Post by shaunvdm on Canbus Slave SDO Read from Object ^{CODESYS Forge talk (Post)}
Busy testing a solution to use Canbus Slave to replace a physical device and convert to Ethercat device but keep the Canbus Master in place. Master needs to Read SDO object 5FA2. In the Master PLC if i send the SDO with 8 bytes in message IE: 60B 40 A2 5F 00 00 00 00 00 i get my expected 58B 43 A2 5F 00 00 68 36 02 containing data back. Problem is if we issue a 4 byte command can send 60B 40 A2 5F. Surely the canbus slave should respond with a 58B 43 A2 5F 00 00 68 36 02 but it comes back as 80 A2 5F 00 00 00 00 08 - meaning this OBJECT does not exist. Is there a setting in the canbus slave driver for Canbus to allow the 4 byte command to read the SDO OBJECTS ?
Last updated: 2025-05-27

Post by jy77812 on MC_MoveCircularAbsolute Using Help ^{CODESYS Forge talk (Post)}
Dear People I’m trying to draw a circle using MC_MoveCircularAbsolute, but I keep encountering an error. The error message is SMC_CP_CIRCLE_CENTER_NOT_ON_BISECTOR. What I’m trying to do is simply draw a circle with a diameter of 20, starting from the point X=0, Y=0. I’ve set CircMode to center. It seems like a simple task, but the error keeps occurring, and it’s giving me a headache. I’d appreciate your help. I’ve also attached the program, so please provide any advice you can. I want to use the mode as the center. I've tried changing multiple coordinates and it won't run. Please help. sample stCirculAuxPoint.c.X := 20; stCirculAuxPoint.c.Y := 10; stCirculEndPoint.c.X := 20; stCirculEndPoint.c.Y := 30; fbMoveCircularAbsolute( AxisGroup := AxisGroup, Execute := xGroupCirculEx, CircMode := SMC_CIRC_MODE.CENTER, AuxPoint := stCirculAuxPoint, EndPoint := stCirculEndPoint, PathChoice := 0, Velocity := 50, Acceleration := 50, Deceleration := 50, Jerk := 50, CoordSystem := SMC_COORD_SYSTEM.MCS, BufferMode := 0, TransitionMode := 0, TransitionParameter := , OrientationMode := , VelFactor := , AccFactor := , JerkFactor := , TorqueFactor := , Name := , Done => , Busy => , Active => , CommandAborted => , CommandAccepted => , Error => , ErrorID => , MovementId => );
Last updated: 2025-06-04

Post by christoph--b on Probleme mit Speicheraufteilung nach Wechsel von Wago 750-841 zu 750-891 ^{CODESYS Forge talk (Post)}
Hallo, ich habe in meiner Hausautomation eine Wago 750-841 mit einem doch mittlerweile umfangreichen Programm. Diese wollte ich nun gegen eine 750-891 der 4. Generation austauschen. Aufgrund der Programmgröße hatte ich damals die Speichergröße für Retainvariablen von 16#4000 auf 16#7000 vergrößert und so läuft sie nun seit Jahren fehlerfrei. Allerdings mit der 750-891 bekomme ich offensichtlich eine Überschneidung mit dem Modbusregister, denn die Werte über Modbus spielen verrückt. In der Standardgröße mit 16#4000 tritt das Phänomen nicht auf, reicht dann aber nicht für das vorhandene Programm. Dafür gibt es sicher eine Lösung, denn die 891 hat ja deutlich mehr Speicher. Allerdings kenne ich mich mit der Speicheraufteilung nicht aus, wo man da was optimieren kann, damit ich den Speicherbereich entsprechend erweitern kann, aber es zu keiner Überschneidung kommt. Für Hilfe wäre ich sehr dankbar
Last updated: 2025-07-20

