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Merged
dalethomas81 merged 8 commits into from
Sep 19, 2026
Merged

v2.2026.38.0-RoiEditor #41

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4a7d5db
update PTO in remote IO
Sep 13, 2026
49a78ce
Harden chessboard calibration and fix CNC tool-Z cone motion
Sep 18, 2026
4453d85
Add Vision web ROI editor and document IMX477 capture FOV
Sep 19, 2026
9280c0f
Stamp PLC version v2.2026.38.0-RoiEditor
Sep 19, 2026
8fb5b62
Archive PLCOpenExport.py
Sep 19, 2026
3073091
Push the PLC release tag from TagPlcRelease.py
Sep 19, 2026
e8dd5b8
Use ASCII-only comments in TagPlcRelease.py
Sep 19, 2026
f4e11c8
Merge branch 'main' into dev
Sep 19, 2026
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1 change: 1 addition & 0 deletions .gitignore
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Original file line number Diff line number Diff line change
Expand Up @@ -415,4 +415,5 @@ Codesys/Scripts/*.out.txt
Codesys/Scripts/temp/
.DS_Store
/Codesys/Scripts/st
Codesys/Scripts/archive/st/FB_LicenseStatus*
OpenCV/FastTemplateMatching/_bench_out/
Binary file modified Codesys/ArfBot.project
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77 changes: 42 additions & 35 deletions Codesys/ArfBot.xml
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Original file line number Diff line number Diff line change
@@ -1,7 +1,7 @@
<?xml version="1.0" encoding="utf-8"?>
<project xmlns="http://www.plcopen.org/xml/tc6_0200">
<fileHeader companyName="" productName="CODESYS" productVersion="CODESYS V3.5 SP22 Patch 3" creationDateTime="2026-09-13T13:43:53.5209151" />
<contentHeader name="ArfBotOS" version="1.0.0" modificationDateTime="2026-09-13T13:43:53.3511968" organization="Thomas Labs" author="Dale Thomas">
<fileHeader companyName="" productName="CODESYS" productVersion="CODESYS V3.5 SP22 Patch 3" creationDateTime="2026-09-18T21:38:01.8745165" />
<contentHeader name="ArfBotOS" version="1.0.0" modificationDateTime="2026-09-18T21:38:01.7004818" organization="Thomas Labs" author="Dale Thomas">
<Comment>https://github.com/dalethomas81/ArfBotOS</Comment>
<coordinateInfo>
<fbd>
Expand Down Expand Up @@ -1733,7 +1733,7 @@ END_VAR</xhtml>
<string length="80" />
</type>
<initialValue>
<simpleValue value="'v2.2026.37.1-AlarmHistory-23-gb1a767d-dirty'" />
<simpleValue value="'v2.2026.38.0-RoiEditor'" />
</initialValue>
<documentation>
<xhtml xmlns="http://www.w3.org/1999/xhtml"> git describe --tags --always --dirty (does not get the latest tag from main)
Expand Down Expand Up @@ -1762,7 +1762,7 @@ END_VAR</xhtml>
VAR_GLOBAL
// git describe --tags --always --dirty (does not get the latest tag from main)
// git describe --tags --always main (gets the latest tag from main but the commit is wrong because its from the branch we work from - dev)
sPlcVersion : STRING(80) := 'v2.2026.37.1-AlarmHistory-23-gb1a767d-dirty';
sPlcVersion : STRING(80) := 'v2.2026.38.0-RoiEditor';
sRelease : STRING(80);
sVersionLine : STRING(160);
END_VAR</xhtml>
Expand All @@ -1788,7 +1788,7 @@ END_VAR</xhtml>
<derived name="SMC_ORI_CONVENTION" />
</type>
<initialValue>
<simpleValue value="SMC_ORI_CONVENTION.ZYX" />
<simpleValue value="SMC_ORI_CONVENTION.ZYZ" />
</initialValue>
</variable>
<variable name="Filename">
Expand Down Expand Up @@ -1831,7 +1831,7 @@ END_VAR</xhtml>
<xhtml xmlns="http://www.w3.org/1999/xhtml">TYPE ST_CncCmd :
STRUCT
StartPos: SMC_PosInfo;
OriConvention: SMC_ORI_CONVENTION:=SMC_ORI_CONVENTION.ZYX;
OriConvention: SMC_ORI_CONVENTION:=SMC_ORI_CONVENTION.ZYZ;
Filename: STRING:='CNC_FromFile.cnc';
CoordinateType: DUT_Command_CoordinateType:=DUT_Command_CoordinateType.Variable;
ArrayIndex: INT:=GVL.DEC_START_POS;
Expand Down Expand Up @@ -4749,7 +4749,7 @@ IF NOT PersistentVars.Flags[GVL.INIT_POS_IDX].Value THEN
PersistentVars.StoredPositions[GVL.POSE_3_IDX].Position.Y := 0.0;
PersistentVars.StoredPositions[GVL.POSE_3_IDX].Position.Z := 0.0;
PersistentVars.StoredPositions[GVL.POSE_3_IDX].Position.A := 0.0;
PersistentVars.StoredPositions[GVL.POSE_3_IDX].Position.B := 0.0;
PersistentVars.StoredPositions[GVL.POSE_3_IDX].Position.B := 90.0;
PersistentVars.StoredPositions[GVL.POSE_3_IDX].Position.C := 0.0;

