TwinCAT

Twin

CAT

1132

TwinCAT®

PLC and Motion Control on the PC

Twin

CAT

1133

1146

1157

1148

TwinCAT PLC

TwinCAT Supplements

TwinCAT NC/CNC

Twin

CAT

1134

beckhoff.com/TwinCAT

TwinCAT®

The Windows Control and Automation Technology

Product overview

PC-based control technology

PLC and Motion Control

on the PC

TwinCAT PLC

TwinCAT NC PTP

TwinCAT NC I

TwinCAT CNC

TwinCAT I/O

TwinCAT CP

TwinCAT Supplements

System

TwinCAT Supplements

Motion

TwinCAT Supplements

Communication

TwinCAT Supplements

Controller

TwinCAT Supplements

Building Automation

1136

1140

1143

1146 1157

1179

1148

1150

1152

1154

1156

1166

1170

1180

New Automation TechnologyBECKHOFF

Twin

CAT

1135

Product overview TwinCAT

Software PLC

TwinCAT PLC1146

PC hardware standard PC/IPC hardware, no extras

Operating systems Windows NT/2000/XP/Vista, Windows 7,

NT/XP Embedded, CE*

Real-time Beckhoff real-time kernel

I/O system EtherCAT, Lightbus, PROFIBUS DP/MC, Interbus,

CANopen, DeviceNet, SERCOS, Ethernet and

PC hardware

Run-time system 4 multi-tasking PLCs each with 4 tasks in each PLC

run-time system, development and run-time systems

on one PC or separately (CE: only run-time)

Memory process image size, fl ags area, program size,

POU size, number of variables only limited by

the size of the user memory (max. 2 GB with

NT/ 2000 / XP/Vista)

Cycle time adjustable from 50 µs

Link-time 1 µs (Intel® Core™2 Duo) for 1,000 PLC commands

Programming IEC 61131-3: IL, FBD, LD, SFC, ST, powerful

library management, convenient debugging

Software NC PTP

TwinCAT NC PTP1148

TwinCAT PLC inclusive 1146



NT/XP Embedded, CE*




PC hardware

Programming performed using function blocks for TwinCAT PLC

according to IEC 61131-3 (standardised PLCopen

Motion Control libraries), convenient axis commis-

sioning menus in the System Manager

Run-time system NC point-to-point including TwinCAT PLC

Number of axes up to 255

Axis types electrical and hydraulic servo drives, frequency

converter drives, stepper motor drives, switched

drives (fast/crawl axes)

Cycle time 50 µs upwards, typically 1 ms (selectable)

Axis functions standard axis functions: start / stop /

reset /reference, speed override,

special functions: master/slave cascading,

cam plates, electronic gearings, online distance

compensation of segments, “fl ying saw”

TwinCAT Level

TwinCAT I/O1154



NT/XP Embedded, CE (only run-time)*


Multi-purpose I/O interface for all common fi eldbus systems, PC Fieldbus Cards and interfaces with integrated real-time driver

TwinCAT Level

TwinCAT CP1156



NT/XP Embedded*


Windows driver for Beckhoff Control Panel

* version-dependent

New Automation Technology We reserve the right to make technical changes.BECKHOFF

Twin

CAT

1136

TwinCAT system

TwinCAT CP

TwinCAT I/O

TwinCAT PLC

TwinCAT NC PTP

System Manager

TwinCAT NC I

TwinCAT CNCBuild

ing

Auto

mat

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Cont

rolle

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Com

mun

icatio

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TwinCATSupplements

Mot

ion

Syst

em

Software NC I

TwinCAT NC I1150


TwinCAT NC PTP inclusive 1148



NT/XP Embedded, CE*




PC hardware

Programming DIN 66025 programs for NC interpolation,

access via function blocks from TwinCAT PLC

according to IEC 61131-3

Run-time system NC interpolation, including TwinCAT NC PTP

and PLC

Number of axes max. 3 axes and up to 5 auxiliary axes per group,

1 group per channel, max. 31 channels

Axis types electrical servo axes, stepper motor drives

Interpreter

functions

subroutines and jumps, programmable loops,

zeroshifts, tool compensations, M and H functions

Geometries straight lines and circular paths in 3-D space,

circular paths in all main planes, helixes with base

circles in all main planes linear, circular, helical

interpola tion in the main lanes and freely defi nable

planes, Bezier splines, look-ahead function

Axis functions online reconfi guration of axes in groups,

path override, slave coupling to path axes,

auxiliary axes, axis error and sag compensation,

measuring functions

Operation automatic operation, manual operation

(jog / inching), single block operation, referencing,

handwheel operation (motion /superposition)

Software CNC

TwinCAT CNC1152


TwinCAT NC PTP inclusive 1148

TwinCAT NC I inclusive 1150



Windows NT/XP Embedded*




PC hardware

Programming DIN 66025 programming language with

high-level language extensions, mathematical

functions, programming of parameters/variables,

user macros, subroutine techniques, spindle and

help functions, tool functions, zero offset shifts

Run-time system CNC, including TwinCAT NC I, NC PTP, PLC

Number o f axes /

spindles

8 path axes / 6 controlled spindles, max. of

64 axes / 12 controlled spindles (optional)

Axis types electrical servo-axes, analog/encoder interface

via fi eldbus, digital interface via fi eldbus

(EtherCAT, Lightbus, PROFIBUS MC, SERCOS)

Geometries linear, circular, helical interpolation in the main

planes and freely defi nable planes, 8 interpolating

path axes per channel, look-ahead function

Axis functions coupling and gantry axis function, override, axis

error and sag compensation, measuring functions

Operation automatic operation, manual operation

(jog / inching), single block operation, referencing,

block search, handwheel operation (motion /

superposition)

TwinCAT CNC Options

Options TwinCAT CNC Axes Pack 1153

TwinCAT CNC Channel Pack 1153

TwinCAT CNC Transformation 1153

TwinCAT CNC HSC Pack 1153

* version-dependent

New Automation TechnologyBECKHOFFWe reserve the right to make technical changes.

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CAT

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Supplements | System

TwinCAT ECAD Import 1158

tool for importing XML fi les from ECAD systems

TwinCAT Engineering Interface Server 1158

for coordination of programming tasks via a source code

management system

TwinCAT XML Data Server 1159

PLC data can be written directly into an XML fi le or read

from an XML fi le.

TwinCAT Backup 1160

tool for backing up and restoring of fi les, operating system and

TwinCAT settings

TwinCAT Simulation Manager 1160

simplifi es preparation and confi guration of a simulation environment

TwinCAT Database Server 1161

for bi-directional access: PLC and database

TwinCAT PLC HMI 1161

displays only the visualisation created with TwinCAT PLC control

in full screen under XP when starting up

TwinCAT PLC HMI Web 1162

Displays a visualisation created with TwinCAT PLC control

in Internet Explorer. A Java VM is required.

TwinCAT PLC HMI CE 1162

licence for using the system software TwinCAT PLC HMI CE

under Windows

TwinCAT Management Server 1162

licence for using the TwinCAT Management Server for

central administration of Beckhoff CE controls

TwinCAT Scope 2 1163

licence for using the TwinCAT Scope

TwinCAT EtherCAT Redundancy 1163

licence for extending the TwinCAT EtherCAT master with

cable redundancy capability

TwinCAT PROFINET IO Controller 1164

licence for using the PROFINET IO Controller

TwinCAT PROFINET IO Device 1164

licence for using the PROFINET IO Device

TwinCAT EtherNet/IP Slave 1165

licence for using the EtherNet/IP Slave

Supplements | Motion

TwinCAT PLC Hydraulic Positioning 1166

software library for TwinCAT PLC for the control of the position

and pressure of hydraulic axes

TwinCAT NC FIFO Axes 1166

software library that enables a target value specifi ed by the user

to be generated for an NC axis

TwinCAT NC Flying Saw 1167

software library for TwinCAT PLC to enable implementation

of the “fl ying saw” function

TwinCAT PLC Remote Synchronisation 1167

software library for general synchronisation of time

in distributed systems

TwinCAT NC Camming 1167

software library that enables the use of the cam function

of TwinCAT NC

TwinCAT Cam Design Tool 1168

tool for designing electronic cam plates, fully integrated in the

TwinCAT System Manager

TwinCAT Digital Cam Server 1168

fast camshaft controller as software implementation in TwinCAT,

freely confi gurable via the TwinCAT System Manager

TwinCAT Valve Diagram Editor 1169

graphics-oriented editor for designing the characteristic curves

of a hydraulic valve

TwinCAT Kinematic Transformation 1169

realises different kinematic transformations for TwinCAT PTP or

TwinCAT NC I

Product overview TwinCAT


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Supplements | Communication

TwinCAT PLC Serial Communication 1170

software library for communication via serial Bus Terminals

or PC COM ports

TwinCAT PLC Serial Communication 3964R / RK512 1170

software library for communication via serial Bus Terminals

or PC COM ports with the 3964R/RK512 protocol

TwinCAT PLC Serial Communication EnOcean 1171

software library for the processing of signals from sensors

without batteries with EnOcean technology

TwinCAT PLC Modbus RTU 1171

software library for communication with the Modbus protocol

via serial Bus Terminals or PC COM ports

TwinCAT PLC IEC 60870-5-101/-102/-103/-104 Master 1172

software library for communication via the telecontrol protocol

according to IEC 60870-5-10x (master)

TwinCAT PLC IEC 60870-5-101/-104 Slave 1172

software library for communication via the telecontrol protocol

according to IEC 60870-5-101/104 (slave)

TwinCAT DriveTop Server 1173

communication server for connecting the Indramat DriveTop tool

with TwinCAT

TwinCAT DriveCOM OPC Server 1173

for communication of drive setup tools right into

DriveCom-compatible drives

TwinCAT OPC Server 1175

for access to TwinCAT variables in accordance with the

OPC DA/XML DA specifi cation

TwinCAT OPC UA Server 1176

for access to TwinCAT variables in accordance with the

OPC UA specifi cation

TwinCAT SMS/SMTP Server 1176

enables sending of SMS or e-mail messages from the TwinCAT PLC

TwinCAT TCP/IP Server 1177

server and PLC library for communication via generic TCP server

(client functionalities included)

TwinCAT Modbus TCP Server 1177

for communication with Modbus TCP devices

(server and client functionality)

TwinCAT Virtual Serial COM Driver 1177

driver for the automatic generation of virtual Windows COM interfaces

for EL60xx terminals

TwinCAT FTP Client 1178

enables the TwinCAT PLC to access several FTP servers

TwinCAT PLC RFID Reader Communication 1178

for the connection of RFID readers to the TwinCAT PLC

Supplements | Controller

TwinCAT PLC Controller Toolbox 1179

software library with function blocks for control technology

TwinCAT PLC Temperature Controller 1179

software library with temperature control function block

Supplements | Building Automation

TwinCAT PLC Building Automation 1180

software library for executing basic building automation functions

TwinCAT PLC Building Automation DALI 1180

software library for the processing of signals for the digital

interfaces of ballasts

TwinCAT Building Automation Framework 1181

for easy confi guration of building automation applications

TwinCAT PLC HVAC 1182

software library for the automation of heating, ventilation,

air-conditioning and sanitary installations

TwinCAT PLC M-Bus 1183

licence for using the PLC library TwinCAT PLC M-Bus

TwinCAT Crestron Server 1183

for communication between a TwinCAT PLC and a Crestron control

centre


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Comparison: execution times for 1,000 PLC commands by a hardware PLC

and by TwinCAT PLC

Load threshold and jitter online

ministic features, independently of other processor tasks. The real-time load on a PC is set with TwinCAT; defi ned operat-ing behaviour is achieved in this way. TwinCAT indicates the system load for programs that are running. A load threshold can be set in order to assure a defi ned computing capacity for the operating programs as well as for Windows NT/2000/XP/Vista or Windows 7. If this threshold is exceeded, a system message is generated.

TwinCAT supports system diagnosisThe general use of hardware and software from the open PC world requires some checking: unsuitable components can upset the PC system. Beckhoff has integrated a practical indi-cator of the real-time jitter, giv-ing administrators an easy way to evaluate the hardware and software. A system message during operation can draw attention to incorrect states.

TwinCAT – PC-based control technologyStart/stop behaviourDepending on the setting, TwinCAT is started and stopped manually or automatically. Since TwinCAT is integrated into Win-dows NT/2000/XP/Vista and Win-dows 7 as a service, an operator is not needed to start the system: switching on is enough.

Restarting and data backupWhen a program is started or restarted, TwinCAT loads pro-grams and remanent data. To back up data and to shut down Windows NT/2000/XP/Vista or Windows 7 correctly, a UPS (uninterruptible power supply) is of great value.

