CODESYS SoftMotion SL

$240.00
Current version
4.7.0.0
Article number
2305000000
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CODESYS SoftMotion is an additional option for SoftPLC systems and controllers that are compatible with CODESYS. CODESYS SoftMotion extends the range of functions from simple logic control to motion control for sophisticated movement with coordinated axes.

License Agreement

 

for the usage of a CODESYS Software or CODESYS Software Package

 

General Terms of License (End User License Agreement) for the supplied Software. Please read this Software User Agreement carefully before using the supplied Software. Downloading or installation of the Software constitutes recognition by the customer of the conditions of this Agreement.

The following conditions are agreed between you as the software user and the company 3S-Smart Software Solutions GmbH (hereinafter referred to as 3S), 87439 Kempten (Germany) and are legally binding.

With this license agreement, you acquire the permission of use for Software from 3S (e. g. http://codesys.com, http://store.codesys.com). Some products may only be used for a limited period of time (Products with the name affix “Abo”, “Abonnement” or “Subscription”). If you do not agree to the following license agreement, then you, the user, are not permitted to save and/or install the Software. Should you have already installed the Software, and you do not agree to the license agreement, then immediately delete or uninstall the Software.

§ 1       Object of the License Agreement

The object of the License Agreement is the supplied Software that you have received either directly or from the CODESYS Store. With the provided Software, the user is in the position to use and/or to extend the CODESYS Development System and/or implement a CODESYS runtime environment on a specific programmable logic controller (PLC), herein termed "device". The user has the right to install the functions of the Software after installation of the device software and/or the CODESYS Development System.

In this way, the user can use the functions as specified in the data sheet of the Software.

§ 2       Geographic Restriction

None

§ 3       Rights of Use

Different license models grant different usage rights. A CODESYS Softcontainer or CODESYS Key (hardware dongle) is required to use the demo, full or time license.

Free: Software that is indicated as "Free" in the CODESYS Store is not subject to an automatic license check by the manufacturer and can be used free of charge.

Demo: The user can order a simple and non-transferable demo license to the supplied Software, depending on availability. The license protected demo software is free of charge but limited by time and/or functionality.

Full: The provided Software is protected by license and requires a fee. The user acquires an unrestricted, simple, and non-transferable license to use the supplied Software with no restrictions.

Time license: Alternatively, a time-limited license is offered to the user, with which the user acquires a simple, non-transferable license to use the delivered software for an agreed, contiguous period.

It is not permitted to edit, modify, disassemble or decompile the Software or to use other processes of reverse engineering to by-pass the licensing mechanism, or to have these processes performed by third parties, insofar as this is not absolutely required for exploiting the rights that result from licenses in all events for open source components.

The Software can be components that are licensed as open source software. For these components, the contents of the respective open source licenses apply, as also stored in the Software. The list of components with the terms and conditions of license are available for reading before purchase and are also included in the Software. The licensee receives a simple rights of use from the respective right holders for using the open source software under the conditions as provided for it by the respective valid license terms. The provided license terms apply to only the components that are not licensed as open source software.

All rights regarding the usage and exploitation of the software and Software remain reserved to 3S.

§ 4       Warranty

4.1.    The manufacturer warrants that the installed Software will substantially conform to its documentation or data sheet. The following restrictions shall apply. In particular, there is no warranty that the Software fulfills the specific requirements of the user, serves his specific purpose and works together with all the other programs selected by the user, in so far as interfaces to these programs have not been agreed upon in writing.

4.2.    It is deemed to be agreed and the user recognizes and accepts that, according to the current state of knowledge and technology, it is not possible to create software in such a way that it works without errors or faults under all application conditions. A deviation from the agreed properties of the Software can only be considered significant if normal operation is substantially disrupted. If a disruption occurs under exceptional circumstances, this cannot be considered as a deviation from the agreed properties of the Software. 

4.3.    The user shall immediately examine the Software supplied, shall establish its appropriateness for the intended purpose and shall immediately issue complaints about initial or non-initial errors/defects in detail and in such a way that the error/defect can be reproduced by the manufacturer. The user agrees to provide 3S with material giving information on the nature and occurrence of these errors/defects in order to contribute to their localization and correction. The user bears sole responsibility for the selection, installation and use of the Software, as well as for the intended results thereof.

4.4.    The manufacturer does not provide a warranty for errors or defects that are caused by or result from the following circumstances:

(a)     Incorrect or insufficient maintenance or parameterization

(b)     Operation outside the software’s specification

(c)     Incorrect preparation and/or maintenance of the installation location

(d)     Interaction with hardware or software not released by the manufacturer

A special guarantee which could result in additional rights is not provided.

