CODESYS Softmotion

Ab 100,00 €

Bis 475,00 €

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Aktuelle Version
4.10.0.0
SKU
Bundle-SoftMotion

CODESYS SoftMotion ist eine Zusatzoption für CODESYS-kompatible SoftSPS-Systeme. SoftMotion erweitert den Funktionsumfang dieser Systeme von der reinen Logik- zur Bewegungssteuerung mit optionaler Unterstützung für CNC und Robotik.

Produktbeschreibung

Lizenzierung:

Einzelgerätelizenz

CODESYS SoftMotion ermöglicht die Steuerung einzelner Achsen und synchronisierter Master/Slave Bewegungen wie Kurvenscheiben.

CODESYS SoftMotion CNC+Robotics ermöglicht die Steuerung von CNC-Maschinen und Industrierobotern.

CODESYS SoftMotion Light ermöglicht die einfache Bewegungsteuerung (nicht-synchrone Einachsbewegungen) von CiA 402-kompatiblen Antrieben.

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)

  • Ansteuerung ein- oder mehrachsiger Verfahrbewegungen, z. B. mit Positions- und Geschwindigkeitsvorgaben, Getriebefunktionen oder Phasenansteuerungen

  • Realisierung von Kurvenscheiben oder virtuellen Königswellen

  • Vordefinierte 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

Anmerkung zu SoftMotion Light: Im Gegensatz zu SoftMotion und SoftMotion CNC+Robotics erfolgt die Berechnung der gewünschten Achsenbewegung nicht in der Steuerung. Mit SoftMotion Light werden die Bewegungen von der Steuerung lediglich kommandiert und überwacht (Status). Die zyklische Sollwertvorgabe und die Trajektorien-Berechnung erfolgt im Antrieb. SoftMotion Light SL eignet sich für Anwendungen mit vielen Antrieben zur Ausführung von einfachen Einachsbewegungen und für Steuerungsaufgaben, die eine geringe Bus- und Rechenlast (CPU) erfordern.

Requirements

Programmiersystem

CODESYS Development System V3.5.11.0 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)

Zusätzliche Anforderungen

WIBU Codemeter Unterstützung

SoftMotion CNC+Robotics erfordert CODESYS SoftMotion als Basislizenz.

SoftMotion Light unterstützt CiA 402-kompatibler Antriebe mit CANopen oder EtherCAT. Die Überprüfung der Kompatibilität des Antriebs kann mit Hilfe des Testprojekts „SML_CompatibilityCheck_DS402.project“ erfolgen

Einschränkungen

-

Lizenzierung

Einzelgerätelizenz: Die Lizenz kann auf der Steuerung, auf dem das CODESYS Laufzeitsystem installiert ist, verwendet werden.

Die Lizenzaktivierung erfolgt auf einem softwarebasierten Lizenz-Container (Soft-Container), der fest an die Steuerung gebunden ist. Alternativ kann die Lizenz auf einem CODESYS Key (USB-Dongle) hinterlegt werden. Durch Umstecken des CODESYS Keys kann die Lizenz auf einer anderen Steuerung genutzt werden.

Erforderliches Zubehör

Optional: CODESYS Key

Support


CODESYS GmbH

A member of the CODESYS Group

Memminger Straße 151
D-87439 Kempten
Germany

sales@codesys.com

Dieses Produkt beinhaltet ein Support-Ticket für die Nutzung innerhalb eines Jahres nach dem Kauf. Um Ihre Support-Anfrage zu stellen, verwenden Sie bitte unser Kontaktformular und geben Sie Ihre Bestellnummer und eine kurze Beschreibung des Problems an.

Für Pre-Sales-Anfragen verwenden Sie bitte ebenfalls das Kontaktformular.

Lieferant


CODESYS GmbH

A member of the CODESYS Group

Memminger Straße 151
D-87439 Kempten
Germany

sales@codesys.com

Zusätzliche Downloads

Versionen

Version History

Version Release Notes
Release Date

Release Note

CODESYS SoftMotion 4.10.0.0 improves the robotics jogging function blocks and contains bug fixes.

