _ICompileContext ) bei ..(_ISignature , _IPreCompileContext ) bei ..( ) bei ..(String ) bei ..(String , IVariable[]& , ISignature[]& ) bei ..(String , IVariable[]& , ISignature[]& , IScope& ) bei ..visit(_IVariableExpression , AccessFlag ) bei ..(_IUserdefType ) bei ..(_IVariable , IScope5 , _ICompileContext , _ISignature ) bei ..(_ISignature , IScope5 , _ICompileContext ) bei ..(_ISignature , _IPreCompileContext ) bei ..( ) bei ..(String ) bei ..(String , IVariable[]& , ISignature[]& ) bei ..(String , IVariable[]& , ISignature[]& , IScope& ) bei ..visit(_IVariableExpression , AccessFlag ) bei ..(_IUserdefType ) bei ..(_IVariable , IScope5 , _ICompileContext , _ISignature ) bei ..(_ISignature , IScope5 , _ICompileContext ) bei ..(_ISignature , _IPreCompileContext ) bei ..( ) bei ..(String ) bei ..(String , IVariable[]& , ISignature[]& ) bei ..(String , IVariable[]& , ISignature[]& , IScope& ) bei ..visit(_IVariableExpression , AccessFlag ) bei ..(_IUserdefType ) bei ..(_IVariable , IScope5 , _ICompileContext , _ISignature ) bei ..(_ISignature , IScope5 , _ICompileContext ) bei ..(_ISignature , _IPreCompileContext ) bei ..( ) bei ..(String ) bei ..(String , IVariable[]& , ISignature[]& ) bei ..(String , IVariable[]& , ISignature[]& , IScope& ) bei ..visit(_IVariableExpression , AccessFlag ) bei ..(_IUserdefType ) bei ..(_IArrayType ) bei ..(_IPointerType ) bei ..(_IVariable , IScope5 , _ICompileContext , _ISignature ) bei ..(_ISignature , IScope5 , _ICompileContext ) bei ..(_ISignature , _IPreCompileContext ) bei ..( ) bei ..(String ) bei ..(String , IVariable[]& , ISignature[]& ) bei ..(String , IVariable[]& , ISignature[]& , IScope& ) bei ..visit(_IVariableExpression , AccessFlag ) bei ..(_IUserdefType ) bei ..(_IPointerType ) bei ..(_IVariable , IScope5 , _ICompileContext , _ISignature ) bei ..(_ISignature , IScope5 , _ICompileContext ) bei ..(_ISignature , _IPreCompileContext ) bei ..( ) bei ..(String ) bei ..(String ) bei ..(_ISignature , IScope5 , _ICompileContext ) bei ..(_ISignature , IScope5 , _ICompileContext ) bei ..(_ISignature , _IPreCompileContext ) bei ..( ) bei ..(String ) bei ..(String ) bei ..(_ISignature , IScope5 , _ICompileContext ) bei ..(_ISignature , IScope5 , _ICompileContext ) bei ..(_ISignature , _IPreCompileContext ) bei ..( ) bei ..(String ) bei ..(String ) bei ..(_ISignature , IScope5 , _ICompileContext ) bei ..(_ISignature , _IPreCompileContext ) bei ..( ) bei ..(String ) bei ..(String , IVariable[]& , ISignature[]& ) bei ..(String , IVariable[]& , ISignature[]& , IScope& ) bei ..visit(_IVariableExpression , AccessFlag ) bei ..(_IUserdefType ) bei ..(_IVariable , IScope5 , _ICompileContext , _ISignature ) bei ..(_ISignature , IScope5 , _ICompileContext ) bei ..(_ISignature , _IPreCompileContext ) bei ..( ) bei ..(String ) bei ..(String , IVariable[]& , ISignature[]& ) bei ..(String , IVariable[]& , ISignature[]& , IScope& ) bei ..visit(_IVariableExpression , AccessFlag ) bei ..(_IUserdefType ) bei ..(_IVariable , IScope5 , _ICompileContext , _ISignature ) bei ..(_ISignature , IScope5 , _ICompileContext ) bei ..(_ISignature , _IPreCompileContext ) bei ..( ) bei ..(String ) bei ..(String , IVariable[]& , ISignature[]& ) bei ..(String , IVariable[]& , ISignature[]& , IScope& ) bei ..visit(_IVariableExpression , AccessFlag ) bei ..(_IUserdefType ) bei ..(_IPointerType ) bei ..(_IVariable , IScope5 , _ICompileContext , _ISignature ) bei ..(_ISignature , IScope5 , _ICompileContext ) bei ..(_ISignature , _IPreCompileContext ) bei ..( ) bei ..(String ) bei ..(String ) bei ..(_ISignature , IScope5 , _ICompileContext ) bei ..(_ISignature , IScope5 , _ICompileContext ) bei ..(_ISignature , _IPreCompileContext ) bei ..( ) bei ..(String ) bei ..(String ) bei ..(_ISignature , IScope5 , _ICompileContext ) bei ..(_ISignature , _IPreCompileContext ) bei ..( ) bei ..(String ) bei ..(String , IVariable[]& , ISignature[]& ) bei ..(String , IVariable[]& , ISignature[]& , IScope& ) bei ..visit(_IVariableExpression , AccessFlag ) bei ..