TwinCAT and “Blue Screen”The TwinCAT system can be confi gured such that real-time capability is maintained in the event of a BSOD (Blue Screen of Death) operating system crash. Real-time tasks such as PLC and NC can therefore continue to run and bring the controlled process into a safe state. Ultimately, it is

The Windows Control and Automation TechnologyThe TwinCAT Software System turns almost any compatible PC into a real-time controller with a multi-PLC system and NC/CNC axis control. At the same time, TwinCAT integrates the programming environment for all Beckhoff controllers: from high-end Industrial PC Control to embedded controller.

TwinCAT architectureTwinCAT consists of run-time systems that execute control programs in real-time and the development environments for programming, diagnostics and confi guration. Any Windows pro-grams, for instance visualisation programs or Offi ce programs, can access TwinCAT data via Microsoft interfaces, or can execute commands.

A practically oriented software solutionTwinCAT offers a precise time-base in which programs are executed with the highest deter-


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Real-time operation of PLC software in a classic PLC

Real-time operation of PLC software on a PC

Real-time operation of software for a PLC and NC (Motion Control) on a PC

the decision of the programmer whether or not to utilise this fea-ture, bearing in mind that data or programs may already have been destroyed by the BSOD.

Worldwide connection through message routing – “remote” connection is inherent to the systemAccording to the requirement for operating resources, the TwinCAT software devices can be distributed: TwinCAT PLC programs can run on the PCs or on Beckhoff Bus Terminal Controllers. A “message router” manages and distributes all the messages, both in the system and via TCP/IP connections.

PC systems can be connected with each other via TCP/IP; Bus Terminal Controllers are inte-grated via serial interfaces and fi eldbuses (EtherCAT, Lightbus, PROFIBUS DP, CANopen, RS232, RS485, Ethernet TCP/IP).

Worldwide accessSince standard TCP/IP services of NT/2000/XP/Vista/CE and Windows 7 can be used, this data can be exchanged across the world. The system offers scalable communication capac-ity and timeout periods for the supervision of communi ca tions. OPC provides a stan dardised means for accessing many differ-ent SCADA/MES/ERP packets.

PLC cycle PLC cycle

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PLC cycle PLC cycle

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PLC Server Windows NTand HMI

NC Serverfor Motion Control

t1 ms

PLC cycle (e.g. 2 ms) PLC cycle t

NC cycle (e.g. 1 ms) NC cycle t

2 ms 3 ms 4 ms 5 mse.g.

NC cycle NC cycle


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The Windows Control and Automation Technology

The Beckhoff TwinCAT software system turns almost any compatible PC into a real-time controller with a multi-PLC system, NC axis control, programming environment and operating station. TwinCAT replaces conventional PLC and NC/CNC controllers as well as operating devices with: – open, compatible PC hardware– embedded IEC 61131-3 software PLC, software NC and software CNC in Windows NT/2000/XP/Vista, Windows 7, NT/ XP Embedded, CE– programming and run-time systems optionally together on one PC or separated– connection to all common fi eldbuses– PC interfaces support– data communication with user interfaces and other programs by means of open Microsoft standards (OPC, OCX, DLL, etc.)

TCP/ IP | serial

ADS interface

System Manager

Real-time server

I/O mapping

I/O: all fieldbuses and PC interfaces

ADS

Message router

Message router

I/O

ADS interface

I/O serverI/O run-time

I/O

ADS interface

PLC serverPLC run-time

I/O

ADS interface

NC PTP serverNC PTP run-time

I/O

ADS interface

NC I serverNC I run-time

I/O

ADS interface

CNC serverCNC run-time

System Manager

configuration,service,monitoring

ADS

PLC control

PLCprogramming

ADS ADS

Motion Control

TwinCAT NC PTPTwinCAT NC ITwinCAT CNC

ADS OCX/DLL

Scada,Visual Basic,Delphi, VisualC++, .NET, C#,VB.NET, …

OPC client

Scada,Visual Basic,Delphi

ADS Web service

ADS-http://

Internet /Intranet

TwinCAT OPC server

DAXMLUA


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TwinCAT I/O – universal I/O interface for all common fi eldbusesMany PC fi eldbus cards from various manufacturers are sup-ported. It is possible to operate more than one fi eldbus card per PC. Master and slave function-ality is supported, depending on the selected fi eldbus card. The fi eldbus cards can be con-fi gured and diagnosed conve-niently via the TwinCAT System Manager. TwinCAT I/O includes the TwinCAT real-time system for operating the fi eldbuses and a DLL interface to application programs.

TwinCAT PLC – the central pillar of automation soft-wareConceived as a pure software PLC, TwinCAT PLC allows up to four virtual “PLC CPUs”, each running up to four user tasks, on one PC. The PLC program can be written in one or more of the languages provided for in the IEC 61131-3 standard:– IL (Instruction List),– LD (Ladder Diagram),– FBD/CFC (Function Block

Diagram),

PLC and Motion Control on the PC– SFC (Sequential Function

Chart) and– ST (Structured Text).TwinCAT PLC running under the Windows NT/2000/XP/Vista operating systems includes both the programming environment and the run-time system, so that an additional programming device is not required. Under the CE operating system and the embedded operating systems for the series BX and BC control-lers, only TwinCAT run-time is available. Program modifi cations are implemented via network-capable powerful communica-tion with the run-time system. Programming can be done– locally,– via TCP/IP or– via the fi eldbus (BXxxxx

and BCxxxx).

IEC 61131-3 – advanced programming standard for all Beckhoff controllersThe TwinCAT PLC is programmed in accordance with IEC 61131-3 independently of the manufac-turer. TwinCAT supports all the IEC 61131-3 programming lan-guages with convenient editors and a fast, effective compiler,

so that the development cycle for the creation even of large PLC programs of several mega-bytes can be short. Incremental compilation prevents long turnaround times. Only genu-inely new sections are compiled. Powerful editor features, such as “autoformat”, “autodeclare” or “fi nd” and “replace” enable fast programming. For all program-ming languages, the project comparison function facilitates differences to be identifi ed and accepted if appropriate. If a project (comments, directories, etc.) is to be translated into a language other than the origi-nal language, all terms can be exported into a table, translated and re-imported. If a team is dealing with the development, all objects (blocks, data types, lists) can be managed within a source code management tool via the TwinCAT Engineering Interface. This enables changes to be traced back and differences between individual versions to be displayed.

The concept of the “instan-tiation” of function blocks, in which each instance is associ-ated with its own data, leads

naturally to object-oriented and structured programming styles. All common data types specifi ed in IEC 61131-3 are supported. Multi-dimensional fi elds and structures are possible, as are enumeration and subrange types.

TwinCAT PLC is certifi ed for the languages IL and ST (base level). The online change function can be used for code and/or data modifi cations while the PLC is running, providing maximum data retention. Source code can be stored in the target system (except for BCxxxx series controllers). The criteria analysis function is very helpful for the detection of process errors.

Code can very easily be reused via the convenient library manager. For know-how pro-tection, multi-stage password protection can be applied to programs and libraries.

Many target platforms – one toolThe PLC programs created with TwinCAT PLC can be executed on a number of target platforms. Apart from Industrial PCs and the Embedded PCs, the PLC project can also be loaded into


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the BC and BX series fi eldbus controllers from Beckhoff. Pro -gram development and debug-ging proceed in the same working environment, regardless of which unit is executing the program.

Extensive supplementary librariesAs an extension to the blocks defi ned by the IEC language standard, Beckhoff offers a wide range of supplementary libraries for the execution of tasks typical in automation technology: e.g. libraries for controlling electrical and hydraulic axes via TwinCAT NC, serial communication librar-ies, system libraries for message outputs, write/read fi les, control technology blocks, etc.

Helpful practice toolsExtensive faultfi nding functions in TwinCAT PLC facilitate the solution of problems either on site or via remote maintenance. For this purpose, the PLC pro-gramming environment in TwinCAT offers:– monitoring,– powerfl ow (fl ow control),– break point,

– sampling trace of PLC variables,

– single step,– watchlist,– call hierarchy and– forcing of variables.In addition, the TwinCAT ScopeView (a software oscilloscope) can be used to record one or several variables simultaneously.

TwinCAT NC – Motion Control on the PCA software NC consists of:– positioning (set value

generation and position control)

– integrated PLC with NC interface

– operating programs for commissioning purposes

– I/O connection for axes via fi eldbus

With TwinCAT NC, the position controller is calculated on the PC processor as standard. It exchanges data cyclically with drives and measurement systems via the fi eldbus.

Central NC positioning on the PCThe computing capacity of a PC enables axis motion simultane-ously with the PLC, whereby the position controller is usually calculated on the PC: the com-puting capacity of a PC enables many axes to be positioned simultaneously.

TwinCAT enables a PC to process the operating programs, the PLC and the NC at the same time. The division of the system load is supported by TwinCAT with appropriate functions.

Analytical path calculationThe algorithms that TwinCAT NC/NC I/CNC uses to control axes take account of the dynamic parameters of the axis: speed, acceleration and jerk. In this way, the axes are moved at any time within the limits of what is dynamically possible, and are precisely analytically coordi-nated. A range of different regu-lation algorithms are available in order to reduce the deviations from the ideal trajectory that will occur in practice.

Individual or jointBased on the normal methods for positioning an individual electrical axis, moving from its starting point to its destination (point-to-point positioning), TwinCAT NC also allows the coordinated movement of a number of axes in multi-stage master-slave operation (e.g. gearing functions or cam plates) to be executed. TwinCAT NC I further allows the interpolated path sequencing described in accordance with DIN 66025 to be carried out involving up to three axes.

Software PLC includedTwinCAT combines software NC and software PLC to form a powerful controller. The commu-nication between the two pack-ages is a pure software/software channel with minimum delay times. The NC functionalities are called from the PLC program via standardised, PLCopen-certifi ed function blocks.

Axis movements can be simulated without hardware; the actual value is instructed to ideally track the set value, and


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PTP positioning procedureHierarchical controller architecture: central or distributed

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Supervisory system

TwinCAT

PC Control

TwinCAT

PC Control

TwinCAT

PLC I/O

LANCommunication

the complete machine fl ow is checked. TwinCAT ScopeView is helpful for commissioning and maintenance. It records all axis variables such as position, speed and acceleration.

Convenient commissioningCommissioning is simplifi ed signifi cantly by the confi guration and diagnostic dialogs offered in the TwinCAT System Manager. For each axis, all main data are displayed at a glance. The axes can be moved via function keys. Special functions such as cou-plings, cam plates or distance compensation can be triggered and observed via the System Manager. A convenient dialog enables the dynamic parameters of an axis to be determined.

TwinCAT NC I – axis interpolation in three dimensionsTwinCAT NC I (interpolation) is the NC system for linear and circular interpolated path movements of axis groups with up to eight drives. The system includes interpreter, set value generation and position control-

ler. PLC functionality is integrated, as is the connection of the axes with the fi eldbus.

The interpreter interprets the code described in DIN 66025. Comprehensive PLC libraries enable interaction between NC and PLC. NC programs, for example, can be loaded directly from the PLC program into the interpreter. As an alternative to DIN 66025, the path interpola-tion via the TcPlcInterpolation library can take place directly from the PLC. In this case, the geometry and help functions (e.g. M functions) are writ-ten to a table in the PLC and transferred to the NC core. This procedure is particularly suitable for fl exible movements, e.g. in pick-and-place applications.

TwinCAT CNC – the software CNC for toughest requirementsTwinCAT CNC expands TwinCAT NC I with classic CNC features: up to 32 interpolating axes and comprehensive coordinate and kinematic transformations are possible. Parts program -ming is carried out according

to DIN 66025 using high-level language extensions. TwinCAT CNC can operate with up to 64 axes or 32 path axes and controlled spindles that can be distributed across up to twelve CNC channels. In a CNC channel, up to 32 axes can be interpolated simultaneously, enabling even the most diffi cult motion tasks to be solved. Apart from the classic linear, circular and helical inter-polations, TwinCAT CNC offers convenient spline interpolation, optionally based on Akima or B-splines. Real-time transforma-tions enable complex machine kinematics to be realised without problem.

HSC technology (high-speed cutting)Advanced HSC cutting technol-ogy requires CNC control tech-nology with optimised solutions for Motion Control in order to achieve optimum results in terms of processing time while at the same time offering maximum accuracy and workpiece surface quality.

The TwinCAT CNC HSC pack offers the following options:

– velocity and acceleration control across blocks for optimum utilisation of axis dynamics and therefore higher achievable path velocities

– high surface quality through smoothed dynamics and associated reduction of vibrational excitation of the machine

– effective control of specifi ed contour tolerances

– path programming via splines with programmable spline type (Akima spline, B-spline) for reduction of NC blocks for free-form surfaces


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TwinCAT PLC – IEC 61131-3 Multi-PLC on the PCSoftware PLC for Windows NT/2000/XP/Vista or Windows 7The TwinCAT PLC is programmed in accordance with IEC 61131-3 independently of the manufac-turer. Online connections with PLC run-time systems around the world can be implemented with TCP/IP or via fi eldbuses on the IPC.