PersistentVars.StoredPositions[GVL.POSE_4_IDX].Position.X := 0.0;
Expand Down Expand Up @@ -7297,7 +7297,10 @@ IoConfig_Globals.J2.in.bLimitPos := rx_j2_limit;
IoConfig_Globals.J3.in.bLimitPos := TRUE;
IoConfig_Globals.J4.in.bLimitPos := TRUE;
IoConfig_Globals.J5.in.bLimitPos := TRUE;
IoConfig_Globals.J6.in.bLimitPos := rx_j6_limit;</xhtml>
//IoConfig_Globals.J6.in.bLimitPos := rx_j6_limit;
// J6 home flag is not a travel stop — 360 deg tool-Z / cone orbits will cross it.
// Homing still uses rx_j6_limit as SMC_Homing.bReferenceSwitch (NOT J6_Limit).
IoConfig_Globals.J6.in.bLimitPos := TRUE;</xhtml>
</ST>
</body>
<InterfaceAsPlainText>
Expand Down Expand Up @@ -12891,7 +12894,6 @@ VAR
_SMC_CheckVelocities: SMC_CheckVelocities;
_SMC_GEOINFO: ARRAY[0..50] OF SMC_GEOINFO;
_StartPos: SMC_PosInfo;
// ATTENTION: ZYZ is the only orientation convention that was reliable during testing.
_OriConvention: SMC_ORI_CONVENTION := SMC_ORI_CONVENTION.ZYZ;
_ExecuteRtrig: R_TRIG;
_Execute: BOOL;
Expand Down Expand Up @@ -12961,7 +12963,6 @@ VAR
_SMC_CheckVelocities: SMC_CheckVelocities;
_SMC_GEOINFO: ARRAY[0..50] OF SMC_GEOINFO;
_StartPos: SMC_PosInfo;
// ATTENTION: ZYZ is the only orientation convention that was reliable during testing.
_OriConvention: SMC_ORI_CONVENTION := SMC_ORI_CONVENTION.ZYZ;
_ExecuteRtrig: R_TRIG;
_Execute: BOOL;
Expand Down Expand Up @@ -13024,9 +13025,6 @@ END_VAR
<initialValue>
<simpleValue value="SMC_ORI_CONVENTION.ZYZ" />
</initialValue>
<documentation>
<xhtml xmlns="http://www.w3.org/1999/xhtml"> ATTENTION: ZYZ is the only orientation convention that was reliable during testing.</xhtml>
</documentation>
</variable>
<variable name="_ExecuteRtrig">
<type>
Expand Down Expand Up @@ -13084,7 +13082,6 @@ VAR
_SMC_CheckVelocities: SMC_CheckVelocities;
_SMC_GEOINFO: ARRAY[0..50] OF SMC_GEOINFO;
_StartPos: SMC_PosInfo;
// ATTENTION: ZYZ is the only orientation convention that was reliable during testing.
_OriConvention: SMC_ORI_CONVENTION := SMC_ORI_CONVENTION.ZYZ;
_ExecuteRtrig: R_TRIG;
_Execute: BOOL;
Expand Down Expand Up @@ -13136,7 +13133,6 @@ VAR
_SMC_CheckVelocities: SMC_CheckVelocities;
_SMC_GEOINFO: ARRAY[0..50] OF SMC_GEOINFO;
_StartPos: SMC_PosInfo;
// ATTENTION: ZYZ is the only orientation convention that was reliable during testing.
_OriConvention: SMC_ORI_CONVENTION := SMC_ORI_CONVENTION.ZYZ;
_ExecuteRtrig: R_TRIG;
_Execute: BOOL;
Expand Down Expand Up @@ -13224,7 +13220,7 @@ _SMC_NCInterpreter(
nSizeOutQueue:= SIZEOF(_SMC_GEOINFO),
pbyBufferOutQueue:= ADR(_SMC_GEOINFO),
bEnableSyntaxChecks:= ,
eOriConv:= _OriConvention, // ATTENTION: ZYZ is the only orientation convention that was reliable during testing.
eOriConv:= _OriConvention,
dCircleTolerance:= ,
pInterpreterStack:= ,
nInterpreterStackSizeBytes:= ,
Expand Down Expand Up @@ -13454,7 +13450,6 @@ VAR
_SMC_CheckVelocities: SMC_CheckVelocities;
_SMC_GEOINFO: ARRAY[0..50] OF SMC_GEOINFO;
_StartPos: SMC_PosInfo;
// ATTENTION: ZYZ is the only orientation convention that was reliable during testing.
_OriConvention: SMC_ORI_CONVENTION := SMC_ORI_CONVENTION.ZYZ;
_ExecuteRtrig: R_TRIG;
_Execute: BOOL;
Expand Down Expand Up @@ -14075,7 +14070,7 @@ CASE OriConvention OF
SMC_ORI_CONVENTION.ZYX:
// yaw(Z), pitch(Y) and roll(X)
SMC_Matrix3_ToYawPitchRoll( mR:=_SMC_Trafof_ArticulatedRobot_6DOF.mToolOrientation,
dRoll_rad=&gt; Position.dA, dPitch_rad=&gt; Position.dB, dYaw_rad=&gt; Position.dC);
dYaw_rad=&gt; Position.dA, dPitch_rad=&gt; Position.dB, dRoll_rad=&gt; Position.dC);
Position.dA := F_RadToDeg(Position.dA);
Position.dB := F_RadToDeg(Position.dB);
Position.dC := F_RadToDeg(Position.dC);
Expand Down Expand Up @@ -17684,16 +17679,27 @@ _Vision(sIpAddress:= VisionSystemIpAddress, uPort:= VisionSystemPort);
//
_VisionBusyRtrig(clk:=_Vision.P_Busy);
IF _VisionBusyRtrig.Q THEN
VisionStateText := 'BUSY';
VisionStateText := 'Busy';
END_IF