(_IUserdefType ) bei ..(_IVariable , IScope5 , _ICompileContext , _ISignature ) bei ..(_ISignature , IScope5 , _ICompileContext ) bei ..(_ISignature , _IPreCompileContext ) bei ..( ) bei ..(String ) bei ..(String , IVariable[]& , ISignature[]& ) bei ..(String , IVariable[]& , ISignature[]& , IScope& ) bei ..visit(_IVariableExpression , AccessFlag ) bei ..(_IUserdefType ) bei ..(_IVariable , IScope5 , _ICompileContext , _ISignature ) bei ..(_ISignature , IScope5 , _ICompileContext ) bei _3S.CoDeSys.Compiler35140.Compiler.(_ICompileContext , _IPreCompileContext , _ICompileContext , IProgressCallback ) bei _3S.CoDeSys.Compiler35140.Compiler.(_ICompileContext , Boolean , Boolean , _IPreCompileContext , _IPreCompileContext , _ICompileContext , Boolean , Boolean& , IProgressCallback ) bei _3S.CoDeSys.Compiler35140.Compiler.(Guid , Boolean , Boolean , Boolean , Boolean& , _ICompileContext& , _ICompileContext& , IProgressCallback , Boolean , Boolean ) Kompilierung abgeschlossen -- 1 Fehler, 0 Warnungen Übersetzung abgeschlossen -- 1 Fehler, 0 Warnungen : Kein Download möglich!
Last updated: 2024-05-24

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 mondinmr on COL.IMap2 and HashTableFactory cause frequent Access Violation ^{CODESYS Forge} ^talk ^(Post)
Good morning, I’ve been using the Collection library for a long time, mostly with Stack, LinkedList, and List. From your examples I was able to manage the different factories, even for custom elements. Now I need a hashtable, but with this object I’m running into a lot of random access violations. If I append something inside FB_Init after constructing the hashtable, it crashes, even though the list was already created. If I only create the hashtable in FB_Init and append afterwards, it usually works. I don’t understand the meaning of the dispose call in this code: pSlave := ADR(slave); uSlave := TO_ULINT(pSlave); iKey := fKey.Create(uSlave); IF hash.CountKeys() = 0 THEN Service.logger.appendLog('Filling hashtable', 'HashManager', AdvLogType.AdvDebugMsg); ok := FALSE; ELSE eError := hash.ContainsKey(iKey, xResult => ok); END_IF IF NOT ok THEN pI := __NEW(UINT); iVal := fKey.Create(TO_ULINT(pI)); Service.logger.appendLog(CONCAT('New slave', TO_STRING(uSlave)), 'HashManager', AdvLogType.AdvDebugMsg); hash.AddKeyValuePair(iKey, iVal); appendNewSlave := pI; ELSE eError := hash.GetElementByKey(iKey, itfValue => iElem); xResult := __QUERYINTERFACE(iKey, itfIInstance); IF xResult THEN itfIInstance.Dispose(); END_IF IF eError <> COL.COLLECTION_ERROR.NO_ERROR THEN Service.logger.appendLog(CONCAT('ERROR ', TO_STRING(eError)), 'HashManager', AdvLogType.AdvCriticalMsg); appendNewSlave := nullptr; RETURN; END_IF __QUERYINTERFACE(iElem, iVal); {warning disable C0033} pI := TO___UXINT(iVal.UlintValue); {warning restore C0033} appendNewSlave := pI; END_IF Without the dispose call, every second cold reset crashes immediately when I try to access iVal, even if eError doesn’t report any error. With the dispose call, the cold reset issue disappears, but I get other problems: a) If I start the runtime using systemctl start codesyscontrol, it crashes at IF hash.CountKeys() = 0 THEN b) If I delete the files in PlcLogic and download again, it works and survives multiple cold resets. But as soon as I run systemctl restart codesyscontrol, everything gets corrupted again and it starts crashing at that point. FUNCTION_BLOCK SlaveMapCounter VAR hash : COL.IMap2; eError : COL.COLLECTION_ERROR; END_VAR In its FB_Init I create it: METHOD FB_Init: BOOL VAR_INPUT bInitRetains: BOOL; // TRUE: retain variables are initialized (reset warm / reset cold) bInCopyCode: BOOL; // TRUE: the instance will be copied to the copy code afterward (online change) END_VAR VAR hF : COL.HashTableFactory; END_VAR hash := hF.Create(256); In another FB I instantiate it statically: FUNCTION_BLOCK ABSTRACT AbstractServoEthercatController EXTENDS AbstractServoController VAR_STAT hashSlaves : SlaveMapCounter; END_VAR VAR field : REFERENCE TO ADVAbstractFieldUnitEthercatCia402; initCnt : REFERENCE TO UINT; END_VAR The append method is the one shown above, and I call it after the runtime has started. The accesses are performed by a single task, and in any case I’m working on an isolated single core. I’ve tried everything, moving the create, the instances, and all the rest several times, but nothing seems to work. I’d like to point out that these FBs are part of our own library, which is used in many applications.