Post by timvh on Current Visu name without Current Visu Variable ^{CODESYS Forge talk (Post)}
To get the current visu for all your individual web clients, you could iterate over them, using the same library 1) Create a new function block which implements VU.IVisualizationClientIteration 2) Create an instance of this function block + add an instance of the "iterate" function block fbIterateCallBack : FB_IterateOverClients; // this implements VU.IVisualizationClientIteration fbVuIterate : VU.FbIterateClients; // this FB iterates over all clients 3) Call the fbVuIterate and set the reference to the call back FB. Then it will automatically call the method "HandleClient" of this function block. fbVuIterate( xExecute:= NOT fbVuIterate.xDone, xDone=> , xBusy=> , xError=> , itfClientFilter:= VU.Globals.OnlyWebVisu, eError=> , itfIterationCallback:= fbIterateCallBack); In the HandleClients method you can use the property of the interface of your webclient to which page it is currently on: sCurrentVisuOfClient := itfClient.CurrentVisuName; 4) Optionally from here you could also set the visu for the webclient, but this might be obsolete, because the other function block is now available... xQueryOK : BOOL; xChangePage : BOOL; itfVisuClientRawData : VU.IVisualizationClientRaw; xQueryOK := __QUERYINTERFACE(itfClient, itfVisuClientRawData); IF xQueryOK AND xChangePage THEN VisuElems.g_VisuManager.SetMainVisu(pClientData := itfVisuClientRawData.ClientDataPointer, stVisu := 'Visu2'); xChangePage := FALSE; END_IF
Last updated: 2025-08-13

Post by pernockham on AC Persistence - values are not read from file during start? ^{CODESYS Forge talk (Post)}
Im struggling with the AC Persistence. AC persistence seems to work for any variable that is changed online and values are kept during reboot. However, if I try to edit the persistence files offline or replace the persistence files with a previously downloaded older persistence file (with modified values), the online value will not follow, as if the system did not at all read the file at boot? My testing sequence. - Edit a the value of a persistenced variable (with xSaveOnChange = True) - Save/download the associated persistence file, (and confirm the value has changed). - Edit the value online for a second time . - Stop runtime - Replace (upload) the persistence file with my previously downloaded file . - Coldstart/Warmstart/Start runtime - Whatever Im trying the value of my persistence variable will always be equal to that of my second edit as if the file is not read/considered during boot. What am I doing wrong?
Last updated: 2025-09-02

Post by e13740e on Parameterized Property syntax for array element processing ^{CODESYS Forge talk (Post)}
Hello. I'm trying to create a Parameterized Property(CDS V3.5 SP21) to avoid copy-pasting code for processing array elements. I can't seem to get any result. Perhaps I am making a mistake with the syntax. None of the declaration options below are accepted by the compiler. If you know and use them (Parameterized Properties) in your work, please let me know. Thank you in advance. Option 1: PROPERTY <property_name> : <data_type> VAR_INPUT <index_name> : <index_type>; // One or more index parameters are declared here END_VAR</index_type></index_name></data_type></property_name> GET Code that uses <index_name> to return a value END_GET</index_name> SET Code that uses <index_name> and the implicit variable <property_name> to write a value END_SET</property_name></index_name> END_PROPERTY Option 2: PROPERTY <property_name> (<index_name> : <index_type>) : <data_type></data_type></index_type></index_name></property_name> GET Code that uses <index_name> to return a value END_GET</index_name> SET Code that uses <index_name> and the implicit variable <property_name> to write a value END_SET</property_name></index_name> END_PROPERTY
Last updated: 2025-10-09

