1132
TwinCAT
TwinCAT速
TwinCAT
PLC and Motion Control on the PC
1133
1146
TwinCAT PLC
1148
TwinCAT
1157
1134
TwinCAT Supplements
TwinCAT NC/CNC
TwinCAT速 The Windows Control and Automation Technology
1136
Product overview
1140
PC-based control technology
1143
PLC and Motion Control
1146
TwinCAT PLC
1157
TwinCAT Supplements System
on the PC 1148
TwinCAT NC PTP
1166
TwinCAT Supplements Motion
1150
TwinCAT NC I
1170
TwinCAT Supplements Communication
1152
TwinCAT CNC
1179
TwinCAT Supplements Controller
1154
TwinCAT I/O
1180
TwinCAT Supplements Building Automation
TwinCAT CP
TwinCAT
1156
1135
beckhoff.com/TwinCAT
BECKHOFF New Automation Technology
Product overview TwinCAT
Software PLC
Software NC PTP TwinCAT PLC
TwinCAT NC PTP
1146
PC hardware
standard PC/IPC hardware, no extras
TwinCAT PLC
inclusive
Operating systems
Windows NT/2000/XP/Vista, Windows 7,
PC hardware
standard PC/IPC hardware, no extras
NT/XP Embedded, CE*
Operating systems
Windows NT/2000/XP/Vista, Windows 7,
1146
NT/XP Embedded, CE*
Real-time
Beckhoff real-time kernel
I/O system
EtherCAT, Lightbus, PROFIBUS DP/MC, Interbus,
Real-time
Beckhoff real-time kernel
CANopen, DeviceNet, SERCOS, Ethernet and
I/O system
EtherCAT, Lightbus, PROFIBUS DP/MC, Interbus, CANopen, DeviceNet, SERCOS, Ethernet and
PC hardware Run-time system
PC hardware
4 multi-tasking PLCs each with 4 tasks in each PLC run-time system, development and run-time systems
Memory
1148
Programming
performed using function blocks for TwinCAT PLC
on one PC or separately (CE: only run-time)
according to IEC 61131-3 (standardised PLCopen
process image size, flags area, program size,
Motion Control libraries), convenient axis commissioning menus in the System Manager
POU size, number of variables only limited by the size of the user memory (max. 2 GB with
Run-time system
NC point-to-point including TwinCAT PLC
NT/ 2000 / XP/Vista)
Number of axes
up to 255
Cycle time
adjustable from 50 µs
Axis types
electrical and hydraulic servo drives, frequency
Link-time
1 µs (Intel® Core™2 Duo) for 1,000 PLC commands
Programming
IEC 61131-3: IL, FBD, LD, SFC, ST, powerful
converter drives, stepper motor drives, switched drives (fast/crawl axes)
library management, convenient debugging
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, “flying saw”
TwinCAT Level
TwinCAT Level
TwinCAT
TwinCAT I/O
1136
TwinCAT CP
1154
1156
PC hardware
standard PC/IPC hardware, no extras
PC hardware
standard PC/IPC hardware, no extras
Operating systems
Windows NT/2000/XP/Vista, Windows 7,
Operating systems
Windows NT/2000/XP/Vista, Windows 7,
NT/XP Embedded, CE (only run-time)* Real-time
Beckhoff real-time kernel
Multi-purpose I/O interface for all common fieldbus systems, PC Fieldbus Cards and interfaces with integrated real-time driver
NT/XP Embedded* Real-time
Beckhoff real-time kernel
Windows driver for Beckhoff Control Panel
* version-dependent
BECKHOFF New Automation Technology
We reserve the right to make technical changes.
