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Release Note CODESYS SoftMotion 4.16.0.0 introduces override functionality for single axis function blocks in the form of the function block MC_SetOverride. In addition, there are new examples for interrupt/continue and override and numerous small improvements and bug fixes. New Features and Improvements [SM-137] Create function block MC_SetOverride [SM-3442] Improve documentation for table units in Cam tables [SM-4116] Explain the parameter fPlanningInterval of SMC_TuneCPKernel in more detail [SM-4355] SMC_XInterpolator: support intersection of helix with arbitrary planes [SM-4444] Documentation: Create an example for Interrupt and Continue [SM-4587] Updating the SoftMotion profile should remove any placeholder redirections for SoftMotion libraries [SM-4622] Change Company and Author of SoftMotion libraries in SoftMotion profile [SM-4656] Reduce the memory usage of the axis group by reducing the evaluation cache size [SM-4658] SM3_Transformation: Document position and orientation of the flange frame for all kinematics [SM-4704] Update company, vendor, and author for modified SoftMotion libraries and device descriptions [SM-4822] Fix touch probe Problem for CMZ SBD COE Major Bug-Fixes [SM-4678] Axis group: Potential FPU invalid operation exception [SM-4725] Axis group, Trigger: Trigger on asymmetric blending elements are projected to an unexpected position [SM-4727] Triggers are not saved in the continue data after MC_GroupHalt with ClearMovements=FALSE [SM-4731] CNC: Unhandled exception when using Interface Language Chinese and ‘Analyze dynamics’ in CNC editor [SM-4793] MC_CamIn: Ramping in starts with a positive acceleration if the slave axis is accelerating in negative direction Minor Bug-Fixes [SM-3979] SMC_MoveContinuousAbsolute/Relative: AdaptEndVelToAvoidOvershoot does not work correctly with trapezoidal velocity profile [SM-4481] Multi axis slave: Invalid mapping when deleting the address of an object from the second or higher axes and activating automatic mapping afterwards [SM-4554] SM3_Depictor: error when using SMC_R_Depictor_Gantry3 with SMC_R_Depictor_Wrist2 [SM-4584] Tracking: Rotary axis jumps into a different period after MC_GroupContinue [SM-4592] SMC_CP_TRAJECTORY_NOT_SMOOTH while jogging [SM-4612] MC_CamTableSelect: The checks for non-equidistant point tables do not use the correct offset and scale [SM-4627] AXIS_REF_SM3: wrong parameter number for fSetTorque in documentation (1153 instead of 1160) [SM-4636] SMC_CamRegister: Documentation is unclear [SM-4650] FREE_ENCODER_REF: there is no input to pass the information that the position in increments is valid [SM-4684] SM3_Drive_ETC: Multiple device descriptions have the wrong parameter number for diActTorque [SM-4691] SMC_MoveContinuousAbsolute, SMC_MoveContinuousRelative: Possible jump in fSetPosition after homing [SM-4695] MC_MoveSuperimposed: Restarting the FB multiple times while it is Busy leads to a wrong Distance [SM-4699] SMC_MoveContinuousAbsolute/Relative: Unexpected reversal when restarting the FB [SM-4720] Misleading documentation for MC_ReadAxisError and TRIGGER_REF [SM-4744] SMC_GetCamSlaveSetPosition: not all errors are reported [SM-4766] MC_SetPosition: documentation contains typo and is unclear [SM-4767] Triggers with errors get enabled after a continue [SM-4768] Trigger: A trigger with an error that is projected to a blending loses the error condition [SM-4778] SMC_Interpolator: Internal error when computing the quadratic velocity profile [SM-4779] SM3_Drive_ETC_SoE_Standard: errors of IDNRead/Write commands are not properly propagated and logged [SM-4796] SMC_MoveContinuousAbsolute, SMC_MoveContinuousRelative: Position jump when used in combination with MC_MoveSuperImposed [SM-4797] SMC_GroupInterruptAt: Pause positions on asymmetric blending elements are projected to an unexpected position [SM-4801] Kollmorgen AKD, AKD2G: SoftMotion drives have the same Device ID [SM-4819] SMC_TRAFO_Tripod_Arm: dMaxAngleBallJoint is not checked correctly [SM-4828] SM_Drive_PosControl: Typo in the DevDesc |
15.12.2023 |
