Dr. No

On the official Codesys store page of the BeagleBone, it says that a CAN-Cape is necessary for using CANopen. (https://store.codesys.com/en/codesys-control-for-beaglebone-sl.html). If I understood correctly, they are referring to a Comms Cape like this one (https://github.com/beagleboard/capes/tree/master/beaglebone/Comms) I know this might sound like a stupid question, but do I need a CAN-Cape for the Raspberry Pi as well, if I want to use the CANopen Protocol? (and if yes, which Cape do I need...

My setup is a tracked mobile robot which needs to be controlled using a PLC. For numerous reasons, it is necessary to have a decentralized computing unit (e.g. located in the office) which sends the commands to the tracked robot. The computing unit runs on an industrial Soft-PLC (in our case "CODESYS Control WIN"). The basic idea is, that the decentralized unit does the heavy computing and the local unit is just a proxy (i.e. "Read Sensor Data and send it to decentralized unit" as well as "Get Controls...

My setup is a tracked mobile robot which needs to be controlled using a PLC. For numerous reasons, it is necessary to have a decentralized computing unit (e.g. located in the office) which sends the commands to the tracked robot (see Sketch). The computing unit runs on an industrial Soft-PLC (in our case "CODESYS Control WIN") Question is: How is it possible to do this kind of decentralized setup using Codesys?

OK, it's actually quite easy. If I'm not mistaken one has to do the initialization in the "Var" Section, like VAR PID_FrwBack: Ctrl.Controller_PID := (lrKP := 10); END_VAR

In B&R Automation Studio, the initialization would be something like: PROGRAM _INIT (* PID parameters *) PID_FrwBack.PIDParameters.Gain := 0.5; PID_FrwBack.PIDParameters.IntegrationTime := 0.7; PID_FrwBack.PIDParameters.DerivativeTime := 0.3; PID_FrwBack.PIDParameters.FilterTime := 0.03; END_PROGRAM PROGRAM _CYCLIC // ------------------------------------------------- // PID_FrwBack - Forwart/Backwart PID Controller // ------------------------------------------------- PID_FrwBack.SetValue := iSetVal;...

In B&R Automation Studio, the initialization would be something like: PROGRAM _INIT (* PID parameters *) PID_FrwBack.PIDParameters.Gain := 0.5; PID_FrwBack.PIDParameters.IntegrationTime := 0.7; PID_FrwBack.PIDParameters.DerivativeTime := 0.3; PID_FrwBack.PIDParameters.FilterTime := 0.03; END_PROGRAM PROGRAM _CYCLIC // ------------------------------------------------- // PID_FrwBack - Forwart/Backwart PID Controller // ------------------------------------------------- PID_FrwBack.SetValue := iSetVal;...

Dear Colleagues, There is a very nice description how to setup a BeagleBone for CANopen in the Product Data Sheet (https://store.codesys.com/codesys-control-for-beaglebone-sl.html). However the description is for the depreciated "Beaglebone CAN Cape". Therefore I wonder how it is possible to set up the CANopen network on the new "BeagleBone Comm Cape" (https://github.com/beagleboard/capes/tree/master/beaglebone/Comms)? Thank you very much for your replies!

Dear Colleagues, I would like to test, if my slave ECU (B&R X20IF1043-1) is configured correctly on the CANBus (CANOpen). Luckily, I have the Codesys-Project from the Master (Topcon Opus A3), however, I don't have the master hardware. Is there a way to connect the hardware of the slave (B&R X20IF1043-1) to the Codesys Master Project (Maybe using the PCAN USB)? So that I can see the input coming from the slave, if I simulate the Master Project in Codesys? Thank you for your reply! The links for the...