TwinCAT system TwinCAT Supplements
System Manager TwinCAT CP
Software NC I
Building Automation
Controller
Communication
TwinCAT PLC TwinCAT NC PTP TwinCAT NC I TwinCAT CNC
Software CNC TwinCAT NC I
TwinCAT PLC
Motion
System
TwinCAT I/O
TwinCAT CNC
1150
1152
inclusive
1146
TwinCAT PLC
inclusive
1146
TwinCAT NC PTP
inclusive
1148
TwinCAT NC PTP
inclusive
1148
PC hardware
standard PC/IPC hardware, no extras
TwinCAT NC I
inclusive
1150
Operating systems
Windows NT/2000/XP/Vista, Windows 7,
PC hardware
standard PC/IPC hardware, no extras
NT/XP Embedded, CE*
Operating systems
Windows NT/2000/XP/Vista, Windows 7, Windows NT/XP Embedded*
Real-time
Beckhoff real-time kernel
I/O system
EtherCAT, Lightbus, PROFIBUS DP/MC, Interbus,
Real-time
Beckhoff real-time kernel
CANopen, DeviceNet, SERCOS, Ethernet and
I/O system
EtherCAT, Lightbus, PROFIBUS DP/MC, Interbus, CANopen, DeviceNet, SERCOS, Ethernet and
PC hardware Programming
access via function blocks from TwinCAT PLC Run-time system Number of axes
PC hardware
DIN 66025 programs for NC interpolation, Programming
DIN 66025 programming language with
according to IEC 61131-3
high-level language extensions, mathematical
NC interpolation, including TwinCAT NC PTP
functions, programming of parameters/variables,
and PLC
user macros, subroutine techniques, spindle and help functions, tool functions, zero offset shifts
max. 3 axes and up to 5 auxiliary axes per group, 1 group per channel, max. 31 channels
Run-time system
CNC, including TwinCAT NC I, NC PTP, PLC
Axis types
electrical servo axes, stepper motor drives
Number o f axes /
8 path axes / 6 controlled spindles, max. of
Interpreter
subroutines and jumps, programmable loops,
spindles
64 axes / 12 controlled spindles (optional)
functions
zeroshifts, tool compensations, M and H functions
Axis types
electrical servo-axes, analog/encoder interface
Geometries
straight lines and circular paths in 3-D space,
via fieldbus, digital interface via fieldbus (EtherCAT, Lightbus, PROFIBUS MC, SERCOS)
circular paths in all main planes, helixes with base circles in all main planes linear, circular, helical
Geometries
path axes per channel, look-ahead function
planes, Bezier splines, look-ahead function Axis functions
online reconfiguration of axes in groups,
Axis functions
Operation
coupling and gantry axis function, override, axis error and sag compensation, measuring functions
path override, slave coupling to path axes, auxiliary axes, axis error and sag compensation,
linear, circular, helical interpolation in the main planes and freely definable planes, 8 interpolating
interpolation in the main lanes and freely definable
Operation
automatic operation, manual operation
measuring functions
(jog / inching), single block operation, referencing,
automatic operation, manual operation
block search, handwheel operation (motion /
(jog / inching), single block operation, referencing,
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 We reserve the right to make technical changes.
BECKHOFF New Automation Technology
TwinCAT
handwheel operation (motion /superposition)
1137
Product overview TwinCAT
Supplements | System TwinCAT ECAD Import
Supplements | Motion 1158
tool for importing XML files from ECAD systems
TwinCAT PLC Hydraulic Positioning
1166
software library for TwinCAT PLC for the control of the position and pressure of hydraulic axes
TwinCAT Engineering Interface Server
1158
for coordination of programming tasks via a source code
TwinCAT NC FIFO Axes
management system
software library that enables a target value specified by the user
TwinCAT XML Data Server
1159
1166
to be generated for an NC axis
PLC data can be written directly into an XML file or read from an XML file. TwinCAT Backup
TwinCAT NC Flying Saw 1160
tool for backing up and restoring of files, operating system and
1167
software library for TwinCAT PLC to enable implementation of the “flying saw” function
TwinCAT settings TwinCAT Simulation Manager
1160
simplifies preparation and configuration of a simulation environment
TwinCAT PLC Remote Synchronisation
1167
software library for general synchronisation of time in distributed systems
TwinCAT Database Server
1161
for bi-directional access: PLC and database
TwinCAT NC Camming
1167
software library that enables the use of the cam function TwinCAT PLC HMI
1161
of TwinCAT NC
displays only the visualisation created with TwinCAT PLC control in full screen under XP when starting up TwinCAT PLC HMI Web
TwinCAT Cam Design Tool 1162
Displays a visualisation created with TwinCAT PLC control
1168
tool for designing electronic cam plates, fully integrated in the TwinCAT System Manager
in Internet Explorer. A Java VM is required. TwinCAT PLC HMI CE
1162
licence for using the system software TwinCAT PLC HMI CE
1168
fast camshaft controller as software implementation in TwinCAT,
under Windows TwinCAT Management Server
TwinCAT Digital Cam Server freely configurable via the TwinCAT System Manager
1162
licence for using the TwinCAT Management Server for
TwinCAT Valve Diagram Editor
central administration of Beckhoff CE controls
graphics-oriented editor for designing the characteristic curves
TwinCAT Scope 2
1163
1169
of a hydraulic valve
licence for using the TwinCAT Scope TwinCAT Kinematic Transformation TwinCAT EtherCAT Redundancy
1163
licence for extending the TwinCAT EtherCAT master with
1169
realises different kinematic transformations for TwinCAT PTP or TwinCAT NC I
cable redundancy capability TwinCAT PROFINET IO Controller
1164
TwinCAT
licence for using the PROFINET IO Controller
1138
TwinCAT PROFINET IO Device
1164
licence for using the PROFINET IO Device TwinCAT EtherNet/IP Slave
1165
licence for using the EtherNet/IP Slave
BECKHOFF New Automation Technology
We reserve the right to make technical changes.
