CODESYS SoftMotion CNC+Robotics SL

CODESYS SoftMotion CNC+Robotics ist eine Zusatzoption für CODESYS-kompatible SoftSPS-Systeme. CODESYS SoftMotion CNC+Robotics erweitert den Funktionsumfang dieser Systeme von der reinen Logik- zur CNC-Bewegungssteuerung mit 3D-Interpolation bzw. zur Steuerungsplattform für Roboter mit definierten kinematischen Achsgruppen.

Version: 
4.6.0.0  
Artikelnummer: 
2305000001
100,00 € zzgl. MwSt
  • ab 4 zu je 95,00 € und Sie sparen 5%
  • ab 10 zu je 91,00 € und Sie sparen 9%
  • ab 25 zu je 85,00 € und Sie sparen 15%
  • ab 50 zu je 81,00 € und Sie sparen 19%

CODESYS SoftMotion CNC+Robotics SL

CODESYS SoftMotion CNC+Robotics SL

CODESYS SoftMotion CNC+Robotics ermöglicht die Steuerung koordinierter, räumlicher CNC- und Roboter-Bewegungen auf geeigneten CODESYS-kompatiblen SoftSPS-Systemen.


Funktionsweise:
  • Projektierung der Bewegung mit Hilfe von Bausteinen in Funktionsbibliotheken
  • Konfiguration der angesteuerten Antriebe mit der im CODESYS Development System integrierten Feldbusunterstützung
  • Parametrierung von Achsgruppen für vordefinierte Kinematiken in einem eigenen Objekt
  • Entkopplung der Applikationserstellung von der verwendeten Hardware durch Abstraktion der Antriebe über deren Namen bzw. dem Namen der Antriebsgruppe im Gerätebaum
  • Integrierte Bewegungsplanung:
    • mit 3D-CNC-Editor nach DIN 66025 (G-Code) bzw. tabellarischem Editor
    • mit Koordinatenwerten für Roboterpositionen in unterschiedlichen Koordinatensysteme

  • Abarbeitung der CNC- oder Roboterbewegung bzw. anderer Motion-Aufgaben im Laufzeitsystem auf der Steuerung zusammen mit der IEC 61131-3 Logikapplikation
  • Online-Editierung des CNC-Programms in der CODESYS Visualization

Typische Einsatzfälle von CODESYS SoftMotion CNC+Robotics:
  • Als Zusatzoption zu leistungsstarken CODESYS-kompatiblen Steuerungssystemen mit hartem Echtzeitverhalten (FPU empfohlen)
  • Eingelernte CNC-Bewegungen mit Anpassung durch den Bediener z. B. in Metall- oder Holzbearbeitungsmaschinen
  • Roboter-Systeme wie Scara- / Tripod- / Palettierroboter z. B. in der Montage- oder Bestückungsautomation

einklappen
Programmiersystem CODESYS Development System V3.5.9.50 oder höher
Laufzeitsystem CODESYS Control V3.5.5.0 oder höher
Unterstützte Plattformen/ Geräte
Alle von CODESYS unterstützten
  • echtzeitfähigen Betriebssystemplattformen
  • CPU-Plattformen mit verfügbarer FPU (Floating Point Unit)
  • Geräte mit integriertem Feldbus (EtherCAT, CAN/CANopen oder Sercos)

Hinweis: Verwenden Sie das Projekt Device Reader, um die von der Steuerung unterstützten Funktionen zu ermitteln. Device Reader ist kostenlos im CODESYS Store erhältlich.


Zusätzliche Anforderungen

WIBU Codemeter Unterstützung


CODESYS SoftMotion CNC+Robotics erfordert CODESYS SoftMotion als Basislizenz.


Einschränkungen -
Lizenzierung Lizenzaktivierung optional auf CODESYS Runtime Key oder CODESYS Soft Key (kostenloser Bestandteil der CODESYS Controls)
Erforderliches Zubehör Optional: CODESYS Runtime Key

Versionshistorie

Version Release Notes
Release date
4.6.0.0

Release Note

CODESYS SoftMotion 4.6.0.0 is a feature and bug-fix release.