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Release Note CODESYS SoftMotion 4.15.0.0 adds support for trigger points on the path to Robotics, similar to h-functions in our CNC product. Trigger points can be created for movements using a relative position, an absolute distance, or the intersection with a plane. Within a configurable forecast-duration, the trigger can be queried in advance. The precise remaining duration until the trigger is reached is reported. New Features and Improvements [SM-1328] Robotics: Support digital switches on the path [SM-70] SM: MC_GearInPos, MC_GearIn, MC_Cam: Handle situation if motion FB of master axis is called later in the cycle [SM-3809] Implement SMC_GroupReadRemainingTrajectoryDuration for querying the remaining duration of a trajectory [SM-4088] SMC_FB_WASNT_CALLED_DURING_MOTION: The last FB instance that had control of the axis should be logged [SM-4266] SM3_Drive_ETC: improve logging of acyclic communication errors of EtherCAT drives [SM-4279] Deprecate SMC_CAM_ObjectManager [SM-4298] Improve documentation for error SMC_CP_QUEUE_UNDERRUN [SM-4300] Kin_4AxesPalletizer: Document the singularity at (A,B,C) = (0,0,0) [SM-4348] Integrate improved depictor models [SM-4373] SMC_GroupReadPathDynamics: Make it possible to query the path dynamics in the future [SM-4412] Implement SMC_GroupReadPositionInMovement for querying the current relative position in a movement [SM-4478] SMC_ChangeDynamicLimits: The documentation should include, that the values are interpreted based on the gear output [SM-4510] MC_GroupReadStatus: Add new outputs CurrentPlanningForecast and CurrentSyncBufferDuration [SM-4513] Improve the error message of SMC_AXIS_GROUP_FOLLOW_SETVALUE [SM-4522] SMC_GroupReadPathDynamics: Default CoordSystem should be MCS [SM-4526] Document that administrative function blocks that use ReadPosition output the configuration with automatic periods [SM-4532] Integrate SoftMotion Driver for BRC ctrlX DRIVE over CoE [SM-4533] Integrate Softmotion Driver for WEG SCA06 Major Bug-Fixes [SM-1997] Cam: Tappets on Cam object used on multiple axes do not work correctly [SM-4265] CNC: If special characters are entered in a CNC editor, e.g. “///”, an unhandled error appears [SM-4325] SMC_ToolRadiusCorr: Does not work correctly when using rotated decoder coordinate system in 2D mode [SM-4455] Possible division by zero / NaN in trajectory generation (e.g. MC_MoveAbsolute) [SM-4515] Halt/Stop: a halt with ClearMovement=FALSE might clear unposted movements when it is done Minor Bug-Fixes [SM-2983] CAN-CMZ-SD-ISD: 03_Homing_DriveStart fail on reenable drive [SM-3976] MC_GearInPos: No error is reported if the controller mode is not position or velocity [SM-4112] OrientationMode Axis with Kin_Scara2_Z: if the tool in x-direction is longer than arm2, error SMC_TRAFO_INVALID_PARAMETERS might occur [SM-4236] CAN CMZ SD: Drive cannot be enabled after homing has been aborted by quick stop [SM-4290] CNC object with Compile Mode SMC_OutQueue or SMC_CNC_REF will lead to new warning C0564 with SP20 [SM-4302] SMC_ChangeGearingRatio: Division by zero exception if the current dwRatioTechUnitsDenom = 0 or iRatioTechUnitsNum = 0 [SM-4304] SMC_GroupSaveContinueData: Aborting movements might be omitted when saving continue data [SM-4309] SMC_ToolRadiusCorr: Documentation has an example where the correction plane is changed [SM-4326] SoftMotion Libraries contain symbols without namespace or prefix [SM-4352] Blending between dynamic coordinate systems with TMCornerDistance might not respect the configured corner distance [SM-4362] fSetJerk does not get reset during a quickstop in velocity or position controller mode [SM-4372] Errors during installation of the SoftMotion package >= 4.14.0.0 with CODESYS SP16 [SM-4385] An internal error (SMC_CP_INTERNAL_EVAL_CACHE_ERROR) may occur during a reset [SM-4387] MC_GroupContinue: SMC_AXIS_GROUP_CONTINUE_WRONG_POSITION might be falsely reported [SM-4388] Path deviation too high when tracking out [SM-4472] Some Diagnostic POUs return Valid = True even when the axis group is disabled [SM-4512] Keba KeDrive D3: Invalid Device Id of ETC Slave DA33x |
28.07.2023 |
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Release Note This is a maintenance release focusing on bug fixes and small improvements. New Features and Improvements [SM-3057] Saving of continue data: save continue data of CP kernel in planning task [SM-3940] Kin_Scara2_Z, Kin_Scara3_Z: Update documentation and allowed offset range [SM-3943] Robotics: improve documentation of CommandAccepted output [SM-4022] SMC_Interpolator: It should be possible to change the dJerkMax input while the interpolator is running [SM-4034] MC_ReadParameter: adjust unclear description [SM-4096] SMC_ToolRadiusCorr: Improve documentation for tool radius correction with G0 [SM-4119] Improve documentation of MC_PositionProfile, MC_VelocityProfile and MC_AccelerationProfile Minor Bug-Fixes [SM-2145] DeviceEditorSoftMotion: When adding more than one axis to an EtherCAT slave, the additional axes initially show a wrong mapping [SM-3950] Cam-Editor, Tappets: Unhandled exception when adding a tappet track to a Cam object that already has 99 tracks [SM-4055] SMC_GroupReadTargetPosition: A valid target position might be falsely reported [SM-4085] SMC_ToolRadiusCorr: Very large tool radius (10^300) leads to problems [SM-4136] SELXM32M contains invalid path characters in icon path. |