Supplements | Communication TwinCAT PLC Serial Communication
Supplements | Controller 1170
software library for communication via serial Bus Terminals
TwinCAT PLC Controller Toolbox
1179
software library with function blocks for control technology
or PC COM ports TwinCAT PLC Serial Communication 3964R / RK512
1170
software library for communication via serial Bus Terminals
TwinCAT PLC Temperature Controller
1179
software library with temperature control function block
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
Supplements | Building Automation
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
TwinCAT PLC Building Automation
1180
software library for executing basic building automation functions
according to IEC 60870-5-10x (master) TwinCAT PLC IEC 60870-5-101/-104 Slave
1172
software library for communication via the telecontrol protocol
interfaces of ballasts 1173
communication server for connecting the Indramat DriveTop tool
TwinCAT Building Automation Framework
with TwinCAT
for easy configuration of building automation applications
TwinCAT DriveCOM OPC Server
1181
1173
for communication of drive setup tools right into
TwinCAT PLC HVAC
DriveCom-compatible drives
software library for the automation of heating, ventilation,
TwinCAT OPC Server
1180
software library for the processing of signals for the digital
according to IEC 60870-5-101/104 (slave) TwinCAT DriveTop Server
TwinCAT PLC Building Automation DALI
1175
1182
air-conditioning and sanitary installations
for access to TwinCAT variables in accordance with the OPC DA/XML DA specification TwinCAT OPC UA Server
TwinCAT PLC M-Bus 1176
1183
licence for using the PLC library TwinCAT PLC M-Bus
for access to TwinCAT variables in accordance with the OPC UA specification TwinCAT SMS/SMTP Server
TwinCAT Crestron Server 1176
enables sending of SMS or e-mail messages from the TwinCAT PLC TwinCAT TCP/IP Server
1183
for communication between a TwinCAT PLC and a Crestron control centre
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 TwinCAT
driver for the automatic generation of virtual Windows COM interfaces for EL60xx terminals TwinCAT FTP Client
1178
1139
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
We reserve the right to make technical changes.
BECKHOFF New Automation Technology
TwinCAT – PC-based control technology The Windows Control and Automation Technology The 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
TwinCAT architecture TwinCAT consists of run-time systems that execute control programs in real-time and the development environments for programming, diagnostics and configuration. Any Windows programs, for instance visualisation programs or Office programs, can access TwinCAT data via Microsoft interfaces, or can execute commands. A practically oriented software solution TwinCAT offers a precise timebase in which programs are executed with the highest deter-
ministic features, independently of other processor tasks. The real-time load on a PC is set with TwinCAT; defined operating 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 defined 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 diagnosis The 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 indicator of the real-time jitter, giving administrators an easy way to evaluate the hardware and software. A system message during operation can draw attention to incorrect states.
Start/stop behaviour Depending on the setting, TwinCAT is started and stopped manually or automatically. Since TwinCAT is integrated into Windows NT/2000/XP/Vista and Windows 7 as a service, an operator is not needed to start the system: switching on is enough.
Restarting and data backup When a program is started or restarted, TwinCAT loads programs 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.
Load threshold and jitter online
TwinCAT and “Blue Screen” The TwinCAT system can be configured 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
Comparison: execution times for 1,000 PLC commands by a hardware PLC and by TwinCAT PLC
1140
BECKHOFF New Automation Technology
We reserve the right to make technical changes.
Write outputs
Operate program
Read inputs
Write outputs
Operate program
Read inputs PLC cycle
t
PLC cycle
Real-time operation of PLC software in a classic PLC
PLC cycle
Read inputs
Write outputs
Operate program
NC Server for Motion Control
Operate program
Write outputs
Windows NT and HMI
Read inputs
PLC Server
Windows NT and HMI
Worldwide access Since 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 capacity and timeout periods for the supervision of communications. OPC provides a standardised means for accessing many different SCADA/MES/ERP packets.