Post by e13740e on Parameterized Property syntax for array element processing ^{CODESYS Forge talk (Post)}
Hello. I'm trying to create a Parameterized Property(CDS V3.5 SP21) to avoid copy-pasting code for processing array elements. I can't seem to get any result. Perhaps I am making a mistake with the syntax. None of the declaration options below are accepted by the compiler. If you know and use them (Parameterized Properties) in your work, please let me know. Thank you in advance. Option 1: PROPERTY <property_name> : <data_type> VAR_INPUT // One or more index parameters are declared here <index_name> : <index_type>; END_VAR</index_type></index_name></data_type></property_name> // Accessor for reading GET // Code that uses <Index_Name> to return a value END_GET // Accessor for writing SET // Code that uses <Index_Name> and // the implicit variable <Property_Name> to write a value END_SET END_PROPERTY Option 2: PROPERTY <property_name> (<index_name> : <index_type>) : <data_type></data_type></index_type></index_name></property_name> // Accessor for reading GET // Code that uses <Index_Name> to return a value END_GET // Accessor for writing SET // Code that uses <Index_Name> and // the implicit variable <Property_Name> to write a value END_SET END_PROPERTY
Last updated: 2025-10-09

Post by cihangur on C0138: No matching 'FB_Init' method found for instantiation of VisuClientObjectMgr ^{CODESYS Forge talk (Post)}
This "FB_Init" error has become very annoying lately. It's usually related to webvisu and is resolved by deleting all objects and related libraries. Of course, you need to re-add the deleted objects. Lately, we've generally been managing by not upgrading, but this problem persists in every version since SP20 and should be resolved. I updated a project from SP 19 to SP 21 and found 116 similar errors. [ERROR] alarmmanager, 4.7.0.0 (intern): ReplaceAlarmPlaceholdersConverted: C0138: No matching 'FB_Init' method found for instantiation of CharBufferString [ERROR] visuelemsalarm, 4.7.0.0 (system): protDrawRowHeader [VisuFbElemAlarmTable]: C0138: No matching 'FB_Init' method found for instantiation of CharBufferString [ERROR] alarmmanager, 4.7.0.0 (intern): AnalyzePlaceholders2 [Alarm]: C0138: No matching 'FB_Init' method found for instantiation of CharBufferString If you have an ERROR related VisuClientObjectMgr you can try to disable "Visualization Manager - Settings - Support client animations and overlay of native elements " selection "C0138: No matching 'FB_Init' method found for instantiation of VisuClientObjectMgr" etc
Last updated: 2025-10-10

Post by ph0010421 on How to create a stopwatch? ^{CODESYS Forge talk (Post)}
Do you need an 'hours-run' counter? And 1 second resolution is ok? I think you're over-thinking it. (The task time needs to be < 1second) Have a look at the LAD... Then, the time in seconds can be made into hh:mm:ss with this FUNction Declarations: FUNCTION funSecondsToStringTime: string VAR_INPUT InSeconds: UDINT; END_VAR VAR AsString: STRING; Minutes: UDINT; Hours: UDINT; Seconds: UDINT; MinutesAsString: STRING(2); HoursAsString: STRING(2); SecondsAsString: STRING(2); END_VAR and the code: Hours := InSeconds / 60 / 60; //Derive hours Minutes := (InSeconds - (Hours * 60 * 60)) / 60; //Derive minutes Seconds := InSeconds - ((Hours * 60 * 60) + (Minutes * 60));//Derive seconds HoursAsString := UDINT_TO_STRING(Hours); MinutesAsString := UDINT_TO_STRING(Minutes); SecondsAsString := UDINT_TO_STRING(Seconds); IF LEN(HoursAsString) = 1 THEN HoursAsString := CONCAT('0',HoursAsString); END_IF; IF LEN(MinutesAsString) = 1 THEN MinutesAsString := CONCAT('0',MinutesAsString); END_IF; IF LEN(SecondsAsString) = 1 THEN SecondsAsString := CONCAT('0',SecondsAsString); END_IF; AsString := CONCAT(HoursAsString, ':'); //assemble string AsString := CONCAT(AsString,MinutesAsString); AsString := CONCAT(AsString,':'); AsString := CONCAT(AsString, SecondsAsString); funSecondsToStringTime := AsString;
Last updated: 2023-12-08