TwinCAT PLC programming systemTwinCAT PLC offers all the languages in the IEC 61131-3 standard and has a powerful development environment for programs whose code size and data regions far exceed the capacities of conventional PLC systems.

Online connection via networksChanges to programs or data are supported by a very power-ful link to the run-time systems, which can also operate over a network. All the usual facilities of a PLC are available.

Any Windows programs, for instance visualisation programs or Offi ce programs, can access TwinCAT data via Microsoft interfaces or control the PLC.

Practically oriented properties– all defi ned programming

languages: IL, FBD, LD, SFC, ST and CFC

– certifi ed in accordance with base level (IL/ST)

– structured programming with modular program management

– recompilation while PLC runs with maximum data reten-tion (online change)

– convenient library management

– source code storage in target system

– criterion analysis– conversion between

languages

– incremental compilation– all common data types,

structures, arrays, including multi-dimensional arrays

– programming support: auto-format, auto-declare, cross reference, search/replace

– project compare– program converting in

different languages– connection with source

code management tools

IEC 61131-3 languages

TwinCAT multi PLC

PLC run-time 1task 1-4

Process image 1


Process image 4


Process image 2


Process image 3

I/O mapping

Interbus CANopen

DeviceNet SERCOS PC hardware

Lightbus PROFIBUS DP

EtherCAT


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Diagnosis using standard PC techniquesChanges of any size to program and data can be carried out “online”. Error location and correction (debugging) is supported by aid of a very powerful link to the run-time system. This can also be used over a network. All the usual features of a PLC are available.

Debugging features– Online connections with PLC run-time

systems around the world can be imple-mented with TCP/IP or via fi eldbuses.

– online change of new variables, instances or programs at run-time with maximum data retention

– online monitoring of variables in variable lists, watch windows, editors

– online status and powerfl ow (accumula-tor contents) of programs and instances

– triggering, forcing and setting variables– single step, breakpoints– step into, step over– display of the current call stack– Watch list shows a selection of variables.– Trace function records variable values for

every cycle.– online management of all variable names

and structures across the whole system– TwinCAT ScopeView as a graphical diag-

nostic and analysis tool for the display of values

TwinCAT PLC

Powerful debugging

Technical data TwinCAT PLC


Operating systems version-dependent: Windows NT/2000/XP/Vista, Windows 7, Windows NT/XP Embedded, Windows CE (only run-time)

Target systems PC (x86), Windows CE devices, Beckhoff Fieldbus Controllers (BCxxxx, BXxxxx, IL230x-Cxxx)

Real-time Beckhoff real-time kernel as a component of TwinCAT

Run-time system max. 4 multi-tasking PLCs each with 4 tasks in each PLC run-time system, development and run-time systems

on one PC or remote programming via TCP/IP

Memory process image size, fl ags area, program size, POU size, number of variables only limited by the size of the user memory

(max. 2 GB under NT/2000/XP/Vista)

Cycle time 50 µs upwards selectable (typically 1 ms)

Link time 1 µs (Intel® Core™2 Duo)

Programming IEC 61131-3: IL, FBD, LD, SFC, ST, CFC, powerful library management

Debugging online changes in programs and variables, online monitor, execution control, breakpoints, write, force, step,

data trace, remote debugging via TCP/IP

Remanence remanent and persistent data, UPS supported storage on hard disk, storage in NOVRAM as option

I/O system free choice of fi eldbus: EtherCAT, PROFIBUS DP/MC, CANopen, DeviceNet, Interbus, SERCOS, Lightbus, Ethernet,

PC hardware (printer port, COM port, USB), PC cards: generic memory DPRAM support

Connectivity variable access via OPC, Beckhoff ADS OCX/DLL, .NET

Further information www.beckhoff.com/TwinCAT_PLC

Ordering information

TwinCAT PLC licence for using the IEC 61131-3 PLC automation software, including programming software and run-time system

Options

TwinCAT PLC

Controller Toolbox

The TwinCAT Controller Toolbox library contains blocks for basic controllers (P, I, D),

complex controllers (PI, PID), pulse width modulation, ramps, signal generators, fi lters. 1179

TwinCAT PLC

Temperature Controller

IEC 61131-3 software library for TwinCAT PLC for temperature control

1179

TwinCAT PLC

Hydraulic Positioning

IEC 61131-3 software library for TwinCAT PLC for controlling hydraulic axes

1166

TwinCAT PLC Modbus RTU IEC 61131-3 software library for TwinCAT PLC with Modbus RTU function blocks

for serial communication with Modbus devices 1171

TwinCAT PLC

Serial Communication

IEC 61131-3 software library for TwinCAT PLC for communication via serial Bus Terminals

or PC COM ports 1170

TwinCAT PLC

Building Automation

IEC 61131-3 software library for TwinCAT PLC for execution of basic functions in

the building automation area (basic library) 1180

TwinCAT Engineering

Interface Server

The TwinCAT Engineering Interface Server integrates drivers for interfacing with

Microsoft Visual Source Safe or Subversion. 1158


Twin

CAT

1147

TwinCAT NC PTP – Point-to-point axis positioningPosition control with the PCTwinCAT NC PTP includes axis positioning software (set value generation, position control), an integrated software PLC with NC interface, operating program for commissioning and an I/O connection to the axes through various fi eldbuses. TwinCAT NC PTP replaces conventional positioning modules and NC controllers.

NC PTP software on the PCThe position controller is nor-mally calculated on the PC pro-cessor and cyclically exchanges data via the fi eldbus with drives and measurement systems.

The capacity of a PC allows axes to be moved in parallel with the PLC functionality. PC power means that some tens of axes can easily be positioned simul-taneously.

System structureAxes are structured into channels for PTP movement and for interpolated move -ments.

Axis structureTwinCAT NC PTP uses variables to operate axes. Each axis has variables for encoder, drive and controller. The axis can be linked to I/O interfaces, and parameters can be set.

Axis functionsAxis functions such as– start (various modes)– stop– new target position

and velocity– constant drive output– set/call actual position

Axis types– servo axes– high/low speed axes– stepper motor axes– “low-cost” stepper motor

axes– encoder axes– simulation axes– DC drives

Position measurement systemsThe position controller acquires the actual position through:– incremental encoders– absolute encoders– digital interfaces to

the drives

Drive interfaces– analog– EtherCAT– SERCOS– SSI– Lightbus– PROFIBUS DP/MC– pulse train

Interfaces– interfacing to all popular

fi eldbuses, in particular EtherCAT, Lightbus, SERCOS, PROFIBUS MC, synchron CAN

– Axis functions can be embedded into the IEC 61131-3 PLC system by means of function block libraries; the function blocks comply with the PLCopen standard.

– data interface to Windows NT/2000/XP/Vista/CE or Windows 7 programs by means of open standards (OPC, Beckhoff ADS)

System operation


Twin

CAT

1148

PositioningPositioning is executed with a powerful, modern positioning algorithm in which profi les are generated with jerk limitation and with pre-control of speed and acceleration to minimise the following error.Positioning facilities:– Controller structures

can be adjusted.– P controller– PID controller– PID with speed

pre-control– PID with speed

and acceleration pre-control

– override functions

Commissioning/servicingThe online menu allows impor-tant axis parameters such as– target position,– set speed,– acceleration, jerk,– reference speed,– controller Kv factor,to be set, and general axis functions such as– start,– stop/emergency stop,– new target position

with new speed,to be called.

Special functions– linear coupling

(electrical gears)– distance compensation– online master/slave and

slave/master conversion– “fl ying saw” (diagonal saw)

– camming (support through TwinCAT Cam Design Tool)

– FIFO axes– change over encoders/

controllers– external axis set value

generator– multi-master coupling

Connection between NC software

and drive using drag and drop

TwinCAT NC PTP

Programming IEC 61131-3

function blocks or standard

PLCopen Motion Control

libraries

Technical data TwinCAT NC PTP




Run-time system NC point-to-point (NC PTP) including TwinCAT PLC

Number of axes up to 255 axes

Axis types electrical and hydraulic servo drives, frequency converter drives, stepper motor drives, DC drives, switched drives

Cycle time 50 µs upwards selectable (typically 1 ms)

Axis functions standard axis functions: start/stop/reset/reference, speed override, destination override; special functions: master-slave

cascading, electronic gearing, online distance compensation

Programming performed using IEC 61131-3 function blocks in the TwinCAT PLC, convenient methods for axis commissioning

Debugging online monitoring of all axis state variables such as actual/set value, enable, controller values, online axis tuning,

forcing axis variables

Confi guration all axis parameters such as the measuring system, drive parameters and position controller can be conveniently confi gured

Remanence remanent data, UPS-supported storage on hard disk

I/O system free choice of fi eldbus: EtherCAT, PROFIBUS DP/MC, CANopen, DeviceNet, Interbus, SERCOS, Lightbus, Ethernet

Connectivity variable access via OPC, Beckhoff ADS OCX/DLL

Further information www.beckhoff.com/TwinCAT_NC_PTP


TwinCAT NC PTP licence for using the PTP positioning software with integrated IEC 61131-3 TwinCAT PLC,

contains programming software and run-time system

Options

TwinCAT NC Camming IEC 61131-3 software library for TwinCAT, implemented camshaft functionality (table coupling) 1167

TwinCAT NC FIFO Axes IEC 61131-3 software library for TwinCAT, permits specifi ed FIFO set value generation 1166

TwinCAT NC Flying Saw IEC 61131-3 software library for TwinCAT, implements a “fl ying saw” 1167

TwinCAT Cam Design Tool graphical development tool for programming cams 1168

TwinCAT Valve Diagram Editor graphics-oriented editor for designing the characteristic curve of a hydraulic valve 1169


Twin

CAT

1149

TwinCAT NC I – Axis interpolation in three dimensionsFollow the path with the PCThe TwinCAT NC Interpolation (NC I) is the NC system for interpolated path movements. TwinCAT NC I offers 3-D inter-polation (interpreter, set point generation, position controller), an integrated PLC with an NC interface and an I/O connection for axes via the fi eldbus. All well known Fieldbus systems and programming standards in the CNC world, such as DIN 66025, are supported. TwinCAT NC I delivers open PC solutions for standard axial components and CNC controls. TwinCAT NC I uses the power of the PC and allows axis regulation under Windows

NT/2000/XP/Vista/CE or Windows 7. Hardware modules are simulated in the soft ware, and are thus superfl uous.

TwinCAT NC I – interpreterThe syntax which is laid down in DIN 66025 is a reliable de scriptive language for machine sequences. There is also an additional exten-sion to the DIN syntax with a number of useful functions:– techniques for sub-routines

and jumps– programmed loops– zero offset shifts– tool compensations– tools– M and H functions

3-D interpolationThe following geometries are supported by the interpreter:– straight lines in space– circles in all main planes– circles in space– helices with base circles

in the main planes– Bezier splines

TwinCAT NC I – operating interfaceAn operating interface inte-grated into the TwinCAT System Manager provides information on all set and actual values and on the physical and logical state of the interpolation chan-nels and interpolation axes.

The NC structure and many NC parameters are also set using the System Manager.

The structure of an axis group

The NC program editor


Twin

CAT

1150

TwinCAT Scope

Online changes of confi gu-ration of the axesIndividual PTP axes can be col-lected fl exibly, when the axes are stationary, into new interpolation groups, after which they can be reconfi gured as PTP axes. In this way all PTP characteristics such as reference run, tool change, etc. can be used.

PLC blocks for interpolationIn order to create a simple interface for axis interpolation, PLC blocks which can create positioning commands for the interpo lation channel, using easily understood descriptions organised as tables are available.

TwinCAT NC I – pathway dynamicsA rate-of-change limited profi le, which at any moment describes the acceleration, speed and position on the path as well as the associated transformed Car-tesian axis values. The maximum allowed dynamic limiting values can be changed at any time in the NC program.

TwinCAT NC I – path overrideTwinCAT NC I possesses a speed override function which can synchronously work on all of the axes.

Speed reduction at curvesTwinCAT NC I offers different reduc tion methods for reducing the speed on neighbouring geometrical cross-over points. The parameter for this speed reduction can be changed in the NC program.

TwinCAT NC I axesFor each channel three path axes (X, Y, Z) can be used. In addition, fi ve further auxiliary axes can be integrated into the channel. These are interpolated with the path, i.e. they start with the path segment and arrive in the target position with the path segment.

„Look Ahead“The „Look Ahead“ function calculates the maximum possi -ble path velocity at segment transitions. It can take into account all entries in the NC core and connects neighbouring geometries so far as this is possible.

Slave coupling on the path axesA master/slave coupling on a path axis is possible, inde-pendently of which slave type is involved.