Read inputs
Worldwide connection through message routing – “remote” connection is inherent to the system According 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 integrated via serial interfaces and fieldbuses (EtherCAT, Lightbus, PROFIBUS DP, CANopen, RS232, RS485, Ethernet TCP/IP).
Operate program
the decision of the programmer whether or not to utilise this feature, bearing in mind that data or programs may already have been destroyed by the BSOD.
PLC cycle
t
t e.g. 1 ms NC cycle (e.g. 1 ms)
2 ms
3 ms
4 ms
NC cycle
NC cycle
NC cycle
PLC cycle (e.g. 2 ms)
5 ms
PLC cycle
t t
Real-time operation of software for a PLC and NC (Motion Control) on a PC
We reserve the right to make technical changes.
BECKHOFF New Automation Technology
TwinCAT
Real-time operation of PLC software on a PC
1141
Scada, Visual Basic, Delphi
System Manager
PLC control
Motion Control
configuration, service, monitoring
PLC programming
TwinCAT NC PTP TwinCAT NC I TwinCAT CNC
Scada, Visual Basic, Delphi, Visual C++, .NET, C#, VB.NET, …
OPC client
ADS
ADS
ADS
ADS OCX/DLL
Internet /Intranet
ADS-http:// ADS Web service
UA
XML
DA
TwinCAT OPC server ADS Message router
TCP / IP | serial Message router Real-time server
ADS interface
ADS interface
ADS interface
ADS interface
ADS interface
ADS interface
System Manager
I/O server I/O run-time
PLC server PLC run-time
NC PTP server NC PTP run-time
NC I server NC I run-time
CNC server CNC run-time
I/O
I/O
I/O
I/O
I/O
I/O mapping I/O: all fieldbuses and PC interfaces
TwinCAT
The Windows Control and Automation Technology
1142
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 fieldbuses – PC interfaces support – data communication with user interfaces and other programs by means of open Microsoft standards (OPC, OCX, DLL, etc.)
BECKHOFF New Automation Technology
We reserve the right to make technical changes.
PLC and Motion Control on the PC
TwinCAT PLC – the central pillar of automation software Conceived 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),
We reserve the right to make technical changes.
–
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 controllers, only TwinCAT run-time is available. Program modifications are implemented via networkcapable powerful communication with the run-time system. Programming can be done – locally, – via TCP/IP or – via the fieldbus (BXxxxx and BCxxxx). IEC 61131-3 – advanced programming standard for all Beckhoff controllers The TwinCAT PLC is programmed in accordance with IEC 61131-3 independently of the manufacturer. TwinCAT supports all the IEC 61131-3 programming languages with convenient editors and a fast, effective compiler,
so that the development cycle for the creation even of large PLC programs of several megabytes can be short. Incremental compilation prevents long turnaround times. Only genuinely new sections are compiled. Powerful editor features, such as “autoformat”, “autodeclare” or “find” and “replace” enable fast programming. For all programming languages, the project comparison function facilitates differences to be identified and accepted if appropriate. If a project (comments, directories, etc.) is to be translated into a language other than the original 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 “instantiation” of function blocks, in which each instance is associated with its own data, leads
naturally to object-oriented and structured programming styles. All common data types specified in IEC 61131-3 are supported. Multi-dimensional fields and structures are possible, as are enumeration and subrange types. TwinCAT PLC is certified for the languages IL and ST (base level). The online change function can be used for code and/or data modifications 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 protection, multi-stage password protection can be applied to programs and libraries. Many target platforms – one tool The 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
BECKHOFF New Automation Technology
TwinCAT
TwinCAT I/O – universal I/O interface for all common fieldbuses Many PC fieldbus cards from various manufacturers are supported. It is possible to operate more than one fieldbus card per PC. Master and slave functionality is supported, depending on the selected fieldbus card. The fieldbus cards can be configured and diagnosed conveniently via the TwinCAT System Manager. TwinCAT I/O includes the TwinCAT real-time system for operating the fieldbuses and a DLL interface to application programs.
1143
the BC and BX series fieldbus controllers from Beckhoff. Program development and debugging proceed in the same working environment, regardless of which unit is executing the program.
TwinCAT
Extensive supplementary libraries As an extension to the blocks defined 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 libraries, system libraries for message outputs, write/read files, control technology blocks, etc.
1144
Helpful practice tools Extensive faultfinding functions in TwinCAT PLC facilitate the solution of problems either on site or via remote maintenance. For this purpose, the PLC programming environment in TwinCAT offers: – monitoring, – powerflow (flow 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 PC A 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 fieldbus 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 fieldbus.