Last updated: 2025-09-11

Post by youness on No source code available (cip object) ^{CODESYS Forge} ^talk ^(Post)
Hi yotaro, hope your problem was resolved. I had the same, but with an other library title. This exception is not detected during compilation, but rather at a given position in the program (when switching to a given visualization). Although the exception is generated at this point, it does not involve the visualization in question. This error is due to one of 3 reasons: 1) A division by zero somewhere: The program is able to detect divisions by zero at compile time. But in the case of a variable, which takes a valid value at init and changes to 0 at a later stage. 2) An invalid pointer: (either because it has a value of 0, or because it points outside the memory reserved for the program) is being dereferenced. Locate any pointers or interfaces you have in the code and check them - you should also be wary of mixing inline modifications and pointers. 3) Array overflow: Generally when a processing operation is executed outside the array's definition range. Example: a write loop with n iterations is executed on an array of dimmension n-1. On the other hand, the error message may not appear. In the latter case, the error may have fatal consequences, as the overflow has induced writing to potentially forbidden memory areas. This problem can be explained by the fact that it's not always the adjacent memory areas of PLC_PRG that are overwritten, but the memory areas that are randomly allocated to the array during compilation. In this case, however, there is no entry in the log, so you need to integrate the "Implicit Check function", which checks the line of code generating the error. To integrate this functions, click on Application --> POU for implicit controls Regards,
Last updated: 2024-07-16

Post by mubeta on Some 'pathetic' errors in SoftMotion program ^{CODESYS Forge} ^talk ^(Post)
Yes, this is the error the sometimes show up. What make me crazy is the fact that it happens randomly and not each times. I know very well where the problem is, in wich one program row it's located. For each actions of the state machine I have all events recorded with log on text file. it is not problematic for me to find the application point of the fault, but I need to understand why occasionally and for no apparent reason, switching the state machine and thus changing the motion FB, sends the axis into failure (but only occasionally). For example, one case that is often problematic is the execution of the Axis Halt instruction. When, after a MoveAbosulte instruction this returns the event as 'done' and indeed the axis is in standstill, the state machine first sets the move instruction to FALSE, and the next cycle sets the Halt request to TRUE. Some of the time everything works out fine. Occasionally, however, in this exchange, the axis goes into fault, also losing the OPERATIONAL state. Meanwhile, I would like to understand why the motion FB instances must still be called even after the Execute is set to FALSE, especially in view of the fact that the next instruction is programmed to abort the previous one, with BufferMode set to 'Aborting'. All these unnecessary FB calls are an unnecessary overhead on the CPU anyway. Is there any precise rule about when to cease calling the various instances? (It should precisely be the 'done' status that says this one has finished its work).