Geometric-dynamic smoothingVarious options are available in order to achieve optimum geo-metrical and dynamic smoothing at segment transitions (e.g. Bezier smoothing). In this way, the path velocity can be kept constant at segment transitions if the bound-ary conditions are suitable. This is particularly important for pick-and-place tasks and manipula-tions (e.g. laser welding).

Diagnostic and optimisation possibilitiesAll machine state variables can be extracted and displayed for diagnostic and analysis purposes. An ideal tool in this respect is TwinCAT ScopeView, which allows all internal and external variables to be recorded. These variables include path values (set and actual values) such as path speed, path acceleration, tangential and orthogonal path error as well as Cartesian values such as position, speed, follow-ing error, etc.

TwinCAT NC I

Technical data TwinCAT NC I




Run-time system NC interpolation, including TwinCAT NC PTP and PLC

Number of axes 3 axes per group, 1 group per channel, max. 31 channels, auxiliary axes

Axis types electrical servo-axes, stepper motor drives

Interpreter functions subroutines and jumps, programmed loops, zero shifts, tool compensations, M and H functions, “delete distance to go”

Geometry functions straight lines and circular paths in 3-D space, circular paths in all main planes,

helixes with base circles in all main planes, Bezier splines

Axis functions online reconfi guration of axes in groups, path override, slave coupling to path axes

Programming DIN 66025 programs for NC interpolation, access via function blocks for TwinCAT PLC according to IEC 61131-3

Debugging online monitoring in the TwinCAT System Manager with the following displays: present set/actual positions (following

errors of all axes), NC program line presently being executed, NC program line presently being interpreted, channel status

I/O system free choice of fi eldbus: EtherCAT, PROFIBUS DP/MC, CANopen, DeviceNet, SERCOS, Lightbus, Ethernet

Connectivity variable access via OPC, Beckhoff ADS OCX/DLL (Automation Device Specifi cation)

Further information www.beckhoff.com/TwinCAT_NCI


TwinCAT NC I licence for using the interpolation and PTP positioning software with integrated IEC 61131-3 TwinCAT PLC,

contains programming software and run-time system


Twin

CAT

1151

TwinCAT CNC – High-performance CNC solution for complex applicationsComplex tasks – new solutionsTwinCAT CNC offers complete CNC functionality as a pure PC-based software solution. TwinCAT CNC covers the com-plete range of classic CNC path control, including high-end sys-tems for complex motion and kinematics requirements. The powerful, continuously evolving PC platform and the hard real-time base of the TwinCAT real-time kernel provide the founda-tion for the CNC software.

TwinCAT continuityTwinCAT CNC is based on TwinCAT PLC, the IEC 61131-3 software PLC. If TwinCAT NC PTP is used as the basis; powerful motion functionality for posi-tioning tasks is also available. Parts programming is carried out according to DIN 66025 using high-level language extensions. TwinCAT CNC expanded TwinCAT NC I with classic CNC features. Up to 64 interpolating axes and comprehensive coordinate and kinematic transformations are possible.

Open for I/O and drive systemsIn the CNC world, TwinCAT CNC offers unique openness towards the I/O periphery and the drive system through the consistent utilisation of Fieldbus technol-ogy. A variety of I/O modules can be connected via all com-mon fi eldbus systems. The drive systems can be connected with the CNC via an analog/encoder interface or directly via a digital drive interface (e.g. EtherCAT, PROFIBUS MC, SERCOS or Lightbus). This offers maximum openness and independence in the choice of I/O and drive systems for the user.

Versatile machiningThe required axis and spindle functions, interpolation and feed functions, tool and help functions according to DIN 66025 with specifi c expan-sions are available for a variety of machining technologies (e.g. milling, drilling, handling, special machines).

Interpolation with 64 axesComplex machining tasks often require path movements involving a large number of axes and spindles. TwinCAT CNC can operate with 64 axes and controlled spindles that can be distributed across up to 12 CNC channels. In a CNC channel, up to 32 axes can be interpolated simultaneously, enabling even the most diffi cult motion tasks to be solved.

HSC technology (high-speed cutting)Advanced HSC cutting technol-ogy requires CNC control tech-nology with optimised solutions for Motion Control in order to achieve optimum results in terms of processing time while at the same time offering maximum accuracy and workpiece surface quality.

The TwinCAT CNC HSC pack offers the following options:– velocity and acceleration

control across blocks for optimum utilisation of axis dynamics and therefore high-er achievable path velocities

– high surface quality through smoothed dynamics and associated reduction of vibrational excitation of the machine

– effective control of specifi ed contour tolerances

– path programming via splines with programmable spline type (Akima spline, B-spline) for reduction of NC blocks for free-form surfaces

Real-time transformationsComplex machine kinematics with diffi cult machining tasks require real-time transformations within the CNC for simple and fl exible operation and program-ming. They are used, for example, for defi ning different coordinate systems within the machining process or for generating auto-matic compensating movements of rotary axes. A classic applica-tion is 5-axis machining.


Twin

CAT

1152

As an option, TwinCAT CNC provides special CNC functions:– RTCP function (rotation tool

center point)– TLC function (tool length

compensation)– kinematics selection from

the kinematics library– defi nition of different coordi-

nate systems– tool alignment in the chosen

coordinate system– linking/transition of coordi-

nate systems

TwinCAT CNC

CNC configuration and diagnostics

with TwinCAT System Manager

System operation for commissioning

Technical data TwinCAT CNC


Operating systems version-dependent: Windows NT/2000/XP/Vista, Windows 7, Windows NT/XP Embedded


Run-time system CNC, including TwinCAT NC I, NC PTP and PLC

Number of axes/spindles 8 path axes/6 controlled spindles, with a maximum of 64 axes/12 controlled spindles (optional), 1 CNC channel,

with a maximum of 12 CNC channels (optional)

Axis types electrical servo-axes, analog/encoder interface via fi eldbus (e.g. EtherCAT, Lightbus, PROFIBUS, CANopen),

digital interface via fi eldbus (EtherCAT, Lightbus, SERCOS interface, PROFIBUS MC)

Geometry functions linear, circular, helical interpolation in the main planes and freely defi nable planes, 8 interpolating path axes per channel,

a maximum of 32 interpolating path axes (optional), look-ahead function

Axis functions coupling and gantry axis function, override, axis error and sag compensation, measuring functions

Programming DIN 66025 programming language with high-level language extensions, mathematical functions, programming of

parameters/variables, user macros, subroutine techniques, spindle and help functions, tool functions, zero offset shifts

Operation automatic operation, manual operation (jog/inching), single block operation, referencing, block search, handwheel

operation (motion/superposition)

Debugging online monitoring in the TwinCAT System Manager

I/O system decentralised I/Os via freely selectable open fi eldbuses (EtherCAT, Lightbus, SERCOS, PROFIBUS DP/MC, CANopen,

DeviceNet)

Connectivity variable access via OPC, Beckhoff ADS OCX/DLL

Further information www.beckhoff.com/TwinCAT_CNC


TwinCAT CNC licence for using the CNC path control software based on TwinCAT PLC or TwinCAT NC PTP

Options

TwinCAT CNC Axes Pack expansion to a total of 64 axes/controlled spindles, of which a maximum of 32 can be path axes and a maximum

of 12 can be controlled spindles

TwinCAT CNC Channel Pack 1 further CNC channel, expandable to a maximum of 12 channels, channel synchronisation, axis transfer between channels

TwinCAT CNC Transformation transformation functionality (5-axis functionality), kinematics selection from kinematics library,

RTCP function, TLC function, defi nition of various coordinate systems, linking/transition of coordinate systems

TwinCAT CNC HSC Pack velocity and acceleration control across blocks for optimum utilisation of axis dynamics for higher path velocities, maximum

surface quality through smoothed dynamics, control of specifi ed contour tolerances, path programming via splines


Twin

CAT

1153

TwinCAT I/O – I/O connection to Windows programsTwinCAT I/OTwinCAT I/O is a real-time driver for Windows programs running under Windows NT/2000/XP/Vista/CE or Windows 7. Program variables, the I/O devices present in the system and the connected I/O channels are brought into the proper relationship with one another.

TwinCAT I/O– provides variable-oriented

linkage of I/O devices and tasks

– provides variable-oriented linkage of tasks to other tasks

– The smallest unit is one bit.– supports both synchronous

and asynchronous relation-ships

– Data regions and process images are exchanged con-sistently.

Openness: all standardsTwinCAT I/O supports all established fi eldbuses – even simultaneously.– EtherCAT– Lightbus– PROFIBUS DP

(master and slave)– PROFIBUS MC

(Motion Control)

– Interbus– CANopen– SERCOS interface– DeviceNet– Ethernet– PC printer port– USB– serial Bus Coupler BK8100

to COM– memory interface (DPRAM)

for PC cards– SMB (System Management

Bus)

Online displayOpen I/O interface


Twin

CAT

1154

TwinCAT I/O – propertiesTwinCAT I/O provides the con-nected I/O channels as a struc-ture and organises the mapping of the data transfer.

TwinCAT I/O permits server process images to be linked bit-wise to I/O channels and provides tools which can, for instance, link a lot of channels continuously with a single com-mand. The connections can be moved by drag and drop.

Software wiringWith the aid of the TwinCAT I/O system, the inputs and out-puts of a task can be cyclically exchanged with the outputs and inputs of another task – the data consistency remains intact. The TwinCAT I/O system is vari-able-oriented, which means that

the smallest unit which can be addressed and linked is a vari-able, and the smallest size of a variable is one bit.

Online analysisAt the server’s fi eldbus level and the level of the process image, commissioning and servicing are assisted by online display. TwinCAT I/O generates address relationships (mappings) be -tween tasks and I/O devices, and provides powerful online tools:– online display in a directory

tree– online watch window– force and write to commis-

sion and test task variables and I/O devices

Diagnostic data is displayed in a consistent form for all I/O devices.

Import/export functionsTwinCAT I/O manages variables, making import and export func-tions available at all levels.

TcTimer API under CEOn Beckhoff CE devices TwinCAT I/O is available with the TcTimer extension. The TcTimer API offers a real-time timer (scalable from 100 µs) and access to the logical process image. Data exchange with the fi eldbus is triggered with a method call. The TcTimer API enables external applications to create deterministic applica-tions that are synchronised up to the IO fi eldbus level.

TwinCAT I/O

Import/export functions

I/O configuration

Technical data TwinCAT I/O




User program User program running in user mode which can, for instance, run cyclically as a multimedia task (“soft” real-time).

Access to the I/O process image is provided via cyclical calls of DLL functions.

Under CE: hard real-time with synchronised access to process image

Memory only limited by the size of the computer’s RAM (max. 2 GB under NT/2000/XP/Vista)

Cycle time 50 µs upwards selectable

Programming application program in any high-level language, e.g. C++, Delphi

Debugging via the standard debugging tools of the high-level language used

I/O system free choice of fi eldbus: EtherCAT, PROFIBUS DP/MC, CANopen, DeviceNet, Interbus, SERCOS, Lightbus, Ethernet,

PC hardware (printer port, COM port, USB), PC cards: generic memory DPRAM support

Connectivity variable access via OPC, Beckhoff ADS OCX/DLL (Automation Device Specifi cation)

(under CE: in addition TcTimer API)

Further information www.beckhoff.com/TwinCAT_IO


TwinCAT I/O licence for using the I/O DLL for data exchange with Windows programs


Twin

CAT

1155

TwinCAT CP is a driver for the Beckhoff Control Panels C6xxx and C7xxx, the industrial operat-ing and display devices.

Control Panels are optimised for use as a human-machine inter -face. Operating and display ele-ments create an independent unit, separated from the PC by a simple cable link.

TwinCAT CP creates the driver connection between gen-eral Windows programs and the

operating and display elements on the Beckhoff Control Panel:– direct switches for fast

machine functions– switch feedback by LEDs– UPS supportThe driver permits variable-oriented operation of the Control Panel’s functions by the Windows programs.

TwinCAT CP – Driver for Beckhoff Control Panels

Technical data TwinCAT CP


Operating systems version-dependent: Windows NT/2000/XP/Vista, Windows 7, Windows NT/XP Embedded


User program User program running in user mode which can, for instance, run cyclically as a multimedia task (“soft” real-time).

Access to the I/O process image is provided via cyclical calls of DLL functions.