13.03.2023 |
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Release Note Main content of this new realease is the support for pilot torque control and torque limitation for CODESYS Robotics. Kinematics can be extended by their dynamic model. Apart from this improvements and bug fixes in different fields have been implemented. New driver support for CMZ models SBD, IBD, IBD60 and NBD. New Features and Improvements [SM-2947] Robotics: Torque Limitation [SM-2968] Torque Limitation: Interface for dynamic models [SM-2970] Torque Limitation: Integrate dynamic model into path invariant Halt/Stop [SM-3040] Torque Limitation: Finalize the interface and implementation of SMC_GroupSetDynamics [SM-3041] Torque Limitation: Implement override/scaling factors for torque limits [SM-3897] Torque Limitation: Set torques should be checked [SM-3911] Example for creating and using a dynamic model [SM-3913] Implement SMC_GroupSetLoad [SM-3937] AxisGroup should write fSetTorque if a dynamic model has been configured [SM-3952] AXIS_REF_SM3: It should be possible to configure a torque software limit [SM-3961] Torque Limitation: It should be possible to set the gravitational acceleration vector [SM-3962] Torque Limitation: It should be possible to set a unit conversion factor from user units to meters [SM-3965] Torque Limitation: Adjust dynamic models to consider loads [SM-3984] Torque Limitation: Reset load when a new dynamic model is set [SM-3985] Torque Limitation: Make it possible to define an execution mode for SMC_GroupSetLoad [SM-3997] Torque Limitation: Changing the dynamic model should only be allowed while the axis group is disabled [SM-2436] Detect wrong task configuration: create an axis group error if motion calls are not performed from bus task [SM-2748] SMC_ToolRadiusCorr: Make FB more robust [SM-3530] Detect wrong task configuration: create an axis error if motion calls are not performed from bus task [SM-3623] Parker: Update the Compax3 devices [SM-3763] SMC_ToolRadiusCorr: Restructure the internal state machine [SM-3773] AxisGroup: eliminate m_fMaxBrakeDuration [SM-3815] SM3_Drive_ETC_Parker (Compax 3): Write trigger input for capturing to 4 if not part of SDO config [SM-3841] Detect wrong task configuration for CNC: create an error if CNC function blocks are called from wrong task [SM-3872] MC_GroupHalt/Stop, Tracking: It should be possible to release dynamic coordinate systems after a tracking movement has been stopped [SM-3889] Consolidate CALLED_FROM_WRONG_TASK errors [SM-3923] SM3_Drive_ETC_Delta_R1_EC5621: Avoid sending unsupported SDO read requests on startup [SM-3936] Make it possible to configure the gear ratio for fSetTorque [SM-3996] Integrate new Softmotion driver for CMZ SBD [SM-4044] Kollmorgen: Update the Esi files for AKD2G and AKD-C/N to V02.10.03.000 Major Bug-Fixes [SM-3980] Using a quadratic velocity profile and setting the jerk to 0 may lead to a division by zero exception [SM-4058] After calling SMC3_ReinitDrive, in rare cases acyclic communication may get stuck Minor Bug-Fixes [SM-2401] MC_Power: Error and ErrorID cannot be reset [SM-2845] SM3_Drive_ETC_JAT_EcoVario, SM3_Drive_CAN_JAT: log error and set FB error if nAxisState is set to errorstop due to bit 11 [SM-3688] Driver for Keba KeDrive D3: change name from Keba_LTiMotion_ServoOne to KeDrive D3 where appropriate [SM-3858] Wrong device identification Id in Staubli uniVAL device descriptions [SM-3864] SM_Axis: layout/range of scroll bars does not show all the contents when the window size is reduced [SM-3878] SMC_GroupJog2: In some cases no jogging is performed with ABC_as_ACS [SM-3886] SM3_Robotics: The error SMC_CP_PLANNER_NO_PROGRESS might be reported when multiple axis groups are planning on the same core [SM-3890] Part1 Motion POUs: The Error and ErrorID outputs are blinking during an active axis error and Execute = FALSE [SM-3909] SMC_SmoothPath: eAddAxisMode SPAA_EXACT is missing in offline CNC settings [SM-3922] AXIS_REF_POSCONTROL: By default, if in.bLimitPos/Neg are not written, no hardware limit error should result [SM-3926] SMC_GroupJog2: Large values of MaxAngularDistance lead to a wrong movement of modulo axes [SM-3931] MC_GroupContinue, Tracking: SMC_AXIS_GROUP_CONTINUE_WRONG_POSITION might be reported, even though the axis group is at the correct position [SM-3949] PTP Tracking: possible axis jumps in the start or target position [SM-3957] AutoMoveGantry, Tracking: SMC_PATH_QUEUE_INTERNAL_ERROR during interrupt [SM-3989] MC_EXECUTION_MODE: wrong interpretation of mode queued [SM-4027] SMC_GroupSaveContinueData: Saving continue data for an interrupted axis group is not handled correctly |