Post by nz-dave on Bool turning on in case stament in wrong state? ^{CODESYS Forge talk (Post)}
I had the FB called via a for loop to call a few instances of my FB I have removed it the for loop and just called them 1 by 1. Seems to have sorted the problem. tho, i have other FB's and for loops doing the same thing but they are all fine. below is basically what was happening. var: mVibrator : ARRAY[1..GVL_Settings.Number_Of_Products] OF Main_Vibrator; end_var Controller(PRG) call: FOR v := 1 TO GVL_Settings.Number_Of_Products BY 1 DO; mVibrator[v] (); END_FOR So at state 30: the mVibrator[1].start was turning on 30: Main_Mixer.Start := TRUE; Process_State := 2; IF Main_mixer.Done THEN Main_Mixer.Start := FALSE; Control_State := 40; END_IF but its not till state 50: that it is actual in the code. 50: Main_Suction_valve.Open_Input := TRUE; mVibrator[1].Start := TRUE; Process_State := 4; IF GVL_Weigh_hopper.LoadCell_Weight = 0 THEN Main_Suction_valve.Open_Input := FALSE; mVibrator1.Start := FALSE; Control_State := 60; END_IF Thanks for your input.
Last updated: 2023-12-16

Post by andrax on Meine Gerätesammlung basierend auf TCA9548 ^{CODESYS Forge talk (Post)}
Hallo zusammen, ich programmiere öfters mal kleinere Messgeräte und Datenlogger. Je nach Einsatzzweck musste ich mir ein paar Gerätetreiber selber schreiben. Da es eine recht große Sammlung ist, stelle ich die hier einfach mal ein. Die Sammlung basiert auf den Gerätetreiber TCA9548 Multiplexer von Steffen Dreyer. Codesysversion: V3.5 SP18 Patch 4 Inhalt: -4channel Dimmer (Stefan Dreyer) -BMA456 (Andre Klien) -BME280 (Stefan Dreyer) -BMP280 (Stefan Dreyer) -EEPROM_24C512 (Stefan Dreyer) -ADS1115 (Andre Klien) -ICP10125 (Andre Klien) -PCA9555 (Stefan Dreyer) -PCA9685 (Stefan Dreyer) -PCF8575 (Stefan Dreyer) -SDP810 (Andre klien) -SSD1306 (Stefan Dreyer) -TCA9548 (Stefan Dreyer) -TSL2561 (Stefan Dreyer) Alle Gerätetreiber laufen über den Multiplexer, können aber auch ohne betrieben werden. Einschränkung: BMA456: Die Konfigurationsdaten werden erfolgreich in den Chip geschrieben, dieser meldet aber config wrong. Warum auch immer, der Sensor funktioniert und bringt hochempfindlich Beschleunigungsdaten. ADS1115: Hie habe ich nur die wichtigsten funktionen implementiert. 1-4 Kanäle, PGA, kontinuierlicher Modus, Datenrate. Alle anderen Funktionen (single-shot, komparator,alm) sind nicht implementiert. Das macht auch keinen Sinn, da diese Funktionen besser über die Steuerung realisiert werden können. Achtung beim ADS1115 ist zwingend ein Levelshifter notwendig, wenn ihr diesen mit 5V betreiben wollt. Ihr grillt sonst euren Raspi (SDA, SCL sind dann 5V) Gruß Andre
Last updated: 2023-12-18

Post by mavitia on Application based license problem - Modbus TCP ^{CODESYS Forge talk (Post)}
I am running ubuntu on a raspberry pi, and installed an application based license Control Basic M on it, it runs a demo program fine, does not timeout etc. however, when I add a modbus TCP device, I start getting errors: <Entry severity="error" component="CmpApp" user="nobody" timestamp="12/18/2023 3:49:42 PM" infoId="24">Online change denied. Application Application is in exception state!</Entry> <Entry severity="error" component="CmpApp" user="nobody" timestamp="12/18/2023 3:49:42 PM" infoId="68">Download failed: Application=Application</Entry> <Entry severity="exception" component="CmpApp" user="nobody" timestamp="12/18/2023 3:49:41 PM" infoId="0">Application app=Application has invalid license metrics!</Entry> the modbus tcp slave runs, and the counter ticks up, however, when I call the variables on the %IX0.0 in my program, and try to upload the changes, I am getting the error messages which stop the program as far as I understand, the application based, M includes 2 fieldbus instances, but on the other side is fairly new, anything obvious I am missing out here?
Last updated: 2023-12-18

