CODESYS - the IEC 61131-3 automation software

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PostPosted: Thu Aug 08, 2019 6:59 am 
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Joined: Mon Feb 23, 2015 12:24 pm
Posts: 14
Hi to all. I want to write code to position control of a single axis in the PLC. The drive is velocity-controller axes with position feedback in quadrature encoder.

What I need is (I think) the softmotion library and a pi FB.

My question is: since all the code is in application level, what appen when the application stop or my application code have a breakpoint? Does the axis begin uncontrolled? and can run over softlimits.

Is there the possibility to run softmotion and pid in special task that run Always?

thanks
Giuliano


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