Major bug-fixes

  • [SM-2116] SM: AutoMoveGantry: axis limit violation
  • [SM-2146] AxisGroup: Enable AxisGroup implicit code creation

24 minor bugs have been fixed.


Improvements

  • [SM-106] SM: AXIS_REF_ETC: make it possible to access the EtherCAT slave
  • [SM-644, SM-1236] SM_Drive_PosControl: it should be possible to adjust the parameters online by the iec application
  • [SM-2080] U-Pick: improve smoothness to reach more picks per minute
  • [SM-1973] When controller mode “nocontrol” is set, the SoftMotion driver will not write the cyclic outputs of the drive
  • [SM-2016] Robotics: allow to resume the programmed path after an error
  • [SM-2190] Scaling: new scaling view for linear motors
  • [SM-2191] Robotics: change default planning interval to 16 ms
  • [SM-2097] Robotics: improve blending if tangent and curvature matches
  • [SM-2211] Brake Control FB: Create a new Parameter to get the brake state

Supported drives

  • [SM-1967] CMZ LBD
  • [SM-2119] Updated driver for Panasonic MINAS A5B and MINAS A6B
  • [SM-2166] Updated driver for new firmware of Parker PSD

Compatibility Information

General

This version is compatible with CODESYS V3.5 SP9 Patch 5 and newer. However we recommend the newest patch level of CODESYS V3.5 SP15. Using axis groups in simulation-mode requires compiler version 3.5.10.40 or later.


Issues from version 4.6.0.0

  • [SM-2067] Infranor Xtrapuls: it is not possible to access the high 16 bit of the digital inputs and digital outputs Infranor Xtrapuls: The member variables wDigitalInputs and wDigitalOutputs of the SoftMotion axes are now of type DWORD instead of WORD. Updating these devices in existing projects can lead to new compile errors, if wDigitalInputs or wDigitalOutputs were assigned to WORD variables.
  • [SM-2080] U-Pick: improve smoothness to reach more picks per minute: Blending between path elements has been improved to enable faster and smoother pick&place operation. In particular, consecutive lines are now blended even if their direction is exactly opposite to each other (e.g. the down-movement followed by the up-movement of a typical pick&place cycle). To restore the behavior of SoftMotion versions before 4.6.0.0, set the flag bCPCompositeBlending of the structure SMC_AXIS_GROUP_COMPATIBILITY_OPTIONS to FALSE (input of MC_GroupEnable). Note: this change only affects non-tracking movements.
  • [SM-2191] Robotics: change default planning interval to 16 ms: The default for the robotics planning interval has been changed to 16 ms. The planning interval is an internal parameter of the robotics trajectory planner. The value determines the accuracy of the trajectory and the performance requirements of the planning algorithm. (Larger planning intervals lead to reduced performance requirements.) In earlier versions of CODESYS SoftMotion, the default for the planning interval was twice the bus task interval, but at least 4 ms. The planning interval can be changed using SMC_TuneCPKernel.

Known Limitations

  • [SM-1901] ETC Drives using modular slaves not working with CODESYS SP13 and SP14 if SlotIndexIncrement is not 0. The mapping of drive objects in the Scaling/Mapping page of SoftMotion drives is computed incorrectly for some EtherCAT slaves and CODESYS versions. This happens if (and only if) all of the following conditions are met:
    • The slave is a multi axis slave, and
    • the slave uses modules, and
    • the attribute SlotIndexIncrement (in the ESI file) of the axis modules is not 0, and
    • the CODESYS version is below 3.5.15.0.


Not released / Not tested

  • Device Application Support. The usage of axis groups in child applications is not supported. See SM-847. Not released.

09.09.2019
4.5.1.0

Release Note

CODESYS SoftMotion 4.5.1.0 is a patch release.