Post by spiessli on Softmotion axis to CANopen Maxon IDX drive ^{CODESYS Forge talk (Post)}
Thanks for the advise, indeed, this was somewhat, what my intention was. I tried around again with EDSes and DCFs, anyway. It appears that the DCFs end up in a subfolder in the attach device dialog. Astonishingly, when attaching the DCF version I get a device in the device tree, where I can add a SoftMotion axis, whereas when I attach the device not in the subfolder, then I cannot. Further astonishingly, when looking in the CANopen parameters in supported profiles, "402" is listed in the case of the DCF variant, whereas in the EDS variant "0" is shown. Comparing EDS and DCF files I cannot guess, where the difference is coming from. I cannot tell either why I have always attached the EDS variant and apparantly never the DCF variant. As I am not in the lab right now, I cannot test if the connection actually is working. Thanks again, spiessli
Last updated: 2024-01-07

Post by vipul on Multicast udp ^{CODESYS Forge talk (Post)}
Hi, Good afternoon can anybody help me with UDP Multicast code. I am not able to send or recieve data when code is dumped on linux device. Below is my code. Declaration: PROGRAM udp_multicast VAR oneTimeFlag :UINT :=0; state: INT:=0; driver: UDP.UDPDriver; //port : UDP.Port;//moved to GVL src_ipAddr_ud: UDINT; src_ipAddr_st:STRING := '192.168.127.155';//'192.168.1.155';//ipms ip address dst_ipAddr_ud:UDINT; group_ipAddr_st:STRING := '239.1.5.10'; //group_ipAddr_ud:UDINT; result: SysTypes.RTS_IEC_RESULT; //result of recieve function. bind: UDINT; //result of binding. resultCreate:SysTypes.RTS_IEC_RESULT;//result of port creation. timer:BLINK; temFlag :INT:= 0; post:INT :=0; checksumFunc:checksumXor; localStringBuf:STRING[500]; chksum:BYTE; dataBuffer:POINTER TO BYTE; checksumString:ARRAY[0..5] OF BYTE; recvSize:__XINT; errorCode:UDINT; joinGroupErrorCode:UDINT; END_VAR ************8 Implementation: IF oneTimeFlag <> 1 THEN oneTimeFlag:=1; resultCreate := driver.CreatePort(ADR(GVL.port)); src_ipAddr_ud := UDP.IPSTRING_TO_UDINT(sIPAddress:= src_ipAddr_st); GVL.group_ipAddr_ud := UDP.IPSTRING_TO_UDINT(sIpAddress:= group_ipAddr_st); GVL.port.IPAddress := src_ipAddr_ud; GVl.port.ReceivePort:= GVL.src_port;//port on which messages are expected. GVl.port.SendPort := GVL.dest_port; GVl.port.OperatingSystem := 0; //0- any system GVL.port.Socket :=3; //3- socket type is multicast bind := GVL.port.Bind(udiIPAddress:=src_ipAddr_ud,); GVl.port.JoinGroup(udiGroupAddress:= GVL.group_ipAddr_ud,udiInterfaceAddress:= src_ipAddr_ud,eLogCode=>joinGroupErrorCode); END_IF timer(ENABLE:=TRUE,TIMELOW:=T#100MS,TIMEHIGH:=T#100MS); IF timer.OUT = TRUE THEN GVL.port.Send(udiIPTo:=GVL.group_ipAddr_ud,GVL.dest_port,pbyData:=ADR(GVL.writeData),diDataSize:=SIZEOF(GVL.writeData)); ELSE SysMemSet(ADR(GVL.readData[0]),0,SIZEOF(GVL.readData)); result := GVl.port.Receive(ADR(GVL.readData),diDataSize:=SIZEOF(GVL.readData),udiIPFrom=>dst_ipAddr_ud,diRecvSize=>recvSize,eLogCode=>errorCode); SysMemMove(ADR(GVL.readDataBuf[0]),ADR(GVL.readData[0]),SIZEOF(GVL.readData)); END_IF post:=LEN(GVL.readDataBuf);
Last updated: 2024-01-14