Last updated: 2024-07-18

Post by gallusrrr on usb2can in Codeysy 3.5 Can Gateway ^{CODESYS Forge} ^talk ^(Post)
Hallo und guten Morgen, Ich danke für die Rückmeldung. ich habe das oben geschriebene durchgeführt und auch festgestellt das mit die Commandos für die Can befehle noch fehlen. (Google angeschmissen und geschaut auch gefunden) sudo apt-get install can-utils (damit auch jemanden anders der Post hilft) Anschließend habe ich das CAN System komplett aufgebaut so das ich mit einen anderen CAN Adapter schauen konnte ob die Nachricht auch ankommt. die Nachricht kommt an :) danach habe ich follgende Ausgabe: pi@Codesys:~ $ sudo ip -s -d link show can0 3: can0: <noarp,up,lower_up,echo> mtu 16 qdisc pfifo_fast state UP mode DEFAULT group default qlen 10 link/can promiscuity 0 allmulti 0 minmtu 0 maxmtu 0 can state ERROR-ACTIVE restart-ms 0 bitrate 250000 sample-point 0.875 tq 250 prop-seg 6 phase-seg1 7 phase-seg2 2 sjw 1 brp 12 gs_usb: tseg1 1..16 tseg2 1..8 sjw 1..4 brp 1..1024 brp_inc 1 clock 48000000 re-started bus-errors arbit-lost error-warn error-pass bus-off 0 0 0 0 0 0 numtxqueues 1 numrxqueues 1 gso_max_size 65536 gso_max_segs 65535 tso_max_size 65536 tso_max_segs 65535 gro_max_size 65536 parentbus usb parentdev 1-1.4:1.0 RX: bytes packets errors dropped missed mcast 3549 819 0 0 0 0 TX: bytes packets errors dropped carrier collsns 32 4 0 0 0 0</noarp,up,lower_up,echo> (Sorry habe kein Speicherplatz im Web um Bilder anzuzeigen..) man kan sehen das die Nachricht abgeht und auch 32 Byte Empfangen worden sind. Die nachricht ist auch am anderen CAN Adapter sichtbar gewesen. Wie bekomem ich den einrichteten Adapter in Codesys rein? das ich den Befehl sudo ip link set can0 up type can bitrate 500000 das ich die Einrichtungs des Can Adapters noch in die Rasperry Start rutine nehmen muss ist mir klar. Ich bedanke mich .
Last updated: 2024-01-18

Post by mp9876 on Device logon problem following fresh install ^{CODESYS Forge} ^talk ^(Post)
All screenshots are enclosed in MS Word document. NOTE; 4 questions features at the end. Any assistance would be greatly appreciated! Hi everyone, I am still having device logon problem following a fresh install Here are the STEPS I went through following a FRESH CODESYS Win 64 3.5.19.60 install on a different computer. ‘Gateway not configured properly’ when attempting to REFRESH from the Users and Groups. Then did Gateway manage and confirmed it was ok: This message popped out as it was a fresh install: YES then: Initially went with Administrator twice (user & password) but it did not like it. No device is responding to …: Continued by setting a new user Pressed OK and obtained the following message: Stopped and Restarted PLC at that point: Obtained the following: Attempted to login a 2nd time without success. Then I scanned the network to see if matching device can be detected: Only way to get it detected was to remove the tick in the ‘Hide non-matching devices…’ Attempted a WINK but got a return like this one: REFRESH either @ Users and Groups or @ Access Rights returns: Then created user ‘mp’ at Project level ang logged in: Understandably device user mp9876 was not valid for the Project. Device information A few questions comes to my mind following these connection attempts: 1- Gateway not configured properly message pops out because of a non-compatible device ? 2- Why would the device not be compatible ? 3- Any way to make the device compatible ? 4- Any ideas on how to get this connectivity problem to the device solved ?