Major bug-fixes

  • [SM-2028] Path Invariant PTP: Deceleration is too high while blending
  • [SM-1979] Interaction AxisGroup/CP-Kernel: Reset may be ignored
  • [SM-2094] Path-invariant PTP: If cartesian position and orientation of dest is close to start, PTP_PI is not executed and assertion fails
  • [SM-2056] CP-Tracking: the axis group should be able to follow the PCS after starting the CP-Tracking kernel with a new movement
  • [SM-2112] CP-Tracking: Movement not finished
  • [SM-2117] CP-Tracking: Interrupt: possible null pointer exception
  • [SM-2126] MC_GroupContinue: possible error SMC_CP_ROTARY_AXIS_RANGE_VIOLATION

19 minor bugs have been fixed.


Improvements

  • [SM-1931, SM-2037, SM-1919, SM-2026] Support for multicore (CNC path task and robotics planning task may now be safely put to a different core)
  • [SM-1281] Robotics, Jogging: Enable path accurate jogging
  • [SM-1928] CNC_Visu: SMC_PathCopierFile should be able to deal with subprograms
  • [SM-1973] When controller mode “nocontrol” is set, the SoftMotion driver will not write the cyclic outputs of the drive

New supported drive

  • [SM-2065] New driver for Hitachi ADV series (EtherCAT)
  • [SM-655] CMZ IBD EtherCAT/CANopen firmware update to version 30

Compatibility Information

General

This version is compatible with CODESYS V3.5 SP9 Patch 5 and newer. However we recommend the newest patch level of CODESYS V3.5 SP14. Using axis groups in simulation-mode requires compiler version 3.5.10.40 or later.


Issues from version 4.5.0.0

  • [SM-668] Kin_Scara2_Z / Kin_Scara3_Z : dealing with (0/0). A change in behavior has been introduced in the following case: A scara robot is used, with equal lengths of arm 1 and arm 2, and a PTP movement is commanded to cartesian position (X=0, Y=0) (in MCS). Previously, the first axis (a0) would move to 0°. Now, the first axis will keep the value it had at the start of the movement. Background: The position (X=0, Y=0) can be reached by the scara robot in different axis positions. a1 needs to be 180° (or -180°), a0 can have an arbitrary angle. To resolve this ambiguity, we now choose the angle for a0 that it had at the start of the movement. This is consistent with the behavior of other transformations.
  • [SM-1820] Kin_Wrist3: Range of third axis violated. If the software position limits of the corresponding axis are deactivated, then Kin_Wrist3 is supposed to keep the values of its third axis inside [0; 360]. In contrast to previous versions, this works properly now. This affects Kin_ArticulatedRobot_6DOF, too, as Kin_Wrist3 is its tool kinematics.

Known Limitations

  • [SM-1901] ETC Drives using modular slaves not working with CODESYS SP13 and newer if SlotIndexIncrement is not 0. SoftMotion drives below modular EtherCAT slaves do not correctly determine the I/O mapping if the attribute “SlotIndexIncrement” in the ESI files of the slaves is not zero. Only affects CODESYS versions SP13 and newer. As a workaround, the I/O mapping may be entered manually in the Scaling/Mapping page of the SoftMotion drive.

Not released / Not tested

  • Device Application Support. The usage of axis groups in child applications is not supported. See SM-847. Not released.
  • ETC KEB H6 Dual. Due to problems with the test hardware, the driver could not be tested. Not tested.

06.05.2019
4.5.0.1

Release Note

CODESYS SoftMotion 4.5.0.1 is a hotfix release that fixes the following major bugs:
  • [SM-2062] PTP: Uninitialized variable leads to strange movements (accident introduced in 4.5.0.0)
  • [SM-2050] MC_TrackConveyorBelt: possible jump of PCS if belt is controlled by a modulo drive
  • [SM-2063] Kin_Staubli_TX60_Pos_RRR: error in Initializer, parameter d4 is assigned value of parameter d3 (accident introduced in 4.4.0.0)
  • [SM-2049] CP-Tracking: possible error SMC_CP_TRANSITION_NOT_SMOOTH when blending between different PCS with bImprovedSymmetricBlending
  • [SM-2052] CP-Tracking: when blending from different motion type (e.g. different PCS), creation of orientation blending may fail

Compatibility Information

General

This version is compatible with CODESYS V3.5 SP9 Patch 5 and newer. However we recommend the newest patch level of CODESYS V3.5 SP14. Using axis groups in simulation-mode requires compiler version 3.5.10.40 or later.