Post by edepalos on Text list from sd card ^{CODESYS Forge talk (Post)}
Hi guys, I have a textlist in my project which is working just as expected in a drop down list. I would like to move this text list to a sd card and access it from there, because I want to ease the editing of the contents of this textlist. I'm imagining a solution like the operator shuts down the plant, takes the sd card out, edits the textlist on the card with a windows machines notepad, then reinserts the card in the PLC and restarts the plant, having the new content of the textlist populating the dropdown list. I'm sorry that I'm asking you to spoonfeed me, but I did not find anything straightforward to do this... I saw in the Project>Project settings>Visualisation a relative path thingy, but I have the plant in operation and I would not like to make 100 trial and errors right now... I'm also not interested in SysLib file read commands and stuff, I would just like to access the file from the cards part, I don't want to replace its contents dynamically or such... nor I have language files or recipes... Thank You in advance! Br, Ede
Last updated: 2024-01-16

Post by axilleas on SMC_Interpolator + SMC_controAxislbyPos ^{CODESYS Forge talk (Post)}
dear all I am working on a very generic gantry system (virtual drives + win v3 control) reading gcode from external file. In order to stop the interpolator function from running when gaps are detected, SMC_controlAxisByPos FB has the bStopIpo output which according to the manual is connected to the Interpolator's bEmergencyStop. Lets assume that the axis are parked in position X1000 Y1000 and the initial G code movement is G00 X500 Y500. The normal behavior is to travel from the actual x1000 y1000 to G00 X500 Y500. The SMC_Interpolator always gets the X0 Y0 as the initial position, meaning that the bStopIpo is active until the axis are in X0 Y0 and the release the interpolator to set the new positions to X500 Y500. Is there a suggested method to solve this behavior? bonus question: I get a lot of bStopIpo during standard interpolation movements (not gaps). While working with virtual axis this is not a problem but when real axis are installed this will be an issue. What exactly triggers the bStopIpo output? Slow axis accelerations compare to Gcode defaults? Kind Regards
Last updated: 2024-02-05

Post by mondinmr on Direct Pointers in IOMapping for EtherCAT with IoDrvEthercatLib.ETCSlave_Dia ^{CODESYS Forge talk (Post)}
Using SDO, I can read the EtherCAT mappings and offsets from various registers like 0x1c12, 0x1c13, etc. When I obtain registers mapped in the PDOs and various offsets, I could technically access directly to the statusword, controlword, etc., if they are mapped. I have noticed that on IoDrvEthercatLib.ETCSlave_Diag I can find pointers to the input and output buffers. However, although the input buffer can be easily read by referring to what has been obtained from the SDOs, it is not possible to write to the output buffer, as it is overwritten in each cycle by the data from the IOMapping task. Is there a way, knowing an instance of IoDrvEthercatLib.ETCSlave_Diag, to obtain the pointer to the first data in the IOMapping? The offsets are identical to those of the PDOs, but obviously the data is a copy. For me, the cleanest thing would be to access the pointers on IOMapping, for DS402a devices to retrieve the key data and point them to internal references. I need to know this as, having developed our own motion library, I would like to simplify the initial setup by eliminating unnecessary and nonsensical mappings that can lead users to unnecessary errors. In the current version that we have been using for years, we have to map everything manually. I would like to pass only the slave reference to the FB_init constructors and eliminate the mapping.
Last updated: 2024-02-12