19.12.2022 |
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Release Note CODESYS SoftMotion 4.12.0.0 brings support for modulo axes to robotics and improved support for continuing after a MC_GroupStop/MC_GroupHalt, as well as new example projects for CNC (use of additional axes and use of tool length correction). In the field of PLCopen master/slave blocks, MC_CamIn was revised, especially switching between cam tables. Support for Staubli model CS9 has been added to the UniVal driver. Major bugs have been fixed in SMC_SmoothMerge, MC_GroupReset and for PTP movements with a configuration change. New Features and Improvements [SM-2311] Robotics: Support for modulo-axes [SM-3665] Resume after MC_GroupHalt/MC_GroupStop: continue at stop position [SM-3696] Resume after MC_GroupHalt/MC_GroupStop: Change halt/stop from movement to state in axis group [SM-3697] Resume after MC_GroupHalt/MC_GroupStop [SM-3701] Resume after MC_GroupHalt/MC_GroupStop: Update AXIS_GROUP_REF_SM3.GetMovementQueueReserve [SM-3714] Resume after MC_GroupHalt/MC_GroupStop: Check and fix library documentation and specification [SM-641] MC_GroupReadActualVelocity/Acceleration, SMC_GroupReadSetVelocity/Acceleration: support for output PathVelocity/PathAcceleration/PathJerk [SM-1924] SMC_ReadNCFile2: include bExecute and bAbort [SM-2496] SMC_GroupJog2: The default value for Vel/Acc/JerkFactor should be 0 [SM-2561] Robotics: Make it possible to change the limit of velocity, acceleration, and jerk for each axis [SM-2813] Create an SDK for the SoftMotion AddOn [SM-2979] SM3_Drive_ETC_Parker (Compax 3): update touch probe function by reading source from object 0x2303.0x20 [SM-3323] Make it possible to declare and use a local logical axis inside a function block [SM-3324] CNC: allow indirect subprogram calls using string variables instead of the subprogram name [SM-3343] Robotics: function block SMC_GroupAddOffset to add an offset to a position [SM-3509] ElemFunCS_Delta: The function should return an identity frame in case of equal coordinate systems [SM-3627] Robotics: read information about axes (position or orientation axis) [SM-3680] SM3_Drive_ETC_Staubli_uniVAL: support CS9 [SM-3681] SMC_ReadNCFile2: make it easier to read from arbitrary streams and to modify the g-code [SM-3699] [Docu] SMC_NCDecoder and SMC_NCInterpreter: document which values of piStartPosition are actually used [SM-3713] SMC_ToolRadiusCorr: make it possible to define an offset for the tool radius [SM-3718] SMC_GroupConvertPosition: The kinematic configuration should be returned when converting from ACS to a cartesian coordinate system [SM-3722] Deprecate SMC3_CaptureDescription.bLatchInController [SM-3723] Generic CiA 402 axis: allow more than 8 drivers per slave if supported [SM-3736] MC_TouchProbe: change default of MC_TRIGGER_REF.iTriggerNumber from -1 to 0 and add check for invalid trigger numbers [SM-3746] MC_MoveSuperimposed: make it possible to halt a superimposed movement [SM-3775] SMC_MovementCommand: Avoid huge data structures on the stack Major Bug-Fixes [SM-3527] SMC_SmoothMerge: Merging results in an undesired loop movement [SM-3621] SMC_SmoothMerge: Merging of an orientation movement results in an undesired movement of the orientation axis [SM-3745] Jump in axis positions when moving between configurations with PTP movement [SM-3762] Possible AccessViolation after a MC_GroupReset [SM-3823] Finite logical axis below modulo master now behaves like a modulo axis Minor Bug-Fixes [SM-246] CiA-402 base driver: the generic limit switch checks does not respect Axis.bHWLimitEnable [SM-2270] SMC_GroupJog2: The axisgroup jogs even when an irrelevant axis is fired [SM-2497] SMC_GroupJog2: AxisGroup can start moving in unexpected directions [SM-2739] SMC_ToolRadiusCorr computes wrong path [SM-2774] Possible jump in axis positions aftert MC_GroupContinue [SM-2838] MC_CamIn: periodic tabular cams (byType XYVA) with many points: long runtime if cam period is reached [SM-2929] CNC program can be added to POU window although