Issues from version 4.5.0.0

  • [SM-668] Kin_Scara2_Z / Kin_Scara3_Z : dealing with (0/0). A change in behavior has been introduced in the following case: A scara robot is used, with equal lengths of arm 1 and arm 2, and a PTP movement is commanded to cartesian position (X=0, Y=0) (in MCS). Previously, the first axis (a0) would move to 0°. Now, the first axis will keep the value it had at the start of the movement. Background: The position (X=0, Y=0) can be reached by the scara robot in different axis positions. a1 needs to be 180° (or -180°), a0 can have an arbitrary angle. To resolve this ambiguity, we now choose the angle for a0 that it had at the start of the movement. This is consistent with the behavior of other transformations.
  • [SM-1820] Kin_Wrist3: Range of third axis violated. If the software position limits of the corresponding axis are deactivated, then Kin_Wrist3 is supposed to keep the values of its third axis inside [0; 360]. In contrast to previous versions, this works properly now. This affects Kin_ArticulatedRobot_6DOF, too, as Kin_Wrist3 is its tool kinematics.

Known Limitations

  • [SM-2028] Path Invariant PTP: Deceleration is too high while blending. Blending between movements commanded with MC_MoveDirectAbsolute/Relative and other movements decelerates too much, if the movement type “Path_Invariant” is used. The movement type “Fast” is not affected. This problem already affects version 4.4.0.0, where the movement type “Path_Invariant” has been introduced.
  • [SM-1901] ETC Drives using modular slaves not working with CODESYS SP13 and newer if SlotIndexIncrement is not 0. SoftMotion drives below modular EtherCAT slaves do not correctly determine the I/O mapping if the attribute “SlotIndexIncrement” in the ESI files of the slaves is not zero. Only affects CODESYS versions SP13 and newer. As a workaround, the I/O mapping may be entered manually in the Scaling/Mapping page of the SoftMotion drive.

Not released / Not tested

  • Multicore Support: All SoftMotion tasks must run on the same core. See SM-1155 and SM-1005. Not released.
  • Device Application Support. The usage of axis groups in child applications is not supported. See SM-847. Not released.
  • ETC KEB H6 Dual. Due to problems with the test hardware, the driver could not be tested. Not tested.

08.04.2019
4.5.0.0

CODESYS SoftMotion 4.5.0.0 is a quality and bug-fix release. Test coverage has been substantially extended and many problems have been fixed.


Improved blending

  • [SM-1936] Improved blending elements and more accurate planning leads to improved blending when using MC_MoveLinearAbsolute/Relative and MC_MoveCircularAbsolute/Relative.
  • [SM-1775] Better blending at the beginning of a movement-sequence. Trajectory planning is delayed if the second movement of a sequence is not commanded in the same cycle of the bus task. This enables full blending of, for example, a pick and place sequence.

Other improvements

  • [SM-1280] Allow an axis range of more than 360° for axis 1 and 4 of the 6-axis articulated robot (Kin_ArticulatedRobot_6DOF).
  • [SM-1857] Buffered PTP movements (MovementType “Fast”) now show the exact target position of the movement for at least one cycle.
  • [SM-358] New visualization template and function block SMC_StartupAxisGroup for convenient and fast commissioning of axis groups.
  • [SM-1441] Better diagnosis of the axis group: new function block SMC_GroupReadPlanningStatistics.

New supported drive

Support for Yaskawa Sigma 7 series.


Major bug-fixes

  • [SM-1904] Too much vibration in specific movement sequence due to blending of lines with a very sharp angle (175°)
  • [SM-1895] Error SMC_AXIS_LIMIT_VIOLATION in specific movement sequence due to blending of lines with sharp angles (167°)
  • [SM-1925] Potential error SMC_AXIS_LIMIT_VIOLATION when blending between PTP movements and blending is limited by half of the element length
  • [SM-1814] Potiential problems with SDOs of EtherCAT slaves if many slaves are used
  • [SM-1971] SMC_ReadNCFile2 may get stuck (make no progress) if the g-code contains many expressions
  • [SM-1789] Long compile times in projects with a huge expanded library graph due to SoftMotion compile checks
  • [SM-1822] Missing DLL files (GAC assemblys) in package

46 minor bugs have been fixed.