Memory only limited by the size of the computer’s RAM (max. 2 GB under NT/2000/XP/Vista)

Programming application program in any high-level language, e.g. C++, Delphi

Debugging via the standard debugging tools of the high-level language used

I/O system keys, LEDs and UPS functionality of the Beckhoff CP6xxx, CP7xxx Control Panels together with the Beckhoff

CP9030/CP9035 plug-in card

Connectivity OPC, Beckhoff ADS OCX/DLL (Automation Device Specifi cation)

Further information www.beckhoff.com/TwinCAT_CP


TwinCAT CP licence for using the driver for the Beckhoff Control Panel, providing communication with general Windows programs


Twin

CAT

1156

TwinCAT Supplements

Twin

CAT

1157

TwinCAT ECAD Import

The TwinCAT ECAD Import Tool completes the engineering chain: everything happens automati-cally without user intervention, from electrical design to PLC projects. The achievable reduc-tion in input and transmission errors ultimately also reduces costs. From an ECAD program, the required information about

the structure of the I/Os and the linkage to PLC variables is exported via XML. Beckhoff uses an XML schema for specifying the structure of the XML fi le. The TwinCAT ECAD Import Tool reads the XML fi le and generates a TwinCAT System Manager con-fi guration with all I/O devices, Bus Terminals and Fieldbus Box

modules, and a basic PLC pro-gram with the I/O variables used.A software device hierarchy can be created by importing a further XML fi le. An NC device with tasks, axes and, obviously, I/O variables can be created auto-matically. For this too, links with PLC variables can be generated automatically. Corrections in the

ECAD construction drawings can be implemented at any time. Any changes that may be required in the System Manager or the PLC program are carried out automatically, as far as pos-sible.


TwinCAT ECAD Import Licence for using the TwinCAT ECAD Import for importing XML fi les from the ECAD systems. A TwinCAT System Manager

confi guration and a PLC program are created automatically.

TwinCAT Engineering Interface Server

In cases where several program-mers work on a PLC project,in the past the question kept recurring of how to integrate the work of the different pro-grammers in a single project. Up to now, this was only possible by comparing, importing and copying. The TwinCAT Engineer-

ing Interface (ENI) enables tasks to be coordinated via a source code management system. To this end, the TwinCAT Engineer-ing Interface Server is installed on a central server within the network. It provides a shell for a variety of source code manage-ment systems. Microsoft Visual

Source Safe and drivers for Subversion source code manage-ment can be operated under this shell.

The TwinCAT Engineering Interface Server contains con-fi guration, management and diagnostic programs. Once the appropriate database has been

selected, the connected users have to be confi gured with passwords and individual rights. A diagnostic tool offers the option of displaying which user is carrying out what tasks in what objects, independent of the database used.


TwinCAT Engineering

Interface Server

licence for using the TwinCAT Engineering Interface Server with integrated drivers for Microsoft Visual Source Safe

and Subversion


Twin

CAT

1158

System TwinCAT Supplements

TwinCAT Eventlogger

With the TwinCAT Eventlogger an alarm and diagnostics system is available that can be installed in all TwinCAT-based controllers with very little programming effort. The TwinCAT Eventlogger has the task of managing all messages (events) appearing in the TwinCAT system; to forward them and, where necessary, to write them into the TwinCAT log fi le. In this context ‘events’ are understood to comprise alarms, warnings, notes or instructions. Messages can be acknowledged. The Eventlogger has COM/DCOM interfaces. The Message Format-ter produces the connection between the actual event and its message text. It fetches the appropriate message string from an external data bank

(usually XML-based) containing the message texts, and returns the complete message, including all its parameters, to the visuali-sation system.

The Event Viewer imple-ments the visualisation of the resulting messages. In this man-ner the automatic display of all important information concern-ing an event is possible. It is also possible to create a customised message display by linking the TcEventViewer Type Library. The message texts are comfortably confi gurated with the TcEvent confi gurator.

The TwinCAT Eventlogger is included in the TwinCAT system.

Event viewer

Message formatter

TwinCATEventlogger(COM server)

TwinCATLogFile

PLC code

(D) COM

(D) COM

ADS

Message database

TwinCAT XML Data Server

The TwinCAT XML Data Server enables reading of data from an XML fi le directly into the PLC and writing of variable val-ues from the PLC into an XML fi le. The structure of the variables in the XML document matches the structure of the variables in the PLC. Individual subelements of a variable can be accessed separately.

A PLC library contains:– two function blocks for

reading of variables from the XML fi le– FB_XmlSrvRead– FB_XmlSrvReadByName

– two function blocks for writing PLC variables to an XML fi le– FB_XmlSrvWrite– FB_XmlSrvWriteByName

Variables can be addressed via names or addresses.


TwinCAT XML Data Server licence for using the TwinCAT XML Data Server for data exchange between an XML fi le and the TwinCAT PLC

TwinCAT XML Data Server CE licence for using the TwinCAT XML Data Server for data exchange between an XML fi le and the TwinCAT PLC

on Windows CE platforms


Twin

CAT

1159

SystemTwinCAT Supplements

TwinCAT Backup

In addition to fi les, directories and settings, TwinCAT confi gura-tions are also backed up. Users can specify additional com-ponents they wish to back up. Furthermore, essential operating system-specifi c information is backed up. These include user settings, profi les, network set-tings and much more. Any of the media connected to the PC can be used for the backup, for example a hard disk, a fl oppy disk, a CD writer or a network drive.

In the event of a restore, all fi les and settings are copied to a new computer on which an operat-ing system is already installed. In addition, TwinCAT is installed and confi gured. This also in -cludes the automatic preparation of a System Manager confi gu-ration and creation of a boot project. Installations can be customised.

If fi eldbus cards differ (e.g. if the cards are plugged into dif-ferent PCI slots), the backup tool will attempt an automatic adap-

tation. Between certain fi eldbus cards, it is even possible to carry

out an automatic update. The backup is confi gured in XML.


TwinCAT Backup licence for using the TwinCAT Backup tool for the backing up and restoring of fi les, operating system settings

and TwinCAT settings

TwinCAT Simulation Manager

The TwinCAT Simulation Man-ager is a tool for the confi gura-tion of a simulation environment, which integrates itself perfectly into the TwinCAT system envi-ronment. It supports creation of a “virtual machine” the temporal behaviour of which corresponds to the real machine.

Remote capability has been integrated in order to ensure separation of the actual PLC/NC and the simulation process. The actual control system can thus run on the control computer and the simulation process on

another PC. The link between control system and simulation process is realised via real-time Ethernet and the TwinCAT net-work variables.


TwinCAT Simulation Manager licence for using the TwinCAT Simulation Manager

Simulation environment

Machine installation

– switches original/simulation profile– manages simulation configuration– creates simulation framework

(mirrored PLC application)TwinCAT Simulation ManagerCopyright © 2004Beckhoff GmbH

Version: 2.0.504.0

1... 4 simulation PLCs

Realtime-Ethernet

TcBackupconfiguration &restore

Configuration

TcBackupserverXML CFG

Storage

Read, configuration

Restore Backup

Desktop application Windows system service


Twin

CAT

1160


TwinCAT Database Server

Many applications require backup of current variables from the PLC in databases. Conversely, recipe values often have to be loaded from a database during operation and processed directly in the PLC. The TwinCAT Data-base Server is used for logging PLC data in a database. Different database variants are available:– SQL/SQL Compact

(previously “SQL Mobile”)– Access– ASCII– ODBC

– Oracle/DB2/MySQL– PostgreSQL/Firebird/

Interbase

The TwinCAT Database Server enables:– cyclical logging of PLC

values,– cyclical checking of PLC

values and logging of modifi ed values only, and

– logging of event-driven data from the PLC cycle via a function block.

Individual PLC variables and also structures can be exchanged with the database.

The database server sup-ports authenticated access to the database. PLC function blocks for creating a database, a table and logging of data (appending or overwriting of data sets in the database or in ring buffer

mode) are available. The system can optionally be confi gured with a user-friendly confi gurator. A corresponding XML fi le with databases, ADS devices (e.g. PLC run-time) and transactions is described.


TwinCAT Database Server licence for using the TwinCAT Database Server for logging of PLC data in a database

TwinCAT Database Server CE licence for using the TwinCAT Database Server CE for logging of PLC data in a database for Windows CE platforms

TC Database Server

ADS

PLCFBs

C#Delphi

Data-base

Data-base

LAN

TwinCAT PLC HMI

The popular TwinCAT PLC Control option of simple visu-alisation development is now also available as a stand-alone option. On start-up, the TwinCAT PLC HMI tool offers a full-screen display of the visualisation cre-ated with TwinCAT PLC Control. To this end, the tool only requires access to the PLC project. All

visualisation features such as placeholder concept, KeyPad, NumPad, password protection, etc. can be used.


TwinCAT PLC HMI licence for using the TwinCAT PLC HMI tool for developing visualisations under Windows NT/2000/XP/Vista


Twin

CAT

1161


TwinCAT Management Server

The TwinCAT Management Server enables the central administra-tion of Beckhoff controllers. Software updates, for example, can thus be loaded conveniently from a central place to control-lers in the network. Besides the general updating of operating systems, device-specifi c compo-nents (PLC boot project) can also be loaded.

In the fi rst step, Beckhoff controllers in the network are detected automatically via “Device Discovery”; subse-quently there is a possibility

to assign the detected devices to logical groups. For each group, actions can be defi ned that can be processed individually by the respective devices. The following basic actions are available: copying, deleting, renaming of fi les or folders, carrying out of registry entries, running of applications and restarting of the system.

Building on these basic script-based actions, power-ful custom scripts for complex update scenarios can hence be executed. The Management

Server offers the possibility to monitor the ongoing processing

of the actions and to display the status.

Management server

File server Management service


TwinCAT Management Server licence for using the TwinCAT Management Server for central administration of Beckhoff CE controllers

TwinCAT PLC HMI Web

The TwinCAT PLC visualisation options have been extended: A web-based solution is now available in addition to the well-known TwinCAT PLC HMI for the PC and TwinCAT PLC HMI CE.

TwinCAT PLC Control serves as an editor for creating the dialogues for all three visuali-sation variants. Buttons, sliders, geometric elements (circles, polygons, …), tables, display instruments, graphics and edit boxes are available as web page elements.

The new web-based display is loaded together with the IEC 61131 PLC code to the run-time system simply by activating an option in TwinCAT PLC Control. The web pages created are available on the Internet Information Server (IIS) under TwinCAT on Windows XP or CE systems as a target platform.

The web page is based on Java Applet technology; a Java VM is required to display the web page.


TwinCAT PLC HMI Web licence for using the system software TwinCAT PLC HMI Web under Windows XP or CE

Web-based diagnostics and configuration

TwinCAT PLC HMI CE

TwinCAT PLC HMI CE enables the visualisation integrated in TwinCAT PLC Control to be run

as a stand-alone application under Windows CE. On start-up the TwinCAT PLC HMI CE tool

offers a full-screen display of the visualisation created with TwinCAT PLC Control.


TwinCAT PLC HMI CE licence for using the system software TwinCAT PLC HMI CE under Windows CE


Twin

CAT

1162


For some time now, TwinCAT contains a software scope: TwinCAT ScopeView. TwinCAT Scope 2 enables the graphics features of the new PC genera-tion to be fully utilised.

Logger and Viewer are separate. The Logger records the data from different channels with a time stamp and saves the data intermediately. It can also be installed on a CE target. The data can come from different ADS devices.

The viewer fetches the data from the Logger by means of ADS and displays it. The con-fi guration of the Scope is also carried out in the viewer. An assistant supports the search for variables to be recorded. Follow-ing selection of the controller, it is possible to browse inside the corresponding PLC. Individual variables can simply be selected.

The scope is the top level of a confi guration. Charts are the actual display area of the ScopeView. They provide the X-axis as the time-defi ned basis of the scope.

The Y-axes offer the option to group the channels within one chart. By means of automatic or free scaling, each axis provides the range of values that covers the connected channels. Chan-nels represent the system vari-ables to be analysed.

The Viewer optionally uses DirectX for displaying. DirectX provides COM-based program-ming interfaces for multimedia-intensive applications on the Windows platform.

TwinCAT Scope 2


TwinCAT Scope 2 licence for using the TwinCAT Scope under Windows NT, 2000, XP, Vista

TwinCAT EtherCAT Redundancy

TwinCAT EtherCAT Redundancy is an extension option for the TwinCAT EtherCAT master offer-ing cable redundancy. From the last logical device a cable

is returned back to the master. The TwinCAT System Manager is used for confi guration and diagnostics.