//
_VisionDoneRtrig(clk:=_Vision.P_Done);
IF _VisionDoneRtrig.Q THEN
VisionStateText := 'DONE';
VisionStateText := CONCAT(VisionStateText, ' Found ');
VisionStateText := CONCAT(VisionStateText, UDINT_TO_STRING(_PartsCount));
VisionStateText := CONCAT(VisionStateText, ' parts');
VisionStateText := 'Done';

IF _ResultPosition_CAL &gt; 0 THEN
VisionStateText := CONCAT(VisionStateText, ': Calibration Complete');
//VisionStateText := CONCAT(VisionStateText, _Vision.P_Response); // TODO add the response output?

ELSIF _ResultPosition_LOC &gt; 0 THEN
VisionStateText := CONCAT(VisionStateText, ': Found ');
VisionStateText := CONCAT(VisionStateText, UDINT_TO_STRING(_PartsCount));
VisionStateText := CONCAT(VisionStateText, ' parts');

ELSIF _ResultPosition_CAP &gt; 0 THEN
VisionStateText := CONCAT(VisionStateText, ': Capture complete');

END_IF
END_IF</xhtml>
</ST>
</body>
Expand Down Expand Up @@ -22411,7 +22417,7 @@ END_VAR
VAR_OUTPUT
END_VAR
VAR
_OriConvention: SMC_ORI_CONVENTION := SMC_ORI_CONVENTION.ZYX;
_OriConvention: SMC_ORI_CONVENTION := SMC_ORI_CONVENTION.ZYX; // _SMC_Trafo_ArticulatedRobot_6DOF is always ZYX (yaw pitch roll) according to https://content.helpme-codesys.com/en/CODESYS%20SoftMotion/_sm_trafo_pou_six_dof_robot.html
_SMC_TrafoConfig_ArticulatedRobot_6DOF: SMC_TrafoConfig_ArticulatedRobot_6DOF;
_SMC_Trafo_ArticulatedRobot_6DOF: SMC_Trafo_ArticulatedRobot_6DOF;
_SMC_ControlAxisByPos_J1: SMC_ControlAxisByPos;
Expand Down Expand Up @@ -22525,7 +22531,7 @@ END_VAR
VAR_OUTPUT
END_VAR
VAR
_OriConvention: SMC_ORI_CONVENTION := SMC_ORI_CONVENTION.ZYX;
_OriConvention: SMC_ORI_CONVENTION := SMC_ORI_CONVENTION.ZYX; // _SMC_Trafo_ArticulatedRobot_6DOF is always ZYX (yaw pitch roll) according to https://content.helpme-codesys.com/en/CODESYS%20SoftMotion/_sm_trafo_pou_six_dof_robot.html
_SMC_TrafoConfig_ArticulatedRobot_6DOF: SMC_TrafoConfig_ArticulatedRobot_6DOF;
_SMC_Trafo_ArticulatedRobot_6DOF: SMC_Trafo_ArticulatedRobot_6DOF;
_SMC_ControlAxisByPos_J1: SMC_ControlAxisByPos;
Expand Down Expand Up @@ -22587,6 +22593,9 @@ END_VAR
<initialValue>
<simpleValue value="SMC_ORI_CONVENTION.ZYX" />
</initialValue>
<documentation>
<xhtml xmlns="http://www.w3.org/1999/xhtml"> _SMC_Trafo_ArticulatedRobot_6DOF is always ZYX (yaw pitch roll) according to https://content.helpme-codesys.com/en/CODESYS%20SoftMotion/_sm_trafo_pou_six_dof_robot.html</xhtml>
</documentation>
</variable>