Post by dtamm on How to read string from CharBufferPtr? ^{CODESYS Forge talk (Post)}
I am trying to implement a mechanism to send alarm SMS. For this, I have created an Alarm Class with a Notification Action which calls a POU. This POU implements IAlarmNotifiable making it selectable in the Alarm Class configuration. IAlarmNotifiable has an Execute method which is called by the alarm class. Now, I want to extract the alarm message of the triggered alarm. The Execute method comes with a VAR_INPUT itfAlarm: AlarmManager.IAlarm which supplies a method called GetMessage. The help text says: Returns the message text, that has been configured for the alarm. The result is a pointer to the buffer, where the message text is stored The type of the result is CharBufferPtr, and at some place I read that it can be interpreted as a pointer to string. But I cannot manage to extract the alarm message, all I get are numbers. I have tried the following: psAlarmText := itfAlarm.GetMessage(__SYSTEM.TYPE_CLASS.TYPE_STRING)^; sAlarmText := TO_STRING( itfAlarm.GetMessage(__SYSTEM.TYPE_CLASS.TYPE_STRING)^ ); So how do I get access to the alarm message as clear text? (In this case, "Larm 1")
Last updated: 2024-02-21

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 manuknecht on High Cycle Times for SoftMotion_PlanningTask when using AxisGroup ^{CODESYS Forge talk (Post)}
Hello all I am using an AxisGroup with the Gantry2 Kinematics to move a 2D-Gantry system. When creating the AxisGroup, the SoftMotion_PlanningTask is created automatically with a cycle time of 2 ms in my case. I realized that the maximum cycle time of this task can spike to very high values (up to 60 ms) at lower speeds of the motion, leading to synchronization issues and errors on the axes. The same behaviour - though not as drastic - can be observed with virtual axes too. Is this behaviour intended or to be expected? Can the cycle time or type of the SoftMotion_PlanningTask be changed to prevent these errors? Or is there another fix for this issue? I tried changing the cycle type to Freewheeling, which solved the synchronization issues, but caused an error on the AxisGroup after a while, reading SMC_CP_QUEUE_UNDERRUN. Thanks in advance and best regards Manuel
Last updated: 2024-03-07

Post by acc00 on Main Task cycle too long leading to PLC Fail ^{CODESYS Forge talk (Post)}
I have 2 Wago PFC200 PLC, running with Runtime SP19 Patch 5, with the Redundant application. The PLC communicates as Modbus Master with at this moment 15 Modbus Slaves -later there will be 28 in total- (Drives, Power management units,...). These devices are connected in 2 rings (1 ring of Drives, 1 ring of Power Management units), with 2 Managed Moxa Switches being part of the ring. Each PLC is connected to one of these switches. The issue I'm encountering is that the Cycle time of the Active PLC goes very high when I'm closing the Drive ring (simulating an issue on one Cabinet supply, resulting in that one Drive shut down, which can happen on field quite often). As a result of this long cycle, the PLC fails and goes to Exception, and the Passive PLC does not take control of the system. A normal cycle is around 30ms for the Main task, and a few ms for the Ethercat task. When I monitor with Profiler, I see that in this Maximum Cycle, the main Task is only taking 13ms, so I'm not sure where the PLC is hanging for so long. Is the remaining cycle time the Redundant management/sync or something else? Thank you in advance.
Last updated: 2024-03-08