SoftMotion is disabled [SM-2946] SMC_GroupJog2: reset Error output on falling edge of Enable [SM-2978] PlugIn: There may be multiple implicit General Axis Pool connectors in a project [SM-3104] SMC_GroupJog2: generates error when running onto border of working area [SM-3178] SoftMotion on standard PLC: Logical axis below general axis pool disappears when updating the device [SM-3207] CNC: Wrong errorpos and error Id if a subprogram cannot be found [SM-3239] Settings: Unhandled Exception on creating new project [SM-3313] MC_MoveLinearAbsolute, Override: VelFactor zero “0” can leave the FB in a non-quit state [SM-3330] Jogging in a dynamic PCS which is in standstill might not be possible [SM-3354] Resume after error: Movements do not finish when MC_GroupContinue is used for an aborted interrupt [SM-3451] MC_TouchProbe: May Report Done multiple times for the same trigger event if the touch probe objects are mapped as PDOs [SM-3521] Fix the documentation for wAuxData of SMC_POSINFO [SM-3526] MC_CamIn: Switching cams no longer works as documented [SM-3607] Possible unjustified error SMC_CP_TRAJECTORY_NOT_SMOOTH [SM-3611] MC_TouchProbe: With bFastLatching = FALSE, edge detection of the trigger input should be supported [SM-3624] MC_GroupSetOverride: Setting the override to 0 and then setting it to >0 while the axis group is stopping does not work [SM-3636] SMC_Interpolator: The segmenter is not reset with a rising Execute edge [SM-3652] Single axis movements: possible jumps in trajectory with ramp type sin^2 and blending or aborting [SM-3659] Tracking: Jump in rotary axis (period missmatch) after aborting movement [SM-3668] SMRCP, Planer: AXIS_MAX_VEL constraint does not consider derivatives wrt t [SM-3671] MC_GroupStop: Axis group switches to state “stop_done” without having posted the stop movement yet [SM-3691] MC_SetDynCoordTransform: GetPose does not return exact save-pos for fTime=0 and uses acceleration and jerk for extrapolation [SM-3698] OriPrimLinear: singularity if orientation difference is close to a multiple of 2*pi [SM-3705] Assertion in TrajectoryPlanner.StateMachine because CheckInvariant fails [SM-3706] MC_Home might get stuck in reading the position offset [SM-3710] SMC_AXIS_GROUP_PATH_DEVIATION_TOO_HIGH after continue of position in dynamic PCS [SM-3737] Interrupt/Continue: The first movement after a continue without movement to the continue position is reporting done to early [SM-3739] Update PLC Device from device that has SoftMotion disabled to SoftMotion device (type 0x1006): compile errors [SM-3742] Tracking: When commanding two consecutive MC_GroupInterrupt during tracking, the second one will not finish [SM-3751] SMC_Interpolator may return error SMC_INT_QPROF_DIVERGES [SM-3772] MC_MoveCircularRelative: Coordinate system ACS is not treated correctly [SM-3774] AutoMoveGantry, Multicore: Access violation in ElemFunTrace_StartCycle [SM-3810] SM_Drive_PosControl: default for velocity pilot control is 0 (no velocity pilot control) but should be 1 |
08.07.2022 |
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Release Note SoftMotion 4.11.0.0 brings improved tracking of conveyor belts and rotary tables for Robotics, several new and improved functions for single axes, new drivers for servo drives as well es many bug fixes. Especially for Robotics, this is a major update. Please take care when updating existing applications. See the section “Compatibility Information” below for details. New Features and Improvements [SM-2276] Improved CP-Tracking for Pick&Place applications [SM-961] CP-Tracking: Support orientation interpolation mode “Axis” also for CP-Tracking [SM-2159] CP-Tracking: support pure orientation movements [SM-2160] CP-Tracking: support orientation mode Axis [SM-2161] CP-Tracking: support elements that are not parametrized by arc length [SM-2162] CP-Tracking: support improved cartesian composite blending [SM-2235] CP-Tracking: improve blending if tangent and curvature matches [SM-2259] CP-Tracking: MC_GroupStop/MC_GroupHalt, CP-Tracking: immediate braking with given dynamic limits [SM-2697] CP-Tracking: Implement PTP_PI Tracking [SM-2707] CP-Tracking: implement OriPrimAxis for tracking [SM-2709] CP-Tracking: Composite blending for orientation mode axis [SM-2765] CP-Tracking: implement aborting [SM-2955] Remove PTP kernel (support for PTP fast movements) [SM-2988] SMC_GroupJog: implement based on new CP-Tracking kernel and deprecate [SM-3021] CP-Tracking: Unify blending to composite blending [SM-3100] CP-Tracking: Check the conditions for not inserting a blending