Post by morecoffee on Control for Raspberry Pi 4.17 ^{CODESYS Forge talk (Post)}
the runtime update to 4.17.0.0 fixed my issue, thank you.
Last updated: 2025-09-08

Control for Raspberry Pi 4.17 ^{CODESYS Forge talk (Thread)}
Control for Raspberry Pi 4.17
Last updated: 2025-09-08

wiki Discussion ^{bjoernidar wiki (Discussion)}
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(no subject) ^{bjoernidar wiki (Thread)}
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Home ^{bjoernidar wiki (WikiPage)}
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Post by onstage on Unable to add EL6751 to Control RTE V3 on W11 IoT LTSC using Eng. V3.5 SP21 ^{CODESYS Forge talk (Post)}
For reference, it was just me being unfamiliar with EtherCAT in CoDeSys. Anyone with knowledge who would have opened the ScanResult screenshot would have identified that the preceding EK1100 was the device missing in the library. Bottom line - Do something else for a while and then get back at it with fresh eyes!
Last updated: 2025-09-08

Unable to add EL6751 to Control RTE V3 on W11 IoT LTSC using Eng. V3.5 SP21 ^{CODESYS Forge talk (Thread)}
Unable to add EL6751 to Control RTE V3 on W11 IoT LTSC using Eng. V3.5 SP21
Last updated: 2025-09-08

Post by timvh on Opening and saving files with fileOpenSave dialog ^{CODESYS Forge talk (Post)}
https://content.helpme-codesys.com/en/CODESYS%20Examples/_ex_visu_source_lib_visudialogs.html and https://forge.codesys.com/prj/codesys-example/visudialogs/home/Home/
Last updated: 2025-09-08

SM3RaspiStepper SVN repository ^{SM3RaspiStepper code (SVN Repository)}
Last updated: 2025-09-08

Home ^{SM3RaspiStepper home (WikiPage)}
Download package Usage Hardware Wiring Add Device Configure Device Implementation Limitations How it works Example and test Usage This project contains a SoftMotion device driver that allows to control a stepper motor with a Raspberry Pi using the local GPIOs of the Pi and dedicated (cost efficient) stepper driver hardware often applied in 3D printers. The driver works exclusively with the CODESYS Control Raspberry Pi SL and CODESYS SoftMotion. The device is configurable, so it is possible to use different motors and to choose the GPIO-Pins freely. Hardware The driver works with all Raspberry models. However, the performance (esp. jitter) of the Raspberry determines the precision and performance of the motor movement. The best result can be achieved with the multi core variant of the runtime, assigning each motor device to an exclusive core. The device driver is designed to operate with two types of devices: 1. H-bridge devices (like L298N), that amplify the incoming signal and hence allow to control 2-phase steppers directly with 4 outputs of the Raspberry Pi. 2. Puls/Dir stepper driver devices (like A4988, DRV8880) that are controlled with at least two digital outputs that carry the direction and the frequency of steps (speed)). Wiring The above image shows the wiring for a L298N circuit. The GPIO-Pins of the Raspi are connected to the Input pins of the motor driver device and the motor to the output pins of the driver. The supply voltage for the motor and the driver are connected to the driver. It is strongly recommended to keep the circuit of the control signals and the power circuit for the motors independent. Take a close look that no wires are mixed up and everything is connected correctly. Otherwise the motor will not turn correctly! Add Device You can add the device to your project the same way as other SoftMotion devices. With a right click on the „SoftMotion General Axis Pool“ you open the menu „Add device“. The „SM_Drive_RaspiStepper_Direct“ (designed to use H-bridge based devices, see above) and the "SM_Drive_RaspiStepper_PulsDir" can be found in the category „Softmotion drives“ and „position controled drives“, which you can add now by clicking „Add Device“. Configure Device With a double click on the device in the device tree the editor for the configuration opens. The motor specific parameters like number of motor increments per turn (many models have 200 steps/turn), the velocity unit or the maximum velocity can be set as in other SoftMotion devices. To see the specific parameters first make sure that the option "Show generic device configuration views" in Tools->Options->Device Editor is enabled. Then you can edit the specific parameters in the tab "SM_Drive_RaspiStepper: Parameters" in the folder "AXIS_REF:Motorsettings". These are: For model SM_Drive_RaspiStepper_Direct: A, A-, B, B-: The GPIO pin numbers to which the H-bridge that controls the corresponding motor wires are connected. MotorPowerTime ]0..1]: fraction of the cycle, where the outputs are set (and where power runs through the motor). This parameter can be used to influence the power of the motor. HalfStep: activate (TRUE)/deactivate (FALSE) half setp mode InvertDirection: determines the direction For model SM_Drive_RaspiStepper_PulsDir: Puls: GPIO pin number that carries the puls signal. Dir: GPIO pin number that carries the direction signal. Enable: GPIO pin number that is set, when the axis is enabled (with MC_Power) (0: not used) Disable: GPIO pin number that is set, when the axis is disabled (inverse to Enable) (0: not used) Common parameters: MaxFrequency: maxmimum frequency (steps per second) that the motor can follow. 0: unlimited TaskGroup: contains the name of the task group in which the IEC task that directly controls the outputs is placed. This can be used to determine the CPU core that executes the control. It is recommended to distribute the motor drivers on the cores. Implementation To call up the motor in the project, a program must be added to the application as a "POU". There you can use applicable CODESYS SoftMotion function blocks like MC_Power or MC_MoveVelocity. Or you create an instance of "SMC_StartupDrive" (that contains many basic function blocks) and assign this instance to the SoftMotion axis. PROGRAM PLC_PRG VAR sud: SMC_StartupDrive; END_VAR ----- Sud(Axis:=SM_Drive_RaspiStepper); The motor can now get controlled like other SoftMotion devices with the SoftMotion-FBs. Limitations As the SoftMotion device needs an exclusive GPIO access, it is not possible to use the other GPIOs in parallel in the same project. The minimum cycle time of a IEC task and the jitter, with which it is executed, determine the quality of the signal. Also the motor control device type strongly influences the quality. In our tests we have made much better experiences with DRV8880 and A4988 (that do an internal control of the current) compared to the L298N (that simply enables the current and doesn't do any closed loop power control). How it works Every SoftMotion axis creates a own task, which runs in the background typically with the frequency corresponding to the desired motor speed. This task calls the function block "StepperControl", where the output signals are set corresponding to the actual position of the motor. Example and test We have tested this driver on a Raspberry Pi 3 B+, with CODESYS Control for raspberry SL MC 4.0.0.0. We have connected the controller to 3 different stepper drivers (L298N, A4988, DRV8880) that were assigned to different task groups. The example project is provided, too. Project Members: Hilmar Panzer (admin)Ingo (admin)gseidel (admin)jeremias (admin)tk096 (admin)tschroeder (admin)
Last updated: 2025-09-08