New Features and Improvements

  • [SM-2805] Robotics: Improve jogging

    • [SM-2779] SMC_GroupJog/ SMC_GroupJog2: Make it possible to jog around the X/Y/Z axis in TCS

    • [SM-2854] Improve jogging of orientation

    • [SM-2873] SMC_GroupJog2: remove/deprecate input OrientationMode

    • [SM-2883] SMC_GroupJog/SMC_GroupJog2: Improve FB documentation

    • [SM-2890] Jogging FB visus: update visu templates

    • [SM-2892] SMC_GroupJog2: Improve accuracy of reported error messages

  • [SM-2876] Robotics: SMC_GroupInterruptAt

    • [SM-2893] Robotics: SMC_GroupInterruptAt: New FB and visu template

    • [SM-2894] Robotics: SMC_GroupInterruptAt: Extend the CP planner to notify the fineinterpolator about the interrupt position in the sample queue

    • [SM-2895] Robotics: SMC_GroupInterruptAt: Implementation in CP planner

  • [SM-2899] CP, Planner: Improve debug and diagnosis functions

  • [SM-2909] DeviceEditorSoftMotion: add interface that allows third party EtherCAT configurators to provide the PDO mapping for slaves

Major Bug-Fixes

  • [SM-2472] SM3_Drive_CAN_Infranor and SM3_Drive_ETC_Infranor: SetPosition increases on Hardware Limit

  • [SM-2737] SMC_GroupJog2: Orientation mode Axis and ABC_as_ACS do not work in cartesian coordinate systems other than MCS

  • [SM-2907] “Enable SoftMotion” hides other connectors in PLC device

Minor Bug-Fixes

  • [SM-253] SM3_Drive_CAN_Schneider_Lexium32: FB ReInitDrive does not work when MC_ReadAxisError is busy

  • [SM-2369] SM3_ETC_ITF: Startup SDOs not correctly added to list

  • [SM-2771] SMC_GroupJog2: Jogging in TCS is erroneous

  • [SM-2772] SM3_Robotics_Visu: ComboBox entries not selectable + improvements for jogging

  • [SM-2777] SMC_GroupJog: Jogging in TCS with ABC_as_ACS does not work

  • [SM-2799] SMC_GroupJog2: Cartesian coordinate system and ABC_as_ACS = FALSE: orientation axes may rotate in unexpected direction

  • [SM-2802] SMC_GroupJog2: “AutomaticRotaryPeriods” are not considered

  • [SM-2834] CP-Tracking: axis limit violation with composite blending for orientation elements

  • [SM-2852] Part 1 function blocks: Done, Error and CommandAborted output is not immediately reset on Execute = FALSE

  • [SM-2860] SMC_GroupJog2: maxAngularDistance 360 deg behaves like 0 deg, 359 deg and 361 deg behave unexpectedly

  • [SM-2870] CP: planner may not accept any movements in case of m_ErrorIDNewMovement <> SMC_NO_ERROR

  • [SM-2875] CNC: SMC_NCTokenizer: tokenizer does not react correctly to stream.EOS

  • [SM-2882] SMC_GroupJog2: jogging X/Y/Z in TCS results in error SMC_CP_CONFIGS_DIFFER frequently

  • [SM-2897] Robotics: wrong check of axis limits for orientation mode axis and jogging with ABC_as_ACS = TRUE

  • [SM-2905] Possible null-reference exception in FindParentETC_Slave FindParentETC_Slave

  • [SM-2906] SMC_DSP402_ConvertReceivedParameter: status word of previous cycle is used

  • [SM-2926] Possible assertion when resuming with MC_GroupContinue after MC_GroupStop

  • [SM-2927] MC_GroupContinue during active MC_GroupStop results in AXIS_LIMIT_VIOLATION

Compatibility Information

General

This version is compatible with CODESYS V3.5 SP11 and newer. However we recommend the newest patch level of CODESYS V3.5 SP16.

  • [SM-2852] Part 1 function blocks: Done, Error and CommandAborted output is not immediately reset on Execute = FALSE

    We fixed an accident introduced in version 4.7.0.0 with SM-2086 for our single axis and master/slave motion function blocks such as MC_MoveAbsolute. On a falling edge of the Execute input, the outputs Done, Error, and CommandAborted would stay TRUE for one more cycle. With this fix, we restored the correct behavior. Now the Done, Error, and CommandAborted outputs are reset immediately with the falling edge of Execute. This is the behavior of versions prior to 4.7.0.0.