Last updated: 2024-03-17

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 edson-bueno on SysProcess Execute Command unable to run commands with special characters ^{CODESYS Forge} ^talk ^(Post)
Hi, I found the same issue, and I fixed with this steps: 1st go to codesys .cfg file. sudo nano CODESYSControl.cfg Then insert this: [SysProcess] BasePriority=Realtime Command=AllowAll Now we need to grant codesys root rights on Linux. Step 1: Create or edit the systemd override configuration: sudo systemctl edit codesyscontrol In the editor that opens, insert: [Service] User=root Save and exit: Press Ctrl+O to save Press Ctrl+X to exit Step 2: Reload systemd and reboot To apply the override: sudo systemctl daemon-reexec sudo systemctl daemon-reload sudo reboot Step 3: Confirm CODESYS is running as root After reboot, open the terminal and run: ps aux | grep codesyscontrol You should see something like: root 1234 ... /opt/codesys/bin/codesyscontrol.bin ... If instead it shows admin or another user, the override was not applied correctly. Step 4: (Optional) Confirm from within CODESYS In your CODESYS project, insert this test code to run the Linux command whoami: Make sure the lib SysProcessImplementation, SysTypes, and CmpErrors is on the project. VAR sCommand : STRING := '/usr/bin/whoami'; sOutput : STRING(255); refCommand : REFERENCE TO STRING; refOutput : REFERENCE TO STRING; resultCmd : UDINT; END_VAR refCommand REF= sCommand; refOutput REF= sOutput; SysProcessExecuteCommand2( pszCommand := refCommand, pszStdOut := refOutput, udiStdOutLen := SIZEOF(sOutput), pResult := ADR(resultCmd) ); Notes & Warnings This method gives full system access to the CODESYS runtime — do not expose this system to the public network without protection. Do not use sudo in commands inside CODESYS when the runtime is already running as root. @tomas111, in case you want to read the temperatur, use this command: sCommand:STRING:='/usr/bin/vcgencmd measure_temp';
Last updated: 2025-05-20

Post by mariussandu on OPC-UA ^{CODESYS Forge} ^talk ^(Post)
Hello, I am experiencing an intermittent OPC UA server issue on CODESYS Control for Raspberry Pi SL 4.21.0.0. Runtime information: codesyscontrol 4.21.0.0 Raspberry Pi 4 Model B Rev 1.1 - 4Gb OPC UA Server: CmpOPCUAServer 3.5.22.x Server IP: 192.168.0.110 OPC UA endpoint: opc.tcp://192.168.0.110:4840 The main OPC UA client is Node-RED running on 192.168.0.111. This has an active subscription with some tags and also some write functions active. The system normally works correctly for a period, but at some time the OPC UA communication stopped. Node-RED started reconnecting continuously but could not reconnect. I also tried connecting using UaExpert, but UaExpert returned: BadTimeout At the same time, the PLC application itself was still running. Before restarting CODESYS, I captured the TCP connections. The OPC UA server was still listening: tcp 11 0 192.168.0.110:4840 0.0.0.0:* LISTEN However, there were many connections from the Node-RED client stuck in CLOSE_WAIT: 192.168.0.110:4840 192.168.0.111:45008 CLOSE_WAIT 192.168.0.110:4840 192.168.0.111:53678 CLOSE_WAIT 192.168.0.110:4840 192.168.0.111:44032 CLOSE_WAIT 192.168.0.110:4840 192.168.0.111:36612 CLOSE_WAIT 192.168.0.110:4840 192.168.0.111:45012 CLOSE_WAIT 192.168.0.110:4840 192.168.0.111:36592 CLOSE_WAIT ... Some of these sockets also had data remaining in Recv-Q, for example: Recv-Q = 61 Recv-Q = 121 There were roughly 15–20 OPC UA connections in CLOSE_WAIT. Restarting only the CODESYS runtime immediately restored OPC UA communication. After restart: LISTEN 0 10 192.168.0.110:4840 and both Node-RED and UaExpert can connect normally again. There are no obvious OPC UA errors during startup or in log. On RPI 2 I had a memory leak regarding OPCUA so I had to upgrade to RPI4. What can I do in this case? Thank you!
