Softmotion Robot MC_GroupEnable does not work

[giustola69]

Hello,

I'm tryning to use the Codesys Softmotion robot functionality but I could not be able to enable the kinematic group using the MC_GroupEnable function block.

The kinematic axis power on works properly but when I try to group the axis the function block stay in "Busy" state with no errors but the axis do not group in the kinematic.

You can see how I configurate the system and the FB status in the attached screenshots.

Please could you help me to understand where is the problem ?

Many Thanks

P.S.: I do not have the Codesys Softmotion App lincence so I'm working withe the 30 minutes fren trial but I the other library functions ( like cam synchronization for instance ) are working well during the trial time

Giuseppe

[bostroemc]

I believe MC_GroupEnable must be called in the Bus Cycle Task.  The task configuration I use, which after many hours of testing appears to be working, is shown in the attached files.

@CODESYS:  Is documenation describing SoftMotion_PlanningTask available?  What exactly is happening in this task and is it sufficient to configure it as a cycle task?