Post by gseidel on The default ramp type selection in SoftMotion V4.18.0.0 is Quadratic ^{CODESYS Forge talk (Post)}
Hi imdatatas, thanks for your feedback. This change was intentional, as the quadratic ramp type has many advantages over the trapez ramptype. Sorry to hear it causes problems in your situation. Can you please shortly explain the nature of the problems? Best regards, Georg
Last updated: 2025-09-08

High-resolution drive with SoftMotion ^{CODESYS Forge talk (Thread)}
High-resolution drive with SoftMotion
Last updated: 2025-09-08

Dynamic target position tracking ^{CODESYS Forge talk (Thread)}
Dynamic target position tracking
Last updated: 2025-09-08

Cam Blending ^{CODESYS Forge talk (Thread)}
Cam Blending
Last updated: 2025-09-08

Post by gseidel on Dynamic target position tracking ^{CODESYS Forge talk (Post)}
Hi kporter, a more direct way would be to use SMC_FollowPosition to write the set positions directly to the servo drive. This FB has reacts on changes of the fSetPosition on each call, without a need for a rising edge on Execute. See https://content.helpme-codesys.com/en/libs/SM3_Basic/Current/SM3_Basic/POUs/Movement/Direct/SMC_FollowPosition.html. Best regards, Georg
Last updated: 2025-09-08

Post by gseidel on High-resolution drive with SoftMotion ^{CODESYS Forge talk (Post)}
Hi kporter, what value do you use for the modulo period? Can you please provide the complete axis configuration, including all scaling values? Thanks, Georg
Last updated: 2025-09-08

Post by pernockham on Control for linux SL, 4.14.0.0 -> 4.15.0.0 breaks web page access. URL requires authentication ^{CODESYS Forge talk (Post)}
I have a problem which I have identified with a device-update from 4.14.0.0 to (4.15.0.0-4.17.0.0) where the newer versions will stop any local access to the internal web page with the browser responding "The requested URL requires authentication". Setting the device back to 4.14.0.0. the web page will respond. Access to web page through Automation server is possible also for the newer version, but not "local" access. Runtime (Codesys control for linux SL) is on 4.17.0.0. I have tried to manipulate settings for 'Access-Control-Allow-Origin' '*' always; through nginx (normally a proxy_pass to localhost:8080). Also tested bypassing nginx by accessing 8080 directly with the same result.
Last updated: 2025-09-08

Post by gseidel on MC_MoveAbsolute: C0138: No matching 'FB_Init' method found for instantiation of SMC_MoveAbsRelPerformerImpl [ERROR] ^{CODESYS Forge talk (Post)}
Hi Imdat, can you please provide the exact version of CODESYS and the compiler version in the project settings? Thanks, Georg
Last updated: 2025-09-08

Use MC_Home without enabling the drive for homing method 35 ^{CODESYS Forge talk (Thread)}
Use MC_Home without enabling the drive for homing method 35
Last updated: 2025-09-08

Post by gseidel on Cam Blending ^{CODESYS Forge talk (Post)}
Hi ustad41, cams can be buffered using the BufferMode input of MC_CamIn. If the end- and start-velocity of two buffered cams are not zero, there will be no stop. Not sure this answers your question. Cams can be changes on the fly by aborting the active cam. Please see [0] for details on switching cams. [0] https://content.helpme-codesys.com/en/CODESYS%20SoftMotion/_sm_cam_switch_between_cams.html Best regards, Georg
Last updated: 2025-09-08

Post by gseidel on Use MC_Home without enabling the drive for homing method 35 ^{CODESYS Forge talk (Post)}
Hi Artur, as mentioned by imdatatas, homing when not enabled is not supported in SoftMotion. If enabling before homing is not an option, an alternative might be controller based homing using MC_SetPosition. Best regards, Georg
Last updated: 2025-09-08

Home (version 1) discussion ^{jparisella wiki (Thread)}
Home (version 1) discussion
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wiki Discussion ^{jrisilva wiki (Discussion)}
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blog Discussion ^{jrisilva blog (Discussion)}
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(no subject) ^{jrisilva wiki (Thread)}
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