TwinCAT EtherCAT

Redundancy

licence for extending the TwinCAT EtherCAT master with cable redundancy capability


Twin

CAT

1163


TwinCAT PROFINET IO Device

TwinCAT PROFINET IO Controller

Technical data PROFINET via RT Ethernet PROFINET via EtherCAT (EL6631)

Ethernet hardware real-time Ethernet hardware PROFINET terminal EL6631

Operating system Windows XP, XP Embedded, CE

Software TwinCAT I/O, PLC, NC, NC I, CNC

Target systems PC (x86), Windows CE devices PC (x86), Windows CE devices with EtherCAT interface

Cycle time min. 1 ms

Number of possible IO devices limited by CPU power and memory up to 15 devices


TwinCAT PROFINET IO

Controller

licence for using the TwinCAT PROFINET IO Controller for Windows XP, XP Embedded

TwinCAT PROFINET IO

Controller CE

licence for using the TwinCAT PROFINET IO Controller for Windows CE

Technical data PROFINET via RT Ethernet PROFINET via EtherCAT (EL6631)

Ethernet hardware real-time Ethernet hardware PROFINET terminal EL6631



Target systems PC (x86), Windows CE devices PC (x86), Windows CE devices with EtherCAT interface


Number of possible IO devices limited by CPU power and memory 1


TwinCAT PROFINET IO Device licence for using the TwinCAT PROFINET IO Device for Windows XP, XP Embedded

TwinCAT PROFINET IO Device

CE

licence for using the TwinCAT PROFINET IO Device for Windows CE

The PROFINET IO Device (slave) is a TwinCAT supplement that turns every Beckhoff PC-based control system into a PROFINET IO device. By installing the sup-plement, a standard Ethernet interface becomes a PROFINET

slave. This supplement can be used on PCs and Embedded PCs.

PROFINET can also be tunnelled via EtherCAT in conjunction with the EL6631 PROFINET terminal for the EtherCAT I/O system. In this

way, any EtherCAT network can exchange data with PROFINET IO controllers.

The PROFINET IO Controller (master) is a TwinCAT supple-ment that turns every Beckhoff PC-based control system into a PROFINET IO controller. By installing the supplement, a standard Ethernet interface

becomes a PROFINET master. This supplement can be used on PCs and Embedded PCs.

PROFINET can also be tunnelled via EtherCAT in con junc tion with the EL6631 PROFINET terminal for the

EtherCAT I/O system. In this way, any EtherCAT network can exchange data with PROFINET IO devices.


Twin

CAT

1164


TwinCAT EtherNet/IP Slave

Technical data EtherNet/IP via RT Ethernet

Ethernet hardware real-time Ethernet hardware



Target systems PC (x86), Windows CE devices


Number of possible slave

devices

1


TwinCAT EtherNet/IP Slave licence for using the TwinCAT EtherNet/IP Slave for Windows XP, XP Embedded

TwinCAT EtherNet/IP Slave CE licence for using the TwinCAT EtherNet/IP Slave for Windows CE

The TwinCAT EtherNet/IP Slave is a supplement that turns every Beckhoff PC-based control sys-tem into an EtherNet IO device. By installing the supplement, any

Ethernet interface becomes an EtherNet/IP slave. This product can be used on all PC controllers and Embedded PC controllers running XP and CE.

PROFINET system structure

Ethernet TCP/IP

Embedded PC + TwinCAT PROFINET IO Controller

PROFINET

EtherCAT

EL6631-0010 PROFINET IO Device

Embedded-PC + TwinCAT PROFINET IO Device

PROFINET FieldbusBox IL230x-B903

IPC + TwinCAT PROFINET IO Device

PROFINET Bus Coupler BK9103

EtherCAT

Embedded PC + TwinCAT PROFINET IO Controller

PROFINET Bus Coupler BK9103

Embedded PC + TwinCAT PROFINET IO Device

EL6631-0000 PROFINET IO Controller


Twin

CAT

1165

TwinCAT PLC Hydraulic Positioning

The function blocks and functions of this library can be used for positioning and controlling hydraulic axes. Various functions are available for the conversion of sensor signals into actual positions and of control outputs into output data.

Blocks for point-to-point movements are supplied. These blocks operate with time or path-controlled ramps. Optionally,

constant or cosine acceleration can be used. In two variants, breaking is optimised by a root calculator or by an adaptive time control. Dead path and dead time compensation are available for the transition to the target posi-tion. The behaviour at the target can be selected through param-eterisation: position control, pres-sure output with the correct sign, automatic repositioning.

The motion can be infl uenced through monitoring functions and aborted prematurely if a lim-it value is reached. Alternatively, a motion can be slowed down, for example, through a pressure controller.

Apart from the remanence and persistence options of the TwinCAT PLC run-time, axis parameters can also be stored and loaded as fi les via supplied

blocks. The modular confi gura-tion of the axis within the PLC application enables the fl exible combination of library blocks with customer- and application-specifi c special functions.

TwinCAT NC FIFO Axes

The purpose of the FIFO is to send externally generated set position values to the axes in the form of a speed pre-control.

The set value generation is designed in such a way that both the set position and the set speed are determined as the

FIFO inputs are worked through in sequence. It is also possible, if necessary, to interpolate between two neighbouring FIFO inputs.


TwinCAT PLC

Hydraulic Positioning

licence for using the IEC 61131-3 software library for TwinCAT for controlling hydraulic axes


TwinCAT NC FIFO Axes licence for using the IEC 61131-3 software library for TwinCAT PLC to permit set value generation

specifi ed by the user for an NC axis


Twin

CAT

1166

TwinCAT NC Flying Saw

“Flying saw” generally repre-sents synchronisation of a slave axis with a master axis in motion. The master axis can be a real axis, a virtual axis, or some other external source of actual values. A simple example for a “fl ying saw” is a tool that processes a workpiece in continuous opera-tion. To this end, the tool travels with the workpiece over a limited

distance, synchronised in terms of velocity and position. After the task is complete, the tool returns to the starting position and is ready for the next task.

The PLC library contains blocks for programming this function under TwinCAT NC.– synchronisation of the slave

axis from any motion situa-tion (stop, forward or reverse

travel) with the master in motion

– simple synchronisation with the master velocity

– precise position synchronisa-tion with the master axis (velocity and position)

– synchronous velocity can be set via a coupling factor

– optional return prevention as additional safety function

– superimposed section com-pensation during the syn-chronous phase for dynamic position correction

Typical applications for this functionality result can be found in transfer lines, printing and packing machines.

TwinCAT PLC Remote Synchronisation

Due to the increasing use of decentralised controllers, time synchronisation of different sys-tems is becoming an increasingly important issue. In systems with-out identical time base, cyclic transfer of information can lead to beat effects, which can mani-

fest themselves as periodic mal-function in the synchronisation of drives for which axis informa-tion is transferred via a network. The TcRemoteSync.lib library offers options for general time synchronisation of information in distributed systems and special

techniques for synchronising NC axes (“distributed axes”). For synchronising distributed

systems, the functionality imple-mented in the TcRemoteSync.lib library can be used.

TwinCAT NC Camming

TwinCAT NC offers the option of coupling a slave axis with a mas ter axis via a cam plate. Tradition ally, cam plates are described as two-column posi-tion tables with master positions and corre spond ing slave posi-tions. In addition to this simple cam plate type, TwinCAT NC also supports so-called motion functions, which very accurately describe a cam plate via a few

interpolation points and a selec-tion of motion laws.

Application examples for TwinCAT cam plates are available from a wide range of industry sectors: press controllers, machin-ing centres, transfer lines, product handling or packaging machines.

The TwinCAT NC Camming PLC library contains all the func-tion blocks required for dealing with these cam plates.

– table types:– Position tables with

master interpolation points and associated slave positions; linear or spline interpolation is used between the interpolation points.

– motion function table describing a cam plate via motion laws accord-ing to VDI guideline 2143

– cyclic or linear processing– Cam plate described through

offset and scaling, can be modifi ed both on the master and the slave side.

– Motion functions can be modifi ed online.

Motion TwinCAT Supplements


TwinCAT NC Flying Saw licence for using the IEC 61131-3 software library for TwinCAT PLC to permit implementation of the “fl ying saw” functions


TwinCAT PLC

Remote Synchronisation

licence for using the IEC 61131-3 software library for TwinCAT PLC Remote Synchronisation


TwinCAT NC Camming licence for using the IEC 61131-3 software library for TwinCAT PLC for implementation of the camshaft functions

(table coupling) of TwinCAT NC


Twin

CAT

1167

MotionTwinCAT Supplements

TwinCAT Cam Design Tool

TwinCAT Digital Cam Server

Fast camshaft controller imple-mented in software in TwinCAT. The camshaft controller can be freely confi gured by the TwinCAT System Manager. Communica-tion with the TwinCAT PLC takes place both via the process image and via ADS (Automation Device Specifi cation).

– up to 320 outputs– up to 180 cams per output– path-path cams,

path-time cams– brake cams

(special function)– dynamic speed correction– minimum cycle time with the

Beckhoff Lightbus: 66 µs

– independent of fi eldbus (all the fi eldbuses supported by TwinCAT)

– measurement and moni-toring of rotary speed

– complete integration into the TwinCAT System Manager

The TwinCAT Cam Design Tool is available for the development of electronic cam plates. It is fully integrated into the System Manager. Cam plates represent the relationship between the positions of different axes. The independent axis is referred to as the master axis, while the dependent axis is called slave axis. The position of the slave axis is uniquely functional dependent on the position of the master axis.

The Cam Design Tool can be used to develop or modify cam plates interactively on the basis of VDI guideline 2143. The cam plates are composed of sections of laws of motion such as modi-fi ed sine waves, harmonic combi-nations, or of various polynomial functions. Speed, acceleration and jerk are also represented in addition to the slave position. The starting and fi nishing values

may be entered graphically and interactively, or in the form of a table. The same applies to boundary values (derivative val-ues) which can also be graphi-cally and interactively modifi ed for the appropriate functions.

In order to synchronise to the movement of another slave that has already been defi ned, it is possible to attach the starting or fi nishing point of a movement section to that other movement, and to shift it. In this way jerk-restricted, smooth movements are created.

For synchronising several cam plate, all slaves of a master can be displayed simultaneously. Data that already exists in table form can be read into TwinCAT Cam Design Tool, and its deriv-atives can also be displayed. The generated cam plates can be transferred to the NC as tables with specifi ed step size

or as so-called motion functions. Advantages of motion functions include accurate calculation in the NC and the option of online manipulation. The cam plates are saved in the System Man-ager project and automatically transferred to the NC on system start-up.


TwinCAT Cam Design Tool licence for using the TwinCAT Cam Design Tool for the graphical development of programming cams


TwinCAT Digital Cam Server licence for using the TwinCAT Digital Cam Server


Twin

CAT

1168

TwinCAT Valve Diagram Editor

In order to linearise non-linear characteristic curves of hydraulic valves, a velocity curve that has been measured for the output voltages has to be read in and approximated by a characteristiccurve. The measured characteristic

curve is displayed in the TwinCAT Valve Diagram Editor and can easily be linearised graphically. Only a few reference points are required. A straight line or a 5th degree polynomial is placed between these reference points.

The determined characteristic linearisation is then loaded into the TwinCAT NC real-time and taken into account when the voltages are output in the drive. Online monitoring is possible at any time.


TwinCAT Valve Diagram Editor licence for using the TwinCAT Valve Diagram Editor for designing the characteristic curve of a hydraulic valve

TwinCAT Kinematic Transformation

The kinematics package inte-grates itself transparently into the existing Motion Control world of TwinCAT: simple inser-tion of an additional Kinematic channel is suffi cient. The com-plete parameterisation is done in the TwinCAT System Manager.

The package supports differ-ent parallel and serial kinematic systems, as used for e.g. pick-and-place tasks. The supplement is based on TwinCAT NC I for interpolating movements and G-Code (DIN 66025). In addition, standard PTP and cam plate applications can be realised.

Programming is usually based on the Cartesian coordinate system, with the control system calculat-ing the inverse kinematics for the relevant motor positions.

The kinematic system can be selected in the TwinCAT System Manager. The kinematic channel is used to parameterise the type (e.g. delta) and the bar lengths and offsets. Mass and mass iner-tia values can be specifi ed for dynamic pre-control. The “fl ying saw” and “cam plate” functions enable synchronisation with con-veyor belts for picking or placing workpieces, for example.

TwinCAT Kinematic Transforma-tion is optimised for the Beckhoff AX5000 drive series.


TwinCAT Kinematic

Transformation

realises different kinematic transformations for TwinCAT PTP or TwinCAT NC I

Motion TwinCAT Supplements


Twin

CAT

1169

TwinCAT PLC Serial Communication

Communication library for con-nection of serial devices such as printers, barcode scanners, peripheral controllers or dis-tributed display systems to the TwinCAT PLC.

The PC’s serial interface and the Beckhoff KL6xxx serial Bus Terminals are supported.– sending and receiving

byte by byte– sending and receiving strings

– automatic detection of start/stop sequences

– confi guration of serial Bus Terminals at run-time

TwinCAT PLC Serial Communication 3964R/RK512

In addition to serial communi-cation, this library permits con -nection of serial devices to the TwinCAT PLC by means of the 3964R protocol. The PC’s serial interface and the Beckhoff KL6xxx serial Bus Terminals are supported. The full range of func-tions in the “Serial Communica-tion” library is included.