element [SM-3173] CP-Tracking: Handle Interrupt/Continue while moving between dynamic coordinate systems [SM-3279] CP-Tracking: Implement the De Boor algorithm to improve interpolation of dynamic coordinate system states [SM-3306] SMC_AxisGroup_Tracker: a movement should only report done if the tracker is also done [SM-3460] CP-Tracking: Implement replacement for “aRefElem” in axis space elements [SM-3471] CP-Tracking, OriPrimLinear: Handle orientation changes > 180° [SM-80] Logical Axis: Improve filter [SM-101] Integrate driver for Nidec ControlTechniques Unidrive M [SM-2516] Switch SoftMotion Package to Core Separation and SP16 SDK [SM-2558] Integrate Keba drive ServoOne CM [SM-2577] Improve the behavior of MC_GroupHalt/Stop with low dynamics [SM-2644] Robotics: path velocity, acceleration, and jerk should be accessible, SMC_GroupReadPathDynamics [SM-2916] Build: SoftMotion package must be signed [SM-2934] Robotics: create function blocks SMC_GroupReadSetJerk [SM-2940] Robotics, CP: Synchronize movement queues between bustask and planner together with the various requests in an Atomic_SRSW [SM-2956] Robotics: Deprecate SMC_SetMovementQueueBuffer [SM-2982] SoftMotion: Subcategory for delta drives different from other delta Ethercat Slaves [SM-2993] Blending: Improve blending between straight lines with a 90 degree angle [SM-2994] SM3_Transformation: Support custom position limits for all axes of Kin_Pos_RRR and Kin_Wrist3 [SM-3061] MC_GroupReset should always reset axis errors [SM-3086] Command “Enable SoftMotion”: don’t use first free connector-id (GetFreeConnectorId) [SM-3105] Bosch Rexroth IndraDrive CS: add link to application note to drive documentation [SM-3107] Integrate Kollmorgen AKD2G Drive [SM-3108] Integrate kollmorgen AKD-N/C Drive [SM-3109] Integrate kollmorgen MKD-N/C Drive [SM-3110] Integrate Panasonic A6 Multi Drive [SM-3112] Integrate the new Devdescs for Panasonic MINAS A6B [SM-3157] SMC_SolveTwoRotJoint should return exactly the same angles for elbow low/high up to a constant offset [SM-3220] Resume after error: An active interrupt(At) should be saved in the continue data for resume after error [SM-3310] Add possibility to query movement id of interrupt position from continue data [SM-3349] SMC_TrackSetValues: new part 1 function block to track a signal given limits on velocity, acceleration, and jerk [SM-3446] Integrate Nidec ControlTechniques UniDrive M Bug-Fixes [SM-1156] MC_GroupInterrupt, MC_GroupContinue, SMC_GroupSaveContinueData, Resume after Error: possible jump in axis position for PTP tracking movements [SM-1960] CP: OrientationMode Axis: bad blending elements in case of differing ori/cart-ratio [SM-2221] CP-Tracking: SMC_GroupWait does not work with wait times that are smaller than or a multiple of the cycle time [SM-2458] CP-Tracking: MC_GroupContinue only works if called _after_ the PCS has been updated [SM-2470] CP-Tracking: error in circular movement not propagated to axis group and movement function block [SM-2517] CP, PTP_PI: MC_GroupInterrupt can influence the start position of an aborting movement [SM-2522] AutoMoveGantry: Rotary axis range violation [SM-2592] AutoMoveGantry: Axis limit violation after continue [SM-2636] Scaling/Mapping page: setting of motor type (linear / rotary) is not persisted [SM-2647] CutEndDistMode may fail, leading to buffered movement and assertions in the test [SM-2677] PTP, TMCornerDistance: Finding Point A fails [SM-2756] AutoMoveGantry: GetARefForPos fails because of missing cache element [SM-2864] AxisGroup: Endless Moving-State if multiple constant movements are commanded [SM-2930] “SoftMotion General Axis Pool” has red error icon if device diagnosis is turned off [SM-2939] SMC_TRAFO_Tripod_Arm creates cyclic license missing messages [SM-2954] Possible Assertion reading the continue data: GetCacheElemByS fails if Halt is executed shortly before end of segment [SM-2963] Robotics, CPTR: SMC_AXIS_GROUP_CONTINUE_WRONG_POSITION during continue [SM-2976] EtherCAT Mapping information: IECATPdoItemEntry without channel should be ignored [SM-2977] Error SMC_TRAFO_INVALID_CONSTELLATION in RobotFactory project [SM-2991] MC_GroupInterrupt: Interrupt may halt at wrong interrupt position and save invalid continue data [SM-3008] SMC_CP_Planning: Problems with aborting movement after previous movement is done and the aborting movement is commanded in a different CS [SM-3009] Inst_MC_MoveLinearAbsolute: Problem with aborting movements and a transition between coordinate systems [SM-3015] PTP Movements: error SMC_CP_INVALID_PATH_ELEM