  • [SM-2854] Improve jogging of orientation

    Jogging of the orientation with the function blocks SMC_GroupJog and SMC_GroupJog2 has been improved. The behavior has changed only for the case that the input ABC_as_ACS is FALSE.

    Previously, the ZYZ euler angles were jogged, leading to unpredictable and unintuitive reorientation movements. The improved behavior is as follows: A will rotate the TCP around the X-axis of the configured coordinate system (MCS, WCS, PCS, or TCS). B and C will rotate the TCP around the Y- and Z-axis of that same coordinate system.

  • [SM-2873] SMC_GroupJog2: remove/deprecate input OrientationMode

    The input SMC_GroupJog2.OrientationMode has been deprecated and will be removed in a future version. Please adapt your code accordingly. If ABC_as_ACS is TRUE, then internally the orientation mode “Axis” is used. Otherwise, orientation mode “GreatCircle” is used.

  • [SM-2885] SMC_GroupJog2: Negative MaxLinear/AngularDistance reverses the jogging direction

    The function block SMC_GroupJog2 now creates the error SMC_GROUPJOG2_MAX_DISTANCE_NON_POSITIVE if either (or both) of the inputs MaxLinearDistance and MaxAngularDistance is non-positive.

Known Limitations

  • [SM-2314] MC_GroupStop/MC_GroupHalt, CP: immediate braking with given dynamic limits MC_GroupHalt of CP movements cannot be aborted. A subsequent movement is always treated as buffered.

  • [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.

Information from JIRA

To read up on implemented features and changes you can use your JIRA account. Please find some example filters below.

List of features and changes:

project = “CODESYS SoftMotion” AND fixVersion = 4.10.0.0

List of issues with compatibility information:

project = “CODESYS SoftMotion” AND fixVersion = 4.10.0.0 AND (text ~ COMPATIBILITY_INFORMATION OR text ~ KNOWN_LIMITATIONS)

24.02.2021

Release Note

CODESYS SoftMotion 4.9.0.0 brings important bug fixes and improvements.

Improvements

  • [SM-2712] Make SoftMotion work on PLCs with all target types, not only the SoftMotion target type 16#1006

  • [SM-2619] Kin_Wrist2: allow an offset in x, y and z between first axis of rotation (A) and second axis of rotation (B)

  • [SM-2610] Kin_Wrist2: allow tool offsets in X/Y with SMC_GroupSetTool if flange of position kinematics is constant

  • [SM-2617] Kin_ArticulatedRobot_6DOF: extend kinematics to support axis offsets

  • [SM-2711] Make it possible to filter log messages of SoftMotion by logger class

Major bug-fixes

  • [SM-2781] SM3_Drive_ETC: SDO read and write FBs don’t receive falling edge on xExecute after xDone/xError. This can lead to axes not working if many EtherCAT drives are used and many SDO requests are issued. (E.g. an application with 50 drives where the mode of operation and mode of operation display objects are not mapped by PDO.)

  • [SM-2710] SMC_ToolRadiusCorr computes wrong path if lines are orthogonal

  • [SM-2704] CPTR: Assertion Failure in GetPose of Kernel_CPTR

  • [SM-2671] MC_TrackConveyorBelt does not support logical axes

  • [SM-2670] Wrong Velocity calculation in driver for Delta ASDA A3 and B3

20 minor bugs have been fixed.

Supported drives

  • [SM-2826] Support for Bosch Rexroth Indradrive (EtherCAT, CoE)

  • [SM-2675, SM-2679] Delta IO – R1-EC5621: touch probe support, set the correct input pulse mode on the drive startup

  • [SM-143] Schneider Lexium32 CAN+EtherCAT: update to new device description and firmware (V01.28.03)

  • [SM-2782] Infranor PAC, CMZ LBD: Log messages about capture channels should be DEBUG, not INFO

  • [SM-2778] Schneider Lexium 28: Bugfix: no reset possible after homing is interrupted by a limit switch

  • [SM-2722] Parker Compax3: Log messages about startup SDOs and firmware info should be DEBUG, not INFO

  • [SM-2651] Parker PSD: Update to new device description

  • [SM-2167] Panasonic A6B: Update to new ESI file and integrate the drive

Compatibility Information

General

This version is compatible with CODESYS V3.5 SP11 and newer. However we recommend the newest patch level of CODESYS V3.5 SP16.