The RK512 protocol implements data exchange between serial Bus Terminals and other devices via a serial interface. The COM-libRK512 library for TwinCAT PLC supports transmission and recep -tion of PLC variables of any type. Data up to 128 bytes long is transferred transparently in the form of data blocks. To ensure

secure data transmission, the 3964R protocol is used underneath the RK512 proto-col. The COMlib, COMlib3964R and COMlibRK512 libraries are included in the package.


TwinCAT PLC

Serial Communication

licence for using the IEC 61131-3 software library for TwinCAT PLC for communication via serial Bus Terminals

or PC COM ports


TwinCAT PLC Serial

Communication 3964R/RK512

licence for using the IEC 61131-3 software library for TwinCAT PLC for communication via serial Bus Terminals

or the PC COM ports using the protocol 3964R/RK512


Twin

CAT

1170

TwinCAT PLC Serial Communication EnOcean

The transmitter or sender modules from the company EnOcean enable wireless send-ing of key signals and climate control signals without battery. These signals are received by a receiver module and can then

be processed in a controller. The KL6023 wireless adapter receives these signals and TwinCAT PLC Serial Communication EnOcean converts them to an RS485 sig-nal, which is processed directly by the KL6021-0023 serial Bus

Terminal. Using the EnOcean TwinCAT Serial Communication library, the data can be read by the KL6023 wireless adapter and prepared for further software utilisation.


TwinCAT PLC Serial

Communication EnOcean

free licence for using the PLC library for processing of data from the KL6023 wireless adapter

or the KL6021-0023 serial Bus Terminal

TwinCAT PLC Modbus RTU

In addition to Modbus TCP, TwinCAT devices can also communicate with Modbus RTU devices. Communication takes place via a serial RS232, RS422 or RS485 interface and is therefore suitable both for the PC/CX interfaces and for opera-tion with the serial KL6xxx Bus Terminals. Many manufacturers

of operating terminals support Modbus RTU. The Modbus RTU library offers blocks for master and slave operation. The oper-ating devices serve as master, the TwinCAT control as slave. The confi guration effort is very small.


TwinCAT PLC Modbus RTU Licence for using the IEC 61131-3 software library for TwinCAT PLC. The Modbus RTU TwinCAT PLC library offers

function blocks for serial communication with Modbus end devices.

Communication TwinCAT Supplements


Twin

CAT

1171

Four telecontrol libraries are available that comply with the globally accepted IEC 60870 standard.

The -101 specifi cation stan-dardises a protocol for serial cou-pling. A master can be realised via a comprehensive function block library for TwinCAT PLC.

The -102 protocol serves for the transmission of counter states of electrical energy quantities. These values are usually trans-mitted at longer periodic inter-vals. Special safety measures ensure that the values cannot be falsifi ed. The TwinCAT PLC library implements a serial interface, via which the individual ASDUs (application-layer service data units) can be sent or received.

The serial -103 version is the communication standard for substation control. The protocol is used for serial communication with digital protective equipment protecting the electric energy transmission network from the effects of faults (short circuit, earth leakage) in individual power supply units. For the purpose of monitoring these protective devices, all states are transferred to the control master station via a serial IEC 60870-5-103 protocol.

Like the -101 version, the -104 protocol defi nes a general communication standard. In contrast to the -101 standard, the communication is realised via TCP/IP.

Interoperability between devices from different manufacturers is ensured through the “interop-erability list”, the structure of which is defi ned in the standard. For the TwinCAT libraries inter-operability lists are available for each product in the Beckhoff Information System.

TwinCAT PLC IEC 60870-5-101, -102, -103, -104 Master


TwinCAT PLC

IEC 60870-5-101 Master

licence for using the IEC 61131-3 software library for TwinCAT PLC for communication via the telecontrol protocol

according to IEC 60870-5-101 (serial transmission), master

TwinCAT PLC




TwinCAT PLC




TwinCAT PLC



according to IEC 60870-5-104 (TCP/IP-based transmission), master

TwinCAT PLC

IEC 60870-5-104 Master CE


according to IEC 60870-5-104 (TCP/IP-based transmission) for Windows CE platforms, master

TwinCAT PLC IEC 60870-5-101, -104 Slave

In telecontrol applications, devices from different manufac-turers have to communicate with each other. Standardised data exchange can easily be realised via the internationally

standardised telecontrol proto-cols IEC 60870-5-101 for serial transfer and IEC 60870-5-104 for the TCP/IP-based transfer.

The two comprehensive TwinCAT libraries implement

the IEC 60870 slaves for -101 and -104. They run on a wide range of control platforms, including CX Embedded PCs and standard PCs.


TwinCAT PLC

IEC 60870-5-101 Slave


according to IEC 60870-5-101 (serial transmission), slave

TwinCAT PLC

IEC 60870-5-104 Slave


according to IEC 60870-5-104 (TCP/IP-based transmission), slave

TwinCAT PLC

IEC 60870-5-104 Slave CE


according to IEC 60870-5-104 (TCP/IP-based transmission) for Windows CE platforms, slave

CommunicationTwinCAT Supplements


Twin

CAT

1172


TwinCAT DriveCOM OPC Server

The DriveCOM user organisa-tion has set itself the aim of facilitating uniform, standardised communication between con-fi guration, commissioning and diagnostic tools from different drive manufacturers, indepen-dent of the fi eldbus.

The TwinCAT DriveCOM OPC Server offers this type of communication connection: TwinCAT enables the data fl ow from the engineering tool to the drive, independent of the fi eld-bus. Due to the network-capable ADS TwinCAT communication system, distributed drives can be confi gured and diagnosed

from a central point. Siemens supports this standard with the SimoComU and DriveMonitor tools in the 611U, Posmo and master drives under the name PROFIBUS DP-V1 OPC.

The TwinCAT DriveCOM OPC Server requires a subordinate TwinCAT system with a FCxxxx-type Beckhoff Fieldbus Card. The TwinCAT DriveCOM confi gu-rator fi nds supported drives in the TwinCAT confi guration and makes this information available for the engineering tool. The con-fi gurator features an automation interface and can therefore be operated remotely by other tools.


TwinCAT DriveCOM OPC Server licence for using the TwinCAT DriveCOM OPC Server

Drives Drives

SimoComU

DriveMonitor

TwinCAT DriveCOM OPC

TwinCAT protocol ADS

PLC NC NC I

TwinCAT IO Mapper

PROFIBUS

TwinCAT

TwinCAT DriveTop Server

The TwinCAT DriveTop Server is a communication server for link-ing the Indramat DriveTop tools to TwinCAT. This means that the familiar tool for confi guration and commissioning of Indramat drives can continue to be used. Confi guration with a number of SERCOS rings is also supported. The TwinCAT DriveTop Server and the Indramat DriveTop software offer a further method for initial-ising and visualising the param-eter data of Indramat drives in a SERCOS system, as an alter-native to the TwinCAT System

Manager. From the point of view of the SERCOS interface, the DriveTop Server uses TwinCAT ADS communication. As an inter-face to the DriveTop software, data exchange is represented to DDE services in accordance with the DriveTop convention. Other programs can continue to use the ADS service channel in paral-lel. The TwinCAT DriveTop Server makes the full range of Indramat DriveTop software functionalities available.


TwinCAT DriveTop Server licence for using the TwinCAT DriveTop Server for the confi guration of Indramat SERCOS drives with DriveTop software

on TwinCAT systems

DDE

OtherDrive ManufacturerTools

IndramatDriveTop Tool

TwinCAT DriveTop Server

SERCOS interface

...


Twin

CAT

1173

Communication

TwinCAT ADS Communication Library

TwinCAT ADS organises the data exchangeTwinCAT ADS organises the exchange of data between TwinCAT and Windows programs and includes:– searching for variables– access by variable name– synchronisation of timing

with the operating system– adaptation of the differing

data types– creation of data blocks and

list generation to improve system effectiveness

– ensuring that accessed data is consistent

Access methods– synchronous/asynchronous– cyclical/notify on change

Interface for program applicationsThe TwinCAT interface for programming languages (Visual Basic, Visual C, Delphi, Java, …) does not just offer links to I/O

data, but also full access to the methods of the PLC/NC run-time server (start, stop, etc.).

TwinCAT ADS operates through the message routerThe data link to TwinCAT serv-ers always takes place via the message system. In this way it is possible for the Windows pro-grams not only to work with the local server but also to exchange data with all registered TwinCAT servers worldwide. The message router also ensures that the data exchange to remote servers on other PCs or fi eld equipment can occur.

ADS components are available for the following applications: DLL, OCX, VB Script, J Script, .NET assembly, Java, web service.

ADS data exchange can be managed transparently via dif-ferent physical transport routes: TCP, UDP, fi eldbus, EtherCAT, serial, SOAP.

TwinCAT ADS monitorThe TwinCAT ADS monitor is an important debugging and diag-nostics tool for the development of ADS-based communication and is split into two applications, i.e. the logger for recording the telegrams and the viewer for displaying the telegrams offl ine. The telegrams can be conve-niently fi ltered in the viewer.

All ADS components are available free of charge as “TwinCAT ADS Communi-cation Library”. Detailed descriptions and examples can be found in the Informa-tion System:http://infosys.beckhoff.com


TwinCAT ADS

Communication Library

free licence for using the ADS communication components

TCP/IP; COM ports

Windows NTVisual Basic,VC + +, Delphi,etc.Windowsprograms

ADS interface


ADS interface


TwinCAT ADS/OCX

Message router

Message router

Windows NT/XPUser level

Windows NT/XPTwinCAT kernel extension

TwinCAT Supplements


Twin

CAT

1174


TCP/IP | serial

TwinCAT OPC server

ADS interface

System Manager

Real-time server

I/O mapping

I/O: all fieldbuses and PC interfaces

ADS

Message router

Message router

XMLUA

Internet /Intranet

I/O

ADS interface

I/O serverI/O run-time

I/O

ADS interface


I/O

ADS interface


I/O

ADS interface

NC I serverNC I run-time

I/O

ADS interface

CNC serverCNC run-time

System Manager

configuration,service,monitoring

ADS

PLC control

PLC programming

ADS ADS

Motion Control

TwinCAT NC PTPTwinCAT NC ITwinCAT CNC

ADS OCX/DLL

Scada,Visual Basic,Delphi, VisualC++, .NET, C#,VB.NET,

OPC client

Scada,Visual Basic,Delphi

DA

TwinCAT OPC is tested as

“OPC compliant” product by the

OPC Compliance certification.

Since 1998 Beckhoff is member

of the OPC foundation.

TwinCAT OPC Server

The standard interface for automationOPC stands for “Openness, Productivity & Collaboration” and describes an initiative for standardisation of data exchangein automation. Formerly, appli-cations such as operating and monitoring software were forced to use the differing access pro-cedures of each controller manu-facturer. OPC is the specifi cation for a uniform software interface, and permits access to the pro-cess data from any manufacturer.

OPC specifi cationsThe TwinCAT OPC Server sup-ports the following specifi ca-tions: DataAccess (DA) and XML-DA. DataAccess (DA) is based on the established Microsoft COM technology and provides data for the client.

The OPC XML-DA specifi cation enables data exchange through XML via HTTP. The TwinCAT OPC Server XML-DA is implemented as plug-in for the Microsoft IIS (Internet Information Server) and provides TwinCAT variables for web-based visualisations or implementation under C++, .NET, and JavaScript. Data can be transmitted HTTP-compliant through fi rewalls.

The TwinCAT OPC Servers can be confi gured in the con-fi gurator or via XML. In addi -tion to the namespace and the eventspace, other features of the Beckhoff OPC server can be defi ned with the confi gura-tion tool, or via XML: simulation signals allow the OPC client/server communication to be tested without accessing physi-cal I/O.

The simulation algorithm allows sinusoidal, ramp and random signals, e.g. to confi gure in amplitude, slope and offset, etc. Also interesting is the facility for the online conversion of pro-cess values: confi gurable linear conversions allow process values in units of “degrees Celsius” to appear in the OPC client as “degrees Fahrenheit”, or “inch” as “centimetre”.

Features– open concept, access to all

the TwinCAT ADS devices:– TwinCAT I/O– TwinCAT CP– TwinCAT CAM– TwinCAT NC– TwinCAT PLC run-time

systems– Bus Terminal Controller– Fieldbus PLC Box

– Embedded PC– access to TwinCAT variables– project planning

– supports browsing of namespace

– automatic confi guration via XML

– The server supports browsing of variables.

Further features– Confi gurable simulation

signals such as sine, ramp, random or none can be set for each variable in order to test OPC client/server com-munication without access to physical I/O by the OPC server.

– online conversion of process values, confi gurable conver-sion algorithm


TwinCAT OPC Server Licence for using the OPC server for accessing TwinCAT. DataAccess and XML-DA are supported.

TwinCAT OPC Server CE Licence for using the OPC server for accessing TwinCAT on Windows CE platforms.

DataAccess and XML-DA are supported.