<variable name="_SMC_TrafoConfig_ArticulatedRobot_6DOF">
<type>
Expand Down Expand Up @@ -22711,7 +22720,7 @@ END_VAR
VAR_OUTPUT
END_VAR
VAR
_OriConvention: SMC_ORI_CONVENTION := SMC_ORI_CONVENTION.ZYX;
_OriConvention: SMC_ORI_CONVENTION := SMC_ORI_CONVENTION.ZYX; // _SMC_Trafo_ArticulatedRobot_6DOF is always ZYX (yaw pitch roll) according to https://content.helpme-codesys.com/en/CODESYS%20SoftMotion/_sm_trafo_pou_six_dof_robot.html
_SMC_TrafoConfig_ArticulatedRobot_6DOF: SMC_TrafoConfig_ArticulatedRobot_6DOF;
_SMC_Trafo_ArticulatedRobot_6DOF: SMC_Trafo_ArticulatedRobot_6DOF;
_SMC_ControlAxisByPos_J1: SMC_ControlAxisByPos;
Expand Down Expand Up @@ -22905,7 +22914,7 @@ END_VAR
VAR_OUTPUT
END_VAR
VAR
_OriConvention: SMC_ORI_CONVENTION := SMC_ORI_CONVENTION.ZYX;
_OriConvention: SMC_ORI_CONVENTION := SMC_ORI_CONVENTION.ZYX; // _SMC_Trafo_ArticulatedRobot_6DOF is always ZYX (yaw pitch roll) according to https://content.helpme-codesys.com/en/CODESYS%20SoftMotion/_sm_trafo_pou_six_dof_robot.html
_SMC_TrafoConfig_ArticulatedRobot_6DOF: SMC_TrafoConfig_ArticulatedRobot_6DOF;
_SMC_Trafo_ArticulatedRobot_6DOF: SMC_Trafo_ArticulatedRobot_6DOF;
_SMC_ControlAxisByPos_J1: SMC_ControlAxisByPos;
Expand Down Expand Up @@ -23039,7 +23048,7 @@ END_VAR
VAR_OUTPUT
END_VAR
VAR
_OriConvention: SMC_ORI_CONVENTION := SMC_ORI_CONVENTION.ZYX;
_OriConvention: SMC_ORI_CONVENTION := SMC_ORI_CONVENTION.ZYX; // _SMC_Trafo_ArticulatedRobot_6DOF is always ZYX (yaw pitch roll) according to https://content.helpme-codesys.com/en/CODESYS%20SoftMotion/_sm_trafo_pou_six_dof_robot.html
_SMC_TrafoConfig_ArticulatedRobot_6DOF: SMC_TrafoConfig_ArticulatedRobot_6DOF;
_SMC_Trafo_ArticulatedRobot_6DOF: SMC_Trafo_ArticulatedRobot_6DOF;
_SMC_ControlAxisByPos_J1: SMC_ControlAxisByPos;
Expand Down Expand Up @@ -23142,7 +23151,6 @@ CASE SUPER^._SeqMain OF
_STEP_COMMAND:
//
_CncCmdParser(Command:=Command);
// ATTENTION: ZYZ is the only orientation convention that was reliable during testing.
_PlanPath.M_SetOriConvention(OriConvention:=_OriConvention);//_CncCmdParser.stCommand.OriConvention);
_PlanPath.M_SetStartPosition(StartPos:=_TrackPosition.Position);//_CncCmdParser.stCommand.StartPos);
_PlanPath.M_Execute(Filename:=_CncCmdParser.stCommand.Filename); // TODO I think we should be careful here. May need to sync CheckVelocities with the Interpolator
Expand Down Expand Up @@ -23262,7 +23270,6 @@ CASE WORD_TO_INT(_SMC_Interpolator.wM) OF