4.5.    Any defects with regard to the supplied Software (including defects with regard to the program description and any other documents provided along with the Software), will be rectified by the manufacturer within an appropriate period of time. The manufacturer has the right to decide between rework/repair free of charge or replacement at its own discretion.

4.6     The conditions for liability and warranty in these license terms are valid for the complete Software with respect to the manufacturer. The liability and warranty conditions of the open source licenses are valid between the user and the open source right holders.

§ 5       Limitation of Liability

The Software can be used for numerous applications. The user shall decide independently whether or not it is also appropriate for the actual intended application. After installation, the user is responsible for the Software functioning according to its specifications.

The manufacturer is liable for intentional acts and gross negligence. The manufacturer shall be liable for slight negligence only if this involves the breach of a major obligation deemed essential for the purpose of the contract (cardinal obligation) and the fulfillment of which the customer may regularly rely upon or for damages resulting from injury to life body or health. The manufacturer is obliged to act with due diligence.

Upon the determination of whether the manufacturer has culpability, it is to be considered that, as a matter of fact, it is not possible to provide software on an error-free basis. For events of slight negligence, total liability is limited to the amount of the foreseeable damage, the occurrence of which must typically be expected; however, the maximum of such liability arising from the contractual relationship is limited to a total of EURO 100,000.00. The manufacturer shall not be liable for other damages, consequential damages, or lost profits.

The preceding provisions also apply in favour of any vicarious agent of the manufacturer. Liability under product liability law remains unaffected. For the loss of data and/or programs, the manufacturer is not liable insofar the damages are based on the fact that the user refrained from conducting data security measures and thereby ensuring that the lost data could be restored with a justifiable expense. Before commissioning the device and an application written with the CODESYS Development System, the user is obligated to perform sufficient tests in a safe environment.

§ 6       Termination

For non-time limited software this Agreement may be terminated at any time by uninstalling from the device the described Software from the manufacturer and destroying all copies thereof.

If the software is limited in time (subscription or subscription), the user agreement ends with the termination of the subscription or subscription on the expiry date of the agreed period of use. The termination of the time limited use can take place at any time, but must take place at the latest one month before the end of the expiration of the temporal limitation, in order to still be effective at the end of the current subscription period. If this does not take place or is done too late, the period of use is automatically extended by the period of the time limit agreed in the data sheet. After the end of the period of use, the functions of the software are no longer available or are only available to a very limited extent.

§ 7       Governing Law

This License Agreement shall be governed by the laws of the Federal Republic of Germany excluding CISG. The place of performance and the court of jurisdiction for all disputes arising from or in connection with this agreement is 87439 Kempten (Germany). Claims may also be asserted against each contracting party in its general place of jurisdiction.

 

 

§ 8       Severability Clause

Should one provision of this contract be or become invalid, or should the contract contain a gap, the validity of the remaining provisions shall remain unaffected. In place of the ineffective provisions, or in order to fill the gap, a provision shall apply which, in so far as legally viable, approaches the original intention of the contractual parties as closely as possible, or what can be assumed to have been their intention if they had considered the point in question.

Product Description

CODESYS SoftMotion supports the control of single-axis coordinated multi-axis movements on qualified control systems that are compatible with CODESYS, such as master/slave functions and cams.

Functionality:
  • Project engineering of motion with blocks, bundled in extensive function libraries

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

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

  • Motion planning with cam editor, when needed

  • Processing of motion in the runtime system on the controller with the IEC 61131-3 logic application

Typical applications of CODESYS SoftMotion:
  • As an additional option for powerful, CODESYS compatible control systems with strict 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 cams or virtual master shafts

Requirements

Programming System

CODESYS Development System V3.5.9.50 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)

Note: Use the project “Device Reader” to find out the supported features of your device. “Device Reader” is available for free in the CODESYS Store.

Additional Requirements

WIBU Codemeter Support

Restrictions

-

Licensing

License activation optional on CODESYS Key or Soft Key (Soft Key: free of charge component of CODESYS Controls)

Required Accessories

Optional: CODESYS Key

Support

Technical support is not included with this product.

To get technical support please purchase a Support ticket.

A list of alternative support resources can be found at the support section of the CODESYS Group web page.

Provider

CODESYS Corporation
A member of the CODESYS Group

900 Cummings Center, Suite 403-T
Beverly, MA 01915, USA

Additional Downloads

All Versions

Version Release Notes
Release date

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.