  • [SM-2712] Make SoftMotion work on PLCs with all target types, not only the SoftMotion target type 16#1006. SoftMotion can now be used on standard PLCs. This means that SoftMotion objects such as Cam tables, CNC programs, and axis groups can be added to standard PLCs. For a standard PLC, SoftMotion is initially not enabled. It can be enabled using a new command “Enable SoftMotion” or by adding a SoftMotion object or drive. Once it is enabled, the SoftMotion libraries will be added to the library manager automatically, just like for a SoftMotion PLC. A “General Axis Pool” for virtual axes, free encoders and position controllers will be inserted below the PLC device. Note that an update from an existing SoftMotion PLC to a standard PLC is now possible without losing the “General Axis Pool” and the axes configured there. During the update, SoftMotion will be enabled for the standard PLC and the “General Axis Pool” will be preserved.

  • [SM-2819] Issuing a CP movement when the axis group is following the PCS and no movement is active results in error. As long as an axis group follows a dynamic coordinate system, the group state will remain “GroupMoving”. This is in contrast to previous versions, where the axis group would switch to state “GroupStandby” if it was in standstill relative to the moving coordinate system.

  • [SM-2817] SMC_GroupEnableResumeAfterError: there should be an Active output signaling that continue data is being written. If a falling edge of the input SMC_GroupEnableResumeAfterError.Enable is commanded while the continue data is being written (output Active = TRUE), then the continue data will not be valid. A falling edge of Enable can only be safely commanded once the output Active changes to FALSE. This happens once the continue data has been completely written.

Known Limitations

  • [SM-2314] MC_GroupStop/MC_GroupHalt, CP: immediate braking with given dynamic limits MC_GroupHalt of CP movements cannot be aborted. A subsequent movement is always treated as buffered.

  • [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.

Information from JIRA

To read up on implemented features and changes you can use your JIRA account. Please find some example filters below.

List of features and changes:

project = “CODESYS SoftMotion” AND fixVersion = 4.9.0.0

List of issues with compatibility information:

project = “CODESYS SoftMotion” AND fixVersion = 4.9.0.0 AND (text ~ COMPATIBILITY_INFORMATION OR text ~ KNOWN_LIMITATIONS)

15.12.2020

Release Note

CODESYS SoftMotion 4.8.0.0 brings important bug fixes and support for more drives.

Major bug-fixes

  • [SM-2501] Kin_Tripod_Rotary, SMC_TRAFO_Tripod_Arm, and SMC_TRAFOF_Tripod_Arm: MCS not documented properly

  • [SM-2584] CP, Halt/Stop: Vel, Acc and JerkFactor are applied twice

  • [SM-2605] MC_Moverelative that finishes in one cycle may output wrong target position

  • [SM-2615] MC_Home: possibly wrong fSetPosition after homing if a 32-bit overflow has occurred

  • [SM-2618] SMC_GroupJog2: Algorithm for finding the working space limits does not work correctly

  • [SM-2631] SMC3_CiA_DSP402_StateMachine: State machine may get stuck if SET_OPMODE times out

12 minor Bugs have been fixed.

Supported drives

  • [SM-2633] New driver for Delta remote IO - R1-EC5621

  • [SM-2417] New driver for Beckhoff EL7041 and EL7047

Compatibility Information

General

This version is compatible with CODESYS V3.5 SP11 and newer. However we recommend the newest patch level of CODESYS V3.5 SP16.

The use of the operator __CHECKLICENSEBIT() (necessary for SM-2571) made it necessary to require at least version 3.5.11.0 of CODESYS. As a consequence, the minimum supported CODESYS version has been increased from 3.5.9.50 to 3.5.11.0.

Known Limitations

  • [SM-2314] MC_GroupStop/MC_GroupHalt, CP: immediate braking with given dynamic limits MC_GroupHalt of CP movements cannot be aborted. A subsequent movement is always treated as buffered.

  • [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

10.08.2020

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