07.02.2019
4.4.0.2

CODESYS SoftMotion 4.4.0.2 is a hotfix release.


It fixes the accident SM-1825, introduced in CODESYS SoftMotion 4.4.0.0, which may cause problems during installation of the SoftMotion package.


26.09.2018
4.4.0.1

CODESYS SoftMotion 4.4.0.1 is a hotfix release.


It fixes the accident SM-1814, introduced in CODESYS SoftMotion 4.4.0.0, which may cause problems during startup or acyclic communication of EtherCAT drives.


We recommend to update from CODESYS SoftMotion 4.4.0.0 to CODESYS SoftMotion 4.4.0.1.


07.09.2018
4.4.0.0

CODESYS SoftMotion 4.4.0.0 is a feature and bug-fix release.


Robotics Features
  • New movement type Path-invariant PTP: PTP movement whose path does not depend on the override and is not left in case of halt or interrupt
  • New function block SMC_GroupWait: Support for programmed waiting on the path
  • MoveLinear/MoveCircular: Reduction of jerk oscillations by adaptive planning intervals
  • MoveLinear/MoveCircular: Improved blending:
    • Optimized creation of blending-splines in case of asymmetric cut distances
    • In case of TransitionMode TMStartVelocity: Considering path geometry and dynamic axis limits at determination of blending points

  • Support for MoveLinear-/MoveCircular-movements with cartesian length 0 (or very small) and a change in orientation
  • Compatibility options: Enabling the user to deactivate recently released or upcoming improvements/bug-fixes that affect the resulting paths

CNC Features
  • Support for subprograms in G-code, including display of the callstack at interpretation- and interpolation-time
  • Support for expressions in G-code, including mathematical and boolean expressions as well as user-defined functions
  • Support for local variables in G-Code

Major bug-fixes
  • [SM-1511] CNC: Exception when using the method SetDelimiters of FB SMC_NCTokenizer
  • [SM-1519] Editors: Unhandled exception in automatic device import from fieldbus scan
  • [SM-1528] CNC: SMC_ToolRadiusCorr: possible error SMC_CNC_INTERNAL_ERROR
  • [SM-1538] Basic: Possible access violations during reconfiguration of EtherCAT master
  • [SM-1714] Basic/Robotics: Possible endless loop
  • [SM-1719] Basic: Unintended movement after quick stop
  • Accident [SM-1745] Robotics: SMC_GroupConvertPosition: conversions MCS -> ACS and WCS -> PCS not correct if MCS != WCS
  • [SM-1746] Robotics: CP: Using incorrect reference position for kinematic transformation
  • [SM-1778] Drivers: Parker SBC: Exception on RTE 64-BitCompatibility information

56 minor bugs have been fixed.


We recommend to update from CODESYS SoftMotion 4.3.2.0 (or earlier) to CODESYS SoftMotion 4.4.0.0.


29.08.2018
4.3.2.0

CODESYS SoftMotion 4.3.2.0 is a bug-fix release.


The following major bugs have been fixed:

- Accident SM-1645: Possible axis jump or error SMC_CP_NON_CONTINUABLE_STATE if orientation mode “Axis” is used with kinematics Kin_Scara3_Z. Introduced in version 4.3.0.0.

- Accident SM-1629: Missing initialization for Staubli kinematics. The Staubli Scara and 6-Axis robot kinematics did not work correctly due to an accident in version 4.3.0.0.

- Accident SM-1626: Possible memory overwrite during blending. Introduced in version 4.3.0.0.

- Accident SM-1543: Parker Compax 3: Invalid mapping of drive specific digital input object 16#6100:01 to in.dwDigitalInputs. Introduced in version 4.3.0.0

- SM-1458: EtherCAT drives using modular slaves (like EtherCAT_Stoeber_SI6_SC6) are not working with EtherCAT_Master versions >= 3.5.11.0.