New Features

  • [SM-2068] BufferMode for Part 1 function blocks

  • [SM-2333] Robotics: new polar kinematics with z-axis

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.

Supported drives

  • [SM-2234] New driver for Delta ASDA A3 / B3 drive

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.

  • [SM-2364] Exception when fEditorSlaveMin is set for “0” (CAM_TABLE_INVALID_SLAVE_MINMAX). MC_CamTableSelect now fails with ErrorID
    • SMC_CAM_TABLE_INVALID_MASTER_MINMAX, if in the passed CamTable fEditorMasterMax <= fEditorMasterMin or fTableMasterMax <= fTableMasterMin.

    • SMC_CAM_TABLE_INVALID_SLAVE_MINMAX, if in the passed CamTable fEditorSlaveMax <= fEditorSlaveMin or fTableSlaveMax <= fTableSlaveMin.

  • [SM-2422] Compatibility: changes in project if the SM package is increased to 4.6.1.0. Logging in to an application downloaded with SoftMotion 4.6.1.0 installed may require an online change when logging in with SoftMotion 4.7.0.0.

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.

28.05.2020

Release Note

CODESYS SoftMotion 4.6.3.0 is a bug-fix release. It fixes a major bug in the SMC_GroupJog2 function block.

  • [SM-2480] SMC_GroupJog2: Jogging with ABC_as_ACS does not work correctly

  • [SM-2479] SMC_GroupJog2: possible error “SMC_CP_INVALID_PATH_ELEM” if orientation mode Axis is used

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.

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.

16.03.2020

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)

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.

  • [SM-2429] Compatibility: changes in project if the SM package is increased to 4.6.1.0. Logging into an application downloaded with SoftMotion 4.6.1.0 installed may require an online change when logging in with SoftMotion 4.6.2.0.

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.

24.02.2020

Release Note

CODESYS SoftMotion 4.6.1.0 is a feature and bug-fix release.

Major bug-fixes

  • [SM-2015] Project environment: Update of SoftMotion profile without installed device description leads to missing SoftMotion libraries

  • [SM-2260] CP, Resume after error: Null reference exception if resume after error is enabled and an error occurs before any movement was planned

  • [SM-2288] AXIS_REF_SM3: Axis generates an error when setting no control mode while moving

  • [SM-2315] Parker PSD: Change the device IDs to fit the previous versions

  • [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

  • [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

  • [SM-2314] MC_GroupStop/MC_GroupHalt, CP: immediate braking with given dynamic limits

  • [SM-1304] Robotics: Support for 6D tools

  • [SM-2247] Robotics: make it possible to resume after MC_GroupHalt/MC_GroupStop

  • [SM-2152] Improve CP-Tracking for Pick&Place applications step 1

Improvements

  • [SM-2183] AXIS_REF_MAPPING_SM3: new setting to enable writing of outputs in application stop

  • [SM-2192] SMC_GroupJog2: handle huge distances better

  • [SM-2222] Robotics: Improve CP kernel on multicore

  • [SM-2269] Orientation mode axis: don’t create an error if orientation mode axis is used on a kinematics without any orientation DOF

  • [SM-2299] Support mapping of I/O Parameters of type BIT

Supported drives

  • [SM-638, SM-1191, SM-2305] Driver for Beckhoff EL7031 stepper module

  • [SM-2229] Yaskawa: Integrate Sigma-7 400V double axis

  • [SM-2215] SM3_Drive_ETC_KEB_H6: make it possible to immediately disable from state quick stop, even if _bImmediateDisabling is FALSE

  • [SM-2233] SM3_Drive_ETC_KEB_H6: consider voltage enabled, ignore operation enabled

  • [SM-2273] Festo CMMP-AS - remove startparameter sw limits

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 4.6.1.0

  • [SM-2314] MC_GroupStop/MC_GroupHalt, CP: immediate braking with given dynamic limits. MC_GroupStop/MC_GroupHalt now require the commanded dynamics to be valid. This means that the values of the inputs Deceleration and Jerk have to be positive and the values of the inputs AccFactor and JerkFactor have to be in the range ]0, 1]. An invalid value on any of these inputs leads to an error stop. If you update an application to this SoftMotion version, please make sure that all calls to MC_GroupStop/MC_GroupHalt in your application have valid inputs.

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-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.

20.01.2020

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

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

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

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

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

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

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

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

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
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
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
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
This version fixes a major bug that can occur when reading G-Code files with the function block SMC_ReadNCFile. 15.05.2017
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
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
  14.12.2016
  17.11.2016

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