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TwinCAT OPC UA Server


TwinCAT OPC UA Server licence for using the OPC UA Server for accessing TwinCAT

TwinCAT OPC UA Server CE licence for using the OPC UA Server for accessing TwinCAT on Windows CE platforms

TwinCAT SMS/SMTP Server

The TwinCAT SMS Server allows an SMS to be sent to a mobile telephone from the TwinCAT PLC. A server with a COM interface is offered for this purpose.

PLC blockThe TwinCAT PLC SMS library (TcPlcSMS) contains a block for sending SMS messages directly from the PLC. The library is avail-able for the PC and for the Bus Terminal Controller BCxxxx. It is possible to communicate with

the PC’s serial interface and with the serial Bus Terminal (KL6xxx) in the same way.

This product has been expanded with an SMTP server. A PLC block enables convenient sending of e-mails via the Simple Mail Transfer Protocol.


TwinCAT SMS/SMTP Server licence for using the TwinCAT SMS/SMTP server

TwinCAT SMS/SMTP Server CE licence for using the TwinCAT SMS/SMTP server for Windows CE platforms


The TwinCAT OPC UA Server makes the options of the new Unifi ed Architecture specifi cation available. In addition to data access techniques, the UA also specifi es the data coding and the transport protocols. This enables platform-independence and therefore integration of the UA interface in smaller embedded devices. XML-based web ser-vices or an effi cient TCP-based binary protocol according to the specifi cation are available as communication types. In addition to exchange of complex data, security mechanisms for authen-tication and data encryption are integrated. The system enables protected data communication between two end points (e.g. visualisation and control) in a heterogeneous network.

The product includes an OPC UA server and an OPC UA client. The UA server offers data ex -change of variables and calling of ADS methods. The UA client enables communication with other UA servers and facilitates integration of third-party prod-ucts.

Since 1998 Beckhoff is member

of the OPC foundation.


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TwinCAT Modbus TCP Server

The TwinCAT Modbus TCP Server represents a connection of TwinCAT controls to the Modbus TCP world. Modbus TCP is a simple, manufacturer-neu-tral and open protocol. It is the

“de facto” standard for control systems. The TwinCAT Modbus TCP Server represents a simple gateway between Modbus TCP and TwinCAT ADS devices. It can operate as a server or as a client.

In server mode, TwinCAT memory areas are mapped directly to Modbus memory areas. In client mode, a number of PLC blocks are available that can be used to read inputs and input registers

and to write coils and registers. The server is started directly with the start of TwinCAT. It is confi g-ured via an XML fi le.


TwinCAT Modbus TCP Server licence for using the TwinCAT Modbus TCP Server for communication with Modbus TCP devices

(server and client functionality)

TwinCAT Modbus TCP Server CE licence for using the TwinCAT Modbus TCP Server for Windows CE platforms

TwinCAT Virtual Serial COM Driver

The driver inserts one or more EL60xx EtherCAT Terminals as normal serial interfaces (‘COMx’) in Windows CE or XP. Confi gura-tion takes place in the TwinCAT System Manager, wherein it is defi ned for each EL60xx whether or not and on which computer a serial interface should be cre-ated for it. Access to the device connected to the terminal then

takes place via Windows API for serial interfaces. In this way, even existing Windows applica-tions can be used to read data via an EL60xx from devices with serial interfaces, such as bar code scanners.


TwinCAT Virtual Serial COM

Driver

licence for using a driver for Windows XP, Vista and Windows CE platforms

EtherCAT

Windows CE PC orWindows XP PC

COM5 COM6

WindowsApplication

TcEL60xxTwinCAT

TwinCAT TCP/IP Server

The TwinCAT TCP/IP Server enables the implementation and realisation of one or several TCP/IP server/clients within the TwinCAT PLC. A server compo-

nent serves the TCP/IP sockets of the operating system and also acts as an ADS device. The blocks of the PLC library for establishing and closing the communication

and for the actual data exchange (sending and receiving) enable simple interaction with the server.


TwinCAT TCP/IP Server licence for using the TwinCAT TCP Server for realising generic TCP/IP servers and clients for Windows NT/2000/XP/Vista

TwinCAT TCP/IP Server CE licence for using the TwinCAT TCP Server CE for realising generic TCP/IP servers and clients for Windows CE


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TwinCAT FTP Client

The TwinCAT FTP client enables the TwinCAT PLC to access several FTP servers in a simple manner. There are various func-tion blocks available for the PLC: following the establishment of a connection (optionally with

authentication), fi les can be loaded to/from the server. Additional function blocks allow fi les or directories to be searched for, created, deleted and renamed.


TwinCAT FTP Client licence for using the TwinCAT FTP Client for Windows XP, Vista and Windows CE platforms

TwinCAT PLC RFID Reader Communication

In the past, connection of RFID readers to the TwinCAT PLC required adaptation of the drivers for the different readers based on existing libraries for serial interfaces. The TwinCAT RFID reader library offers a general, abstract interface

that can be used for all readers. Suitable drivers for different readers have already been created. The user sees a single block for all readers. The confi gu-ration can easily be adapted to a specifi c reader.


TwinCAT PLC RFID Reader

Communication

for the connection of RFID readers to the TwinCAT PLC


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A large number of control problems cannot be solved with standard controllers. The Controller Toolbox now offers all customers the option to cre-ate their own complex controller from basic components.

The Controller Toolbox comprises:– simple basic controllers

(P, I, D),

– complex controllers (PI, PID, switching controllers),

– fi lter blocks,– control value generators

(limiters, PWM),

– ramp and signal generator blocks.

All blocks share the same look & feel and simple param-eterisation.

TwinCAT blocks for control tasks

TwinCAT PLC Controller Toolbox


TwinCAT PLC

Controller Toolbox

Licence for using the IEC 61131-3 software library for TwinCAT PLC. The TwinCAT Controller Toolbox library contains blocks

for basic controllers (P, I, D), complex controllers (PI, PID), pulse width modulation, ramps, signal generators, fi lters.

TwinCAT PLC Temperature Controller

Library with temperature con-troller function block (multiple instances possible) for monitor-ing and control of temperature regulated areas with these features:

– easy commissioning through automatic adjustment of the controller (self-tuning)

– automatic and manual oper-ation with smooth transition

– control values provided as direct analog or as pulse width modulated signal

– tolerance monitoring, absolute value monitor ing

– scalable reaction to sensor error and heating power faults

– limitation of set and control values

– optional ramping of the setpoint values

– soft starting for the setpoint curve

– An industrial PID controller is at the heart of the tem-perature controller.


TwinCAT PLC

Temperature Controller

licence for using the IEC 61131-3 temperature controller software library for TwinCAT PLC


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TwinCAT PLC Building Automation

Library for execution of basic functions in the Building Auto-mation area comprising modules for: lighting control, staircase illumination, light dimmer using one or two switches, peak load

limiter for energy optimisation, control of blinds, signalling con-tact, differentiation between sin-gle/double as well as short/long button presses, threshold switch, scaling functions for converting

unprocessed values to measured values, functions for converting temperatures (Kelvin, Celsius, Reaumur, Fahrenheit).


TwinCAT PLC

Building Automation

licence for using the IEC 61131-3 software library for TwinCAT PLC for execution of basic functions

in the building automation (basic library)

TwinCAT PLC Building Automation DALI

DALI (Digital Addressable Lighting Interface) is a defi nition whose purpose is to standardise digital interfaces to lamp bal-lasts. The standard allows the manufacturers of lighting com-ponents to implement complex lighting tasks easily and con-veniently. The TwinCAT PLC

Building Automation DALI library offers confi guration and programming blocks for the KL6811 DALI master Bus Termi-nal. The library can be used with the BC or BX series Bus Terminal Controllers, or on the PC/CX. The library includes the following blocks:

– blocks for changing the lamp power

– blocks for changing and querying various parameters of a DALI slave

– blocks for assigning address-es to individual DALI slaves

– blocks for confi guring DALI groups and DALI scenes


TwinCAT PLC

Building Automation DALI

free licence for using an IEC 61131-3 software library for TwinCAT PLC for communication

with the KL6811 DALI master Bus Terminal


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Building Automation TwinCAT Supplements

TwinCAT Building Automation Framework

Medium-sized or large building automation projects require a clear structure and administra-tion of a large quantity of data points, which in most cases are distributed over several Beckhoff controllers. The TwinCAT Building Automation Framework offers support for system integrators during the development and commissioning of such applica-tions.

To this end, all Beckhoff controllers (Industrial PC and/or Embedded PC) and the Bus Terminals and data points are entered in the TwinCAT Building Automation Manager. The links of the Bus Terminals are confi g-ured with the standard functions of the PLC program. From this information the confi guration program generates and activates the I/O links for all controllers entered in the system.

A further navigation tree contains the structure of the building. A building complex is sub divided into buildings, fl oors and zones. Each zone may con-tain different functional units

such as lighting, shading, heating, air conditioning, etc. The operator therefore auto-matically has documentation available that may be helpful for maintenance purposes.

An application program is created based on a PLC library supplied with the TwinCAT Build-ing Automation Framework. The PLC library is structured in such a way that the parameters load-ed from the Building Automation Manager into the controller are stored persistently. Specifi ed and documented PLC variables provide an integrated interface that simplifi es the connection with higher-level systems. The TwinCAT OPC Server can be used to enable a connection to the control master station, or the TwinCAT web service can be used for access from HTML pages.

The PLC program using this PLC library as a basis can be customised via TwinCAT PLC Control. The standard framework functions can be expanded with special function blocks.

The state of all sensors and actuators can be monitored in the TwinCAT Building Automa-tion Manager. Actuators can also be switched manually.

All Embedded PCs with Windows CE are supported as target systems. The Bus Couplers (BK9000, BK9100 and BK9050) are linked via real-time Ethernet.


TwinCAT Building Automation

Framework

Licence for using the TwinCAT Building Automation Framework for development and commissioning of building automation

applications. The building automation PLC libraries are included. The Framework requires TwinCAT PLC 2.10 or higher.


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TwinCAT PLC HVAC

The HVAC library is a compre-hensive PLC library for TwinCAT automation software with more than 70 functions that simpli-fi es engineering signifi cantly for applications in the area of build-ing technology.

Function blocks are available for handling the sensor/actuator level, for example:– temperature sensor– analog valve– 3-point valve– single-stage fan

Complex control or regulating tasks can be realised using these blocks, for example:– time schedulers– start-up programs– sequence controller– operating hours counter– summer night cooling– setpoint generatorsThe functional blocks all have the same uniform look and feel in common. All blocks have a standardised interface and react to errors in the same way.

The functional block can be adapted individually to its task in the automated system by means of a large number of parameters. For example, a general pump block can be parameterised with ease to meet the requirements of a cooling, heating, heating circulation, circulating or charge pump. Management of the inter-nal parameters is standardised for all blocks.


TwinCAT PLC HVAC licence for using the IEC 61131-3 software library for automation of heating, ventilation,

air-conditioning and sanitary installations

Building AutomationTwinCAT Supplements

Room


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Building Automation TwinCAT Supplements

TwinCAT PLC M-Bus

The M-Bus (metering bus) is a fi eldbus for logging consumption data (e.g. in water meters, elec-tricity meters, gas meters, heat/cold meters, etc.). Devices from different manufacturers support this common protocol.

Up to 250 slaves can be con-nected with any topology (star or line). Devices from different manufacturers can be operated on the same bus. The M-Bus is a European standard and is described in EN 1434. The data are sent serially from a slave (measuring device) to a master (TwinCAT PLC with level con-

verter). The master controls the communication on the bus by requesting data from the slaves. The slaves can respond with a fi xed or variable data structure. The M-Bus library evaluates data with variable data structure (low byte fi rst). It supports the serial interfaces KL6001, KL6021 or PC-COM port. They are con-nected with an M-Bus level con-verter via RS232 or RS485. From there, the individual slaves are connected via a two-wire line that is protected against polarity reversal.


TwinCAT PLC M-Bus licence for using the PLC Library TwinCAT PLC M-Bus

TwinCAT Crestron Server

Crestron is one of the leading manufacturers of AV control systems. The TwinCAT Crestron Server enables communica-tion between a TwinCAT PLC and a Crestron control centre. The two systems are linked via Ethernet, based on the TCP/IP protocol. User macros for SIMPL are available for programming the Crestron controller. The required function blocks are included in the TwinCAT PLC library. Read and write access

to the other device is available from the Crestron controller and the TwinCAT PLC. The TwinCAT

Crestron Server supports all PC-based controllers under Windows CE, Windows XP

Embedded and Industrial PCs running Windows XP.


TwinCAT Crestron Server licence for using the TwinCAT Crestron Servor for communication between a TwinCAT PLC and a Crestron control centre

ADS

TwinCAT PLC

Beckhoff Device Crestron Device

TwinCATCrestron Server

BeckhoffCommunication

TCP/IP


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TwinCAT

Documents

Transcript of TwinCAT