for very short movements [SM-3016] PTP movements commanded in ACS: exact end position is not reached [SM-3017] Robotics: unexpected error SMC_AXIS_GROUP_IDLE_WAIT_AXES_MOVING when commanding a movement and the axes are not powered on [SM-3025] Robotics: Assertion in StateMaching_SetAxisStartPos if first commanded movement is PTP_PI with length 0 [SM-3026] PTP_PI: Assertion if the target position in ACS is outside the software limits [SM-3053] MC_GroupInterrupt is not working during an active SMC_GroupWait [SM-3062] AutoMoveGantry: SMC_CP_TRAJECTORY_NOT_SMOOTH [SM-3068] Axis limit violation when starting a movement after having stopped and saved continue data [SM-3074] CNC: SMC_ComputeTangentAngle might return NaN if tangents are codirectional [SM-3091] SMC_GroupReadPlanningStatistics: Valid output is never set [SM-3096] Description of input ABC_as_ACS of SMC_GroupJog2 is not clear [SM-3117] The PathOut queue of the TrajectoryPlanner cannot handle a full PathIn queue, when the lookahead is at the end of the PathQueue [SM-3121] Pause position in continue data [SM-3126] CP_HaltStop: Assertion in InterpolateProfile [SM-3144] LREAL_TO_DWORD with negative values may lead to errors [SM-3168] Saving of continue data is very slow [SM-3191] Robotics: Reproducibility: trajectory may differ if Trj_EvalCache is cut [SM-3204] SMC_TRAFO_Tripod_Arm: z-coordinate is ignored [SM-3206] Robotics: Blending elements: check if curvature is too high may use wrong interpolation parameter limits [SM-3229] Possible error SMC_CP_ROTARY_AXIS_RANGE_VIOLATION with orientation mode axis [SM-3230] SMC_GroupJog2: VelFactor, AccFactor and JerkFactor are not taken into account when jogging in ACS and outside of the working area [SM-3231] An aborting movement from standstill may lead to an error [SM-3233] Possible error SMC_CP_ROTARY_AXIS_PERIOD_MISMATCH with MC_MoveDirectRelative and very high dynamics [SM-3235] SMC_FreeEncoder: fActVelocity, fSetVelocity, fActAcceleration, and fSetAcceleration are always 0 in simulation [SM-3268] Cache, AxisBlending: Periods may be missed because of too few slots in the cache [SM-3271] ResumeAfterError: Blocking movement if AddNewMovement fails [SM-3273] Internal error SMC_CP_TRAJECTORY_NOT_SMOOTH [SM-3309] PATH_DEVIATION_TOO_HIGH in Part4MotionTest “117_PTP_Override” [SM-3317] CNC: SMC_CheckForLimits does not return correct iSourceLine_No [SM-3325] ResumeAfterError: An active SMC_GroupInterruptAt should not result in a complete reset after a continue [SM-3331] IControlCreation.CreateKinematicsSelector: if IsToolKinematics is TRUE, then only orientation kinematics should be shown [SM-3352] SMC_Quat1_RotDist between the same quaternion does not always return exactly 0 [SM-3371] MC_ReadActualTorque: negative torque values not converted correctly for standard SoE driver [SM-3379] MC_GearInPos: Sync in wrong master period and no immediate start of synchronisation with modulo master and MasterStartDistance=0 [SM-3466] CP-Tracking, SMC_GroupReadSetPosition returns incorrect values during tracking [SM-3578] Movements that are called multiple times in a cycle might result in duplicate movement queue entries [SM-3603] Possible assertion in Trj_Cycler |
23.02.2022 |
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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 |
24.02.2021 |
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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 |
15.12.2020 |
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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. |
10.08.2020 |
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Release Notes |
Release date |
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Release Note CODESYS SoftMotion 4.7.0.0 brings buffer modes to the single axis and master slave function blocks. Additionally, many bugs have been fixed. Major bug-fixes Only bugs not patched in version 4.6.2.0 or 4.6.3.0 are listed. [SM-2364] Exception when fEditorSlaveMin is set for “0” (CAM_TABLE_INVALID_SLAVE_MINMAX) [SM-2418] Atomic_SRSW_W: Read method returns inconsistent values [SM-2457] CPTR: Assertion in SMC_MotionKernel_CPTR.GetPose after MC_GroupInterrupt [SM-2513] MC_CamIn: Potential AccessViolation if more than three tappets are used in parallel [SM-2515] MC_MoveSuperimposed: jump in axis position if the underlying movement changes the owner and the aborting FB is called before MC_MoveSuperimposed [SM-2521] SML_Drive_ETC: readSDO/writeSDO function block needs to be called with xExecute=FALSE after successful completion [SM-2524] CNC: Interpreter stack overflow if subprogram uses local variables [SM-2530] SMC_MoveContinuousAbsolute/Relative may reach end velocity at wrong position (ramp type trapez, acceleration <> deceleration) [SM-2531] MC_MoveAbsolute / MC_MoveRelative + MC_MoveSuperimposed: possible jump in set position if superimposed movement finished one cycle before underlying movement 33 minor Bugs have been fixed. |
