CODESYS Softmotion

From €100.00

To €475.00

Plus VAT
Aktuelle Version
4.10.0.0
SKU
Bundle-SoftMotion

CODESYS SoftMotion is an additional option for CODESYS compatible SoftPLC systems. CODESYS SoftMotion extends the functional scope of these systems from a purely logical controller to a motion controller, optionally also with CNC and robotics support.

Product Description

Licensing:

Single Device License

CODESYS SoftMotion enables the control of single-axis and synchronized multi-axis movements (electronic cams, electronic gears).

CODESYS SoftMotion CNC+Robotics enables the control of CNC machines and industrial robots.

CODESYS SoftMotion Light allows to command CiA 402 compatible drives for single axis movements (not synchronized).

Functional principle:

  • Project engineering of motion using function library modules

  • Configuration of drives with fieldbus support integrated in the CODESYS Development System

  • Parameterization of axis groups for predefined kinematics in a separate object

  • Decoupling of application creation from the applied hardware by abstracting the drives with drive group names in the device tree

  • Motion planning with cam editor

  • Integrated motion planning:
    • with 3D CNC editor according to DIN 66025 (G code) and tabular editor

    • with coordinate values for robot positions in different coordinate systems

  • Processing of CNC motion, robotic motion, or other motion tasks in the runtime system on the controller with the IEC 61131-3 logic application

  • Online editing of CNC programs in CODESYS Visualization

Typical applications of CODESYS SoftMotion:

  • As an additional option for powerful, CODESYS compatible control systems with good real-time behavior (FPU recommended)

  • Actuation of single-axis and multi-axis movements, for example with position and velocity definitions, drive functions, or phase actuation

  • Implementation of electronic cams

  • CNC motion with modifications by the end user (for example, in metal and woodworking machines)

  • Robotic systems including SCARA, tripod, and palletizing robots such as in assembly and loading automation

A note on SoftMotion Light: In contrast to SoftMotion and SoftMotion CNC+Robotics, the calculation of the axis movements is not done within the controller. With SoftMotion Light movements of the drive are just commanded and supervised (status) by the PLC and executed by the drive. The trajectory calculation is done in the drive.

SoftMotion Light is suitable for applications with multiple axes for single axes movements and for controller tasks requiring a low bus and computing load (CPU).

Requirements

Programming System

CODESYS Development System V3.5.11.0 or higher

Runtime System

CODESYS Control Version 3.5.5.0 or higher

Supported Platforms/ Devices

All supported by CODESYS:
  • Real-time capable operating system platforms

  • CPU platforms with available FPU (Floating Point Unit)

  • Devices with integrated fieldbus (EtherCAT, CAN/CANopen, or Sercos)

Additional Requirements

WIBU Codemeter Support

SoftMotion CNC+Robotics requires CODESYS SoftMotion as a basis license.

SoftMotion Light works with CiA 402 compatible drives with CANopen or EtherCAT. Compatibility can be checked with the test project SML_CompatibilityCheck_DS402.project

Restrictions

-

Licensing

Single Device License: The license can be used on the target device/PLC on which the CODESYS Runtime System is installed.

Licenses are activated on a software-based license container (soft container), which is permanently connected to the controller. Alternatively the license can be stored on a CODESYS Key (USB-Dongle). By replugging the CODESYS Key, the license can be used on any other controller

Required Accessories

Optional: CODESYS Key

Support


CODESYS GmbH

A member of the CODESYS Group

Memminger Straße 151
D-87439 Kempten
Germany

sales@codesys.com

This product includes a support ticket for use within one year after purchase. To submit your support request, please use our contact form and include your order number and a short description of the issue.

For pre-sales inquiries, please use the contact form as well.

Supplier


CODESYS GmbH

A member of the CODESYS Group

Memminger Straße 151
D-87439 Kempten
Germany

sales@codesys.com

Additional Downloads

Versions

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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