Last updated: 2026-08-26

Post by kevinl on Weidmüller und u-OS bugs ^{CODESYS Forge} ^talk ^(Post)
Hallo zusammen Wir setzen mehrere Weidmüller UC20-WL2000 mit CODESYS Runtime und System-Bus ein und kämpfen seit einiger Zeit mit Problemen, für die wir bisher keine Ursache finden konnten. Aktuell beobachten wir zwei Phänomene: System-Bus Probleme Bei einer Anlage verlieren die I/O-Module sporadisch die Verbindung. Im Log erscheinen Meldungen wie: SLIO:CheckModule missing NotReachable Module Unplugged Nach diversen Updates (u-OS 2.7, aktuelle Runtime, aktuelles CODESYS) wurde das Verhalten eher schlechter statt besser. Anfangs traten die Fehler sporadisch auf, inzwischen funktioniert der System-Bus teilweise gar nicht mehr. Auch ein Downgrade auf eine ältere u-OS Version half nicht wirklich, aber ev ist es mit der aktuellen Runtime nicht kompatibel. Probleme nach Spannungsunterbruch / Neustart Mehrfach hatten wir bereits den Fall, dass eine Steuerung nach einem Spannungsunterbruch oder Neustart nicht mehr vollständig hochkommt. Teilweise startet die CODESYS Runtime nicht mehr (vermutlich aufgrund von Problemen mit Persistent-Daten), in einem aktuellen Fall ist zusätzlich das u-OS Backend nicht mehr erreichbar. Die Welcome-Seite erscheint noch, beim Login läuft der Request jedoch in einen 504 Gateway Timeout. Hardware: UC20-WL2000 u-OS 2.x System-Bus mit mehreren UR20 Modulen CODESYS Control SL Runtime Mich würde interessieren: Hat jemand ähnliche Erfahrungen mit UC20-WL2000 oder u-OS gemacht? Gibt es bekannte Probleme mit dem System-Bus? Gibt es Workarounds bezüglich Persistent-Daten oder Recovery nach Spannungsunterbruch? Hat jemand ähnliche 504-Fehler im u-OS Backend gesehen? Vielen Dank für jeden Hinweis.
Last updated: 2026-06-05

Post by dantheman on Connecting to SoftPLC Only Works By Turning Off Modbus Ethernet Port ^{CODESYS Forge} ^talk ^(Post)
I have an IPC with 2 ethernet ports and 1 Wi-Fi. I'm using ModbusTCP with the ethernet port named "enp2s0" connected to my remote I/O. This works fine when testing with Python and also works with CODESYS, but CODESYS is only able to scan for the Linux SoftPLC when I turn off the "enp2s0" interface. In other words, I can't get online with the IDE if I want my ModbusTCP comms to run with CODESYS. I'm using a Linux SoftPLC that has the following entry in CODESYSControl.cfg, hoping that this will allow me to connect with "enp1s0" or "wlp3s0", and leave "enp2s0" for field comms, but this seems to only make the source IP of the ModbusTCP comms to be bound to "enp2s0". That last point is the case only if I don't restart the service, but if I do restart the service after changing the config file, the source IP for the ModbusTCP comms then becomes the one for "enp1s0", which is very confusing to me: [SysSocket] Adapter.0.Name="enp2s0" Adapter.0.EnableSetIpAndMask=1 On the device list, I only have "enp2s0" given as the ethernet device that has the ModbusTCP master & slave beneath it, shown in Screenshot 1. On the IPC, I can ping the ModbusTCP client (remote I/O) from "enp2s0", and I've attached a Wireshark capture of running ModbusTCP from the CODESYS runtime as Screenshot 2, 3 & 4 (again, I can't get online when this is running, I have to turn off "enp2s0" to connect even when it's idle and I don't have an active TCP session with my Python tests). Like I explained above, the source IP is "enp1s0", even though the ethernet device on the project is "enp2s0". I was lucky to catch the red message that showed the source IP that makes sense to me (the one for "enp2s0"), but for some reason that connection was reset and I never saw that packet again. I've also tried this with Auto-reconnect both enabled & disabled, for the ModbusTCP Master device. I also have to turn off "enp1s0" and then turn it on, just so that I can have the ModbusTCP comms running from "enp2s0" (which is not intuitive in any way to me, I'd love some help understanding that phenomenon as well) in the weird manner that I've described above. I would be very appreciative if someone can help me figure out this pickle. I'd love to just connect to CODESYS through my Wi-Fi interface and leave my ethernet ports for field comms.