Post by umdee on Error when monitoring LAD programs ^{CODESYS Forge talk (Post)}
System Information from the computer being used: OS Name Microsoft Windows 11 Pro Version 10.0.22631 Build 22631 Other OS Description Not Available OS Manufacturer Microsoft Corporation System Manufacturer Dell Inc. System Model Latitude 5500 System Type x64-based PC System SKU 08B9 Processor Intel(R) Core(TM) i7-8665U CPU @ 1.90GHz, 2112 Mhz, 4 Core(s), 8 Logical Processor(s) BIOS Version/Date Dell Inc. 1.3.11, 6/11/2019 SMBIOS Version 3.2 Embedded Controller Version 255.255 BIOS Mode UEFI BaseBoard Manufacturer Dell Inc. BaseBoard Product 0M14W7 BaseBoard Version A00 Platform Role Mobile Secure Boot State On PCR7 Configuration Elevation Required to View Windows Directory C:\WINDOWS System Directory C:\WINDOWS\system32 Boot Device \Device\HarddiskVolume1 Locale United States Hardware Abstraction Layer Version = "10.0.22621.2506" User Name CARDASSIA-IX\Engineer Time Zone Eastern Daylight Time Installed Physical Memory (RAM) 16.0 GB Total Physical Memory 15.8 GB Available Physical Memory 4.67 GB Total Virtual Memory 18.5 GB Available Virtual Memory 2.52 GB Page File Space 2.63 GB Page File C:\pagefile.sys Kernel DMA Protection Off Virtualization-based security Not enabled Windows Defender Application Control policy Enforced Windows Defender Application Control user mode policy Off Device Encryption Support Elevation Required to View Hyper-V - VM Monitor Mode Extensions Yes Hyper-V - Second Level Address Translation Extensions Yes Hyper-V - Virtualization Enabled in Firmware Yes Hyper-V - Data Execution Protection Yes
Last updated: 2024-03-19

Post by wbj0t on mobus tcp slave device. read/write holdings with 2 variables. ^{CODESYS Forge talk (Post)}
Hi there. I have an issue to read and set time for the controller. In the issue many registers described as writable by 6/16 functions, and, in this time, also(!) readable! For example: I have time registers: min, hour, day, mon, year. By specifications it is possible check time (so I need always update these varibles in loop) and set time by writing these same registers, BUT how to set, if they will immediatle updated by current time after writing? So, I need to separate one address at two variables. I have seen option mark: Overlay of the process image by the holding and input register. I understand this so: When I READ by function 3, I will get variable that connected with the same INPUT address and when I WRITE by 6/16 this will change second variable that connected with HOLDING address. BUT, this mark doesnt work, when I write 6/16 and try to get by function 3, I will get written value instead INPUT variable. So, what to do?
Last updated: 2024-03-20

Post by alexgooi on Modbus writing on value change ^{CODESYS Forge talk (Post)}
Hi Duvan, You could make this in 1 single object (FB), Indeed don't use a function for this beacuse you need some memory to keep the old value. For i := 0 TO 200 BY 1 DO //Check if the value has been changed IF Old_Value[i] <> Value[i] THEN //Set the trigger to TRUE Trigger[i] := TRUE; Old_Value[i] := Value[i]; END_IF END_FOR If you define the Value array as an In_Out and the Trigger as an In_Out you arn't claiming any aditional memory to your system. You ofcourse then need to add some code arround it that does something with the trigger and writes it back to FALSE again. If you want more flexability you also could use pointers instead of using the IN_OUT FOR i := 0 TO 200 BY 1 DO address := address_Input + i * SIZEOF(*Put type here); IF Address^ <> Old_Value[i] THEN Trigger[i] := TRUE; Old_Value[i] := Address^; END_IF END_FOR
Last updated: 2024-04-02

Post by duvanmoreno24 on Modbus writing on value change ^{CODESYS Forge talk (Post)}
Yes, I tried to do what you put in the first code. However, I have a problem with that and that is that the inputs must be declared with the type. I have many data types running in my code (real, int, uint, bool) and I can't put them in the same function, another thing is that I need to instantiate that function for everything I want to write to the slave. You put a for to 200 but it means that it has to be the same data type and inside the array, but I want to get them individually. I'm struggling to do it in a good and efficient way like wago's E-cockpit does. in the first screenshot you can see, you simply type in value, change the package of things you want to write in value change and it does everything by itself automatically, without comparing any old and new values and even less having the need to activate a bool. , it is perfect.
Last updated: 2024-04-03

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