Integration with OpenPLC

[thiagoralves]

Would you be interested in helping implement this library on OpenPLC (https://autonomylogic.com)? This could be a significant contribution to open source automation in general. I started working on a quick draft implementation, but would rather have that going through your advice if possible/interested.

Thanks!

[feecat]

Hi,

Great to hear this! I’ve been following the OpenPLC project for a long years ago.

S7RTT is core of motion model, it's production-proven, highly stable, and matches CODESYS SoftMotion in simulation, though it currently lacks time sync for multi-axis interpolation.

I believe that next steps should focus on porting S7RTT algorithm, then building the middleware layer (such as the interfaces for MC_Power, MC_MoveAbsolute, etc.) by reference to PLCOpen documentation or CODESYS/TwinCAT FB.

Also, you can just copy and paste OpenSML, it's not perfect but can be used to evaluation.

With that said, how can I contribute? CiA402 usually requires EtherCAT master and needs DC sync (so we use igh in our products). Does the current version of OpenPLC support this?

[thiagoralves]

OpenPLC already supports EtherCAT, so the idea is to have some internal glue mapping a softmotion EtherCAT drive (imported XML from vendor) to OpenSML AXIS_REF_SM3 equivalent. If you want to get move involved with this, ping me on the OpenPLC forum at edge.autonomylogic.com/forum and we’ll setup a call to discuss this in depth.