28.05.2020 |
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Release Note CODESYS SoftMotion 4.6.3.0 is a bug-fix release. It fixes a major bug in the SMC_GroupJog2 function block. |
16.03.2020 |
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Release Note CODESYS SoftMotion 4.6.2.0 is a bug-fix release. [SM-2429] Compatibility: changes in project if the SM package is increased to 4.6.1.0 [SM-2430] Axis limit violation on Pick&Place without stop [SM-2431] Problems with CartBlending elements with vanishing axis derivatives: performance degradation and numerical difficulties [SM-2438] MC_GroupInterrupt, CP: Interrupt might not finish if commanded just before the end of a segment [SM-2440] Possible error SMC_CP_INTERNAL_EVAL_CACHE_ERROR on override [SM-2442] Acceleration Limit violation during blending (U-Pick) |
24.02.2020 |
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Release Note
CODESYS SoftMotion 4.6.1.0 is a feature and bug-fix release.
Major bug-fixes
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[SM-2015] Project environment: Update of SoftMotion profile without installed device description leads to missing SoftMotion libraries
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[SM-2260] CP, Resume after error: Null reference exception if resume after error is enabled and an error occurs before any movement was planned
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[SM-2288] AXIS_REF_SM3: Axis generates an error when setting no control mode while moving
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[SM-2315] Parker PSD: Change the device IDs to fit the previous versions
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[SM-2340] CNC: The H points are lost for G Codes of Length 0 and if the End Velocity of the previous GCode is 0
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[SM-2350, SM-2355] Check of Axis Limits fails when a PTP_PI aborts a PTP_FAST mvt and if the IpoState is end_of_path and fIpoTime is 0
36 minor bugs have been fixed.
New Features
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[SM-2314] MC_GroupStop/MC_GroupHalt, CP: immediate braking with given dynamic limits
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[SM-1304] Robotics: Support for 6D tools
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[SM-2247] Robotics: make it possible to resume after MC_GroupHalt/MC_GroupStop
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[SM-2152] Improve CP-Tracking for Pick&Place applications step 1
Improvements
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[SM-2183] AXIS_REF_MAPPING_SM3: new setting to enable writing of outputs in application stop
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[SM-2192] SMC_GroupJog2: handle huge distances better
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[SM-2222] Robotics: Improve CP kernel on multicore
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[SM-2269] Orientation mode axis: don’t create an error if orientation mode axis is used on a kinematics without any orientation DOF
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[SM-2299] Support mapping of I/O Parameters of type BIT
Supported drives
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[SM-638, SM-1191, SM-2305] Driver for Beckhoff EL7031 stepper module
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[SM-2229] Yaskawa: Integrate Sigma-7 400V double axis
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[SM-2215] SM3_Drive_ETC_KEB_H6: make it possible to immediately disable from state quick stop, even if _bImmediateDisabling is FALSE
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[SM-2233] SM3_Drive_ETC_KEB_H6: consider voltage enabled, ignore operation enabled
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[SM-2273] Festo CMMP-AS - remove startparameter sw limits
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20.01.2020 |
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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
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09.09.2019 |
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