Hallo, beim Wechsel von welcher CODESYS Version auf welche neue Version ist das Problem denn entstanden? Haben Sie im PLC-Log mal geschaut, ob ein Log-Eintrag geschrieben wird dass die Daten gespeichert werden, wenn Sie eine persistente Variable geändert haben? Funktioniert es, wenn sie periodisches Speichern aktivieren? Ist mit der Task-Zuordnung im Projekt alles in Ordnung? Viele Grüße, Georg Seidel
Hi, I think the root error is "FBError Drive=2: 116 An active mvt-FB is called after MC_MoveSuperImposed". Please double-check the order of calls in your CFC program and make sure that MC_MoveSuperImposed is called after MC_GearIn. (Use the "Display Execution order" command from the context menu to check.) Best regards, Georg
Hi jmarshal9120, MC_Phasing cannot be used on the same master and slave as MC_GearIn. Your idea with the virtual axis is good, however, as mentioned here , please use the virtual axis as the slave of MC_Phasing and the master of MC_GearIn. Two other points: you should only use one instance of MC_GearIn, and you need MC_Power for the virtual axis.  https://content.helpme-codesys.com/en/libs/SM3_Basic/Current/SM3_Basic/POUs/Movement/MasterSlave/MC_Phasing.html Best regards, Georg
Hi jmarshall9120, can you please have a look in the PLC log? There you can see all the errors that happened in their order of appearance. In your case, I'm guessing the MC_GearIn function block has an error. Best regards, Georg
Hi ByCNC, here is the automatic translation of your comment, as I do not understand turkish: <<< Hello Georg, You've helped me before and I'm grateful for that. I have a new problem maybe you can take it? Currently there is excessive vibration on the X-Y axes when doing radius operation with CNC Interpolation. The value of "bdAngleTol" to smooth the radius. Even if I manage to smooth the path, this path reveals excessive pulsating motion. Can you have an idea for this? Thank you. Are you using SMC_ToolRadiusCorr?...
Hi, no, it is not possible to change the link twist for SMC_Trafo(F)_ArticulatedRobot_6DOF. If the robotics kinematics Kin_ArticulatedRobot_6DOF uses the convention for link twist you expect, you could wrap it into two FBs with the same inputs/outputs as SMC_Trafo(F)_ArticulatedRobot_6DOF and use these FBs with your CNC application. Georg