Last updated: 2024-08-01

Post by george32 on CSV file and string manipulation. ^{CODESYS Forge} ^talk ^(Post)
Dear folks, I think I have a rather simple question but I could not find the right answer to my question: I have made with Excel a CSV file where I would like to have some general data regarding my program variables. I have made an program what let me read the file. The string I am currently get is at follows: 'ï»¿IP_Adres;192.168.45.12$R$NPort_number;2000$R$NCycle_time;43$R$NStart_Standard_IO;20$R$N' Now I want to split the string in multiple part, which I later would connect to the right variable. By Google and experimenting I have reached to the following code for the first part of the splitting proces: // Splitting the BOM of the string: Received_string := FileReadString; IF LEFT(STR:=New_string,3)= 'ï»¿' THEN Received_string_without_BOM :=RIGHT(STR:= Received_string,SIZE:= (LEN(STR:= Received_string))-3); END_IF //Splitting the remaining string in part for later declaration. WHILE index = 0 DO index_split_part := FIND(STR1:= Received_string_without_BOM,STR2:= '$R$N'); Part_of_String[index]:=LEFT(STR:=Received_string_without_BOM, SIZE:= index_split_part); index := index + 1; END_WHILE However in the splitting proces I could not understand what is really happening. I understand that the Find() function returns the first value the $R$N in the Received_string_without_BOM. This would mean that the index_split_part := 23 I|P| _ |A |d|r|e|s|;|1_|9 |2 |. |1 |6 |8 |. |4 |5 |. |1 |2 |$ |R |$ |N |P | 1|2| 3 |4 |5|6|7|0|9|10|11|12|13|14|15|16|17|18|19|20|21|22|23|24|25|26|27| So the next part is to read the first 23 characters of the Received_string_without_BOM with the LEFT() function. I expected that the outcome the following was: 'IP_Adres;192.168.45.12$'. However the outcome is: 'IP_Adres;192.168.45.12$R'. I do not understand where the R after the $ sign comes from, because its place is 24 so it would not be added to the part_of the_string[index]. If I hard coded value 24 for the size it gives me the following return: 'IP_Adres;192.168.45.12$R$N'. I would expect everything till the R but the code adds the $N also to the string. I hope someone could explain to my what I am seeing wrong in my point of view? With kind regards, George
Last updated: 2024-09-27

Post by solidlogicguy on Little endian to Float from Modbus RTU ^{CODESYS Forge} ^talk ^(Post)
Hello, I got a device from which I require to read values from I am using a WAGO PLC 750-8212 and I am communicating through Modbus Master FUNCTION BLOCK from library WagoAppPLCModbus in Codesys 3.5 to this device. I already receive data from the device that is a CVM to monitor voltage from a fuel cell. The technical support of the company that makes these devices says that the data is sent in little endian form. And I want to convert it to a float value. The tech support sent me the next instructions of how to do it but I am new using codesys, so any advice or help I will really appreciate so much. Message from tech support: The process is complicated, better to do it with already implemented library in the language/program you use. Basically the process should be next: To convert the two Modbus registers containing parts of a 32-bit float in little-endian byte order to a floating-point number using mathematical operations, you first need to combine the two 16-bit integers (assuming reg1 is the lower word and reg2 is the higher word) and then interpret the result according to the IEEE 754 standard. Given: - Register 192 (reg1) = 4096 - Register 193 (reg2) = 14884 Step 1: Combine the two registers. Since we are dealing with little-endian byte order, reg2 is the high word, and reg1 is the low word: combined = reg2 * 