END_CASE

// ATTENTION: ZYZ is the only orientation convention that was reliable during testing.
_TrackPosition(
OriConvention:=_OriConvention,
AxisGroup:=ArfBotAxisGroup,
Expand Down Expand Up @@ -23347,7 +23354,7 @@ _SMC_ControlAxisByPos_J4(
iStatus:= _SMC_Interpolator.iStatus,
bEnable:= _SMC_Interpolator.bWorking,
bAvoidGaps:= AvoidGaps,
fSetPosition:= -_SMC_Trafo_ArticulatedRobot_6DOF.dQ3, // this has to be negative for it to work right. the trafo function blocks just arent working right. (see notes above)
fSetPosition:= _SMC_Trafo_ArticulatedRobot_6DOF.dQ3,
fGapVelocity:= GapVelocity,
fGapAcceleration:= GapAccel,
fGapDeceleration:= GapAccel,
Expand Down Expand Up @@ -23379,7 +23386,7 @@ _SMC_ControlAxisByPos_J6(
iStatus:= _SMC_Interpolator.iStatus,
bEnable:= _SMC_Interpolator.bWorking,
bAvoidGaps:= AvoidGaps,
fSetPosition:= -_SMC_Trafo_ArticulatedRobot_6DOF.dQ5, // this has to be negative for it to work right. the trafo function blocks just arent working right. (see notes above)
fSetPosition:= _SMC_Trafo_ArticulatedRobot_6DOF.dQ5,
fGapVelocity:= GapVelocity,
fGapAcceleration:= GapAccel,
fGapDeceleration:= GapAccel,
Expand Down Expand Up @@ -23706,7 +23713,7 @@ END_VAR
VAR_OUTPUT
END_VAR
VAR
_OriConvention: SMC_ORI_CONVENTION := SMC_ORI_CONVENTION.ZYX;
_OriConvention: SMC_ORI_CONVENTION := SMC_ORI_CONVENTION.ZYX; // _SMC_Trafo_ArticulatedRobot_6DOF is always ZYX (yaw pitch roll) according to https://content.helpme-codesys.com/en/CODESYS%20SoftMotion/_sm_trafo_pou_six_dof_robot.html
_SMC_TrafoConfig_ArticulatedRobot_6DOF: SMC_TrafoConfig_ArticulatedRobot_6DOF;
_SMC_Trafo_ArticulatedRobot_6DOF: SMC_Trafo_ArticulatedRobot_6DOF;
_SMC_ControlAxisByPos_J1: SMC_ControlAxisByPos;
Expand Down Expand Up @@ -46826,13 +46833,13 @@ END_TYPE
</Parameter>
<Parameter ParameterId="1200" type="std:LREAL" IndexInDevDesc="6">
<Attributes />
<Value name="_x0031_200" visiblename="fSWLimitPositive" desc="Software limit in positive direction">165</Value>
<Value name="_x0031_200" visiblename="fSWLimitPositive" desc="Software limit in positive direction">720</Value>
<Name>fSWLimitPositive</Name>
<Description>Software limit in positive direction</Description>
</Parameter>
<Parameter ParameterId="1201" type="std:LREAL" IndexInDevDesc="5">
<Attributes />
<Value name="_x0031_201" visiblename="fSWLimitNegative" desc="Software limit in negative direction">-180</Value>
<Value name="_x0031_201" visiblename="fSWLimitNegative" desc="Software limit in negative direction">-720</Value>
<Name>fSWLimitNegative</Name>
<Description>Software limit in negative direction</Description>
</Parameter>
Expand Down
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