- SM-1600: Robotics: too strict check of fSetJerk in AXIS_GROUP_REF_SM3.CheckSetValueLimits.

- SM-1575: SMC_ToolRadiusCorr: error SMC_CNC_INTERNAL_ERROR

- SM-1608: Possible oscillations of jerk and acceleration if dynamics are high and path planning interval is long.

- SM-1628: Possible FPU invalid operation exception on linux PLCs

Additionally, support for rotary axes with an axis range of more than 360° has been improved (SM-1531). It is now possible to command a linear or circular movement that crosses the period boundary of a rotary axis.


We recommend to update from CODESYS SoftMotion 4.3.1.0 (or earlier) to CODESYS SoftMotion 4.3.2.0.


06.03.2018
4.3.1.0

CODESYS SoftMotion 4.3.1.0 is a bug-fix release.

The following major bugs have been fixed:

- Accident SM-1501: The forward transformation of Kin_Scara2_Z and Kin_Scara3_Z does not correctly consider dOffsetA1, dOffsetA2, and dOffsetA2.

- Accident SM-1503: Online change although the project has not changed.

- Bug SM-1506: Possible CNC access violation due to a problem in SMC_SetQueueCapacity.

- Bug SM-1508: Closing the CNC editor and immedatly closing the project may crash Codesys.

We recommend to update from SoftMotion 4.3.0.0 to SoftMotion 4.3.1.0.

16.11.2017
4.3.0.0 CODESYS SoftMotion 4.3.0.0 is a feature and bug-fix release.

New features of CNC function blocks:
- Support for tool-length compensation (G43)
- Support for rotated and scaled coordinate systems in the G-Code (G53 .. G56)
- Tool radius correction in arbitrary planes and 3D mode (G41, G42)
- Configurable tolerances for arc segments (G2, G3)

New Robotics features:
- Jogging of axis groups in product coordinate system (PCS) and tool coordinate system (TCS)
- Support for orientation mode Axis for Scara and 6-axis robot kinematics

New drivers:
- Panasonic MINAS A6B (EtherCAT)
- Stäubli robots via uniVal (EtherCAT)

About 50 bugs have been fixed.
26.10.2017
4.2.2.0 CODESYS SoftMotion 4.2.2.0 is a bug-fix release. It contains about 15 bug-fixes and features drivers for Bonfiglioli iBMD. 07.08.2017
4.2.1.2 This version contains changes to make it work with CODESYS V3.5 SP11 64-Bit. The motion libraries have not changed compared to version 4.2.1.1. 17.07.2017
4.2.1.1 This version fixes a major bug that can occur when reading G-Code files with the function block SMC_ReadNCFile. 15.05.2017
4.2.1.0 CODESYS SoftMotion 4.2.1.0 is a bug-fix release.

- Robotics: New Function Block MC_GroupSetPosition
- Robotics: Support for event-triggered bus tasks
- PLCopen conformance improvements: MC_PositionProfile, MC_VelocityProfile, MC_AccelerationProfile set axis state now in conformance with PLCopen MC Part 1
- Axis groups can now be used in simulation (with a compiler version >= 3.5.10.40)
- More than 20 bug fixes
04.05.2017
4.2.0.0 New Features:
- Support of MC_GroupSetOverride
- Support of MC_ GroupInterrupt and MC_ GroupContinue
- Robotics: New mode for CP orientation interpolation

Improvements:
- Robotics: Cartesian jogging of X/Y/Z and jogging the orientation axes in axis space.
- Robotics: New function block SMC_GroupTargetPosition
- Basic: Improved software limit reaction: brake before limit

About 60 Bugfixes.
06.04.2017
4.1.1.0   14.12.2016
4.1.0.0   17.11.2016

Weitere Produkte:

CODESYS SVN

CODESYS SVN

Auf die Merkliste
CODESYS UML

CODESYS UML

Auf die Merkliste
CODESYS Profiler

CODESYS Profiler

Auf die Merkliste

Schreiben Sie Ihre eigene Kundenmeinung

Nur registrierte Benutzer können Bewertungen abgeben. Bitte melden Sie sich an oder registrieren Sie sich