2^16 + reg1 combined = 14884 * 65536 + 4096 combined = 975175680 + 4096 combined = 975179776 Step 2: Convert the combined value to binary: combined_binary = '1110101101011100000000000000000' Step 3: Split the binary into IEEE 754 components: Sign bit (1 bit): 0 Exponent (8 bits): 11101011 Mantissa (23 bits): 01011100000000000000000 Step 4: Convert the binary exponent to decimal and subtract the bias (127 for 32-bit floats): exponent = int('11101011', 2) - 127 exponent = 235 - 127 exponent = 108 Step 5: Calculate the mantissa as a fraction: The mantissa in IEEE 754 format is the fractional part after the leading 1 (which is implicit). Therefore, we need to convert the binary mantissa to decimal and add the implicit leading 1: mantissa_fractional = 1 + int('01011100000000000000000', 2) / 2^23 mantissa_fractional = 1 + 18688 / 8388608 mantissa_fractional = 1 + 0.002227783203125 mantissa_fractional ≈ 1.002227783203125 Step 6: Combine the sign, exponent, and mantissa to get the float value: float_value = (-1)^0 * mantissa_fractional * 2^exponent float_value = 1 * 1.002227783203125 * 2^108 Because the exponent is quite large, the resulting float value is a very large number.
Last updated: 2023-12-15

Post by rkohser on Scripted Git clone / checkout being blocked by "Project Environment" popup ^{CODESYS Forge} ^talk ^(Post)
Hi, I am trying to build a CI/CD pipeline around our codesys projects. The only entry point if the git url and branch, as we do not put our project file under source control, so we needed to find a way to git clone from the python scripting engine. This is currently how we do this : system.commands["Git", "Clone"].execute( "ProjectLocation=" + project_dir, "ProjectName=" + project_file_name, "RemoteUrl=" + project_git_remote_url, "GitProjectStoragePath=" + project_git_local_dir, ) system.commands["Git", "Checkout", "Branch"].execute( "PrimaryProjectHandle=0", "BranchName=origin/" + project_git_branch ) This works fine, except that, depending on the environment and the project, the "Project Environment" popup gets displayed to suggest for some updates, and waits for a user interaction, even with the "--noUI" flag injected as parameter. I investigated the VersionUpdateFlags, but the problem is that the git clone is an atomic operation that clones and directly opens the generated project without the possibility to inject any updateFlags argument (only used in the ScripProjects.open() function. I also tried to simulate some keyboard events acknowledge the window from script but I did not find the right location for the SendKeys statement, I think before the git clone call is too early and after is too late. So I am wondering if there would be some other way to do that. Is there some more proper scripting api for the git add on ? Is there a global configuration of the VersionUpdateFlags that would allow the popup to be disabled outside from any project context ? Is there some way to automatically acknowledge this kind of messages in a "--noUI" mode ? What do you suggest ? Thanks for your help, Roland Edit : I managed to solve my problem by following these steps in my pipeline : - create a template of a project and opt file preconfigured not to open the popup - open this project - initialize an empty git repo - add the remote, fetch and checkout the needed branch -> no popup is displayed, hourra Edit2 : The initial question was raised on a CODESYS V3.5 SP18 Patch 2 profile. Since CODESYS 3.5.19.30 a scripting API is available for Codesys Git that allows cloning a project with the support of VersionUpdateFlags https://content.helpme-codesys.com/en/CODESYS%20Git/_git_using_scripting.html
Last updated: 2024-01-19

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