BECKHOFF New Automation Technology
Central NC positioning on the PC The computing capacity of a PC enables axis motion simultaneously with the PLC, whereby the position controller is usually calculated on the PC: the computing 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 calculation The 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 coordinated. A range of different regulation algorithms are available in order to reduce the deviations from the ideal trajectory that will occur in practice.
Individual or joint Based 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 included TwinCAT combines software NC and software PLC to form a powerful controller. The communication between the two packages is a pure software/software channel with minimum delay times. The NC functionalities are called from the PLC program via standardised, PLCopen-certified function blocks. Axis movements can be simulated without hardware; the actual value is instructed to ideally track the set value, and
We reserve the right to make technical changes.
100
TwinCAT
80
Communication
LAN
60
PC Control
PC Control
40
TwinCAT
TwinCAT
20
0 0.0
PLC
I/O
Hierarchical controller architecture: central or distributed
Convenient commissioning Commissioning is simplified significantly by the configuration 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 couplings, 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.
ler. PLC functionality is integrated, as is the connection of the axes with the fieldbus. 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 interpolation via the TcPlcInterpolation library can take place directly from the PLC. In this case, the geometry and help functions (e.g. M functions) are written to a table in the PLC and transferred to the NC core. This procedure is particularly suitable for flexible movements, e.g. in pick-and-place applications.
TwinCAT NC I – axis interpolation in three dimensions TwinCAT 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-
TwinCAT CNC – the software CNC for toughest requirements TwinCAT CNC expands TwinCAT NC I with classic CNC features: up to 32 interpolating axes and comprehensive coordinate and kinematic transformations are possible. Parts programming is carried out according
the complete machine flow is checked. TwinCAT ScopeView is helpful for commissioning and maintenance. It records all axis variables such as position, speed and acceleration.
We reserve the right to make technical changes.
0.2
0.4
0.6
velocity (m/min)
jerk (scaled to -1.0, +1)
acceleration (m/s2)
position (mm)
PTP positioning procedure
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 difficult motion tasks to be solved. Apart from the classic linear, circular and helical interpolations, TwinCAT CNC offers convenient spline interpolation, optionally based on Akima or B-splines. Real-time transformations enable complex machine kinematics to be realised without problem.
–
–
– –
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 specified contour tolerances path programming via splines with programmable spline type (Akima spline, B-spline) for reduction of NC blocks for free-form surfaces
HSC technology (high-speed cutting) Advanced HSC cutting technology requires CNC control technology 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:
BECKHOFF New Automation Technology
TwinCAT
Supervisory system
2 12 10 1000 8 6 800 4 2 0 600 -2 -4 0 -6 -8 400 -10 -12 -14 200 -16 -18 -20 0 -22 -2 0.8 time (s)
1145
TwinCAT PLC – IEC 61131-3 Multi-PLC on the PC Software PLC for Windows NT/2000/XP/Vista or Windows 7 The TwinCAT PLC is programmed in accordance with IEC 61131-3 independently of the manufacturer. Online connections with PLC run-time systems around the world can be implemented with TCP/IP or via fieldbuses on the IPC. TwinCAT PLC programming system TwinCAT 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 networks Changes to programs or data are supported by a very powerful 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 Office programs, can access TwinCAT data via Microsoft interfaces or control the PLC. Practically oriented properties – all defined programming languages: IL, FBD, LD, SFC, ST and CFC
– –
–
– – – –
certified in accordance with base level (IL/ST) structured programming with modular program management recompilation while PLC runs with maximum data retention (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
TwinCAT
TwinCAT multi PLC
PLC run-time 1 task 1-4
PLC run-time 2 task 1-4
PLC run-time 3 task 1-4
PLC run-time 4 task 1-4
Process image 1
Process image 2
Process image 3
Process image 4
I/O mapping
1146
Lightbus EtherCAT
PROFIBUS DP
DeviceNet
Interbus
SERCOS
BECKHOFF New Automation Technology
CANopen
PC hardware
IEC 61131-3 languages
We reserve the right to make technical changes.
TwinCAT PLC
Diagnosis using standard PC techniques Changes 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 implemented with TCP/IP or via fieldbuses. – 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 powerflow (accumulator 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 diagnostic and analysis tool for the display of values
Powerful debugging
Technical data
TwinCAT PLC
PC hardware
standard PC/IPC hardware, no extras
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, flags 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 fieldbus: 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 The TwinCAT Controller Toolbox library contains blocks for basic controllers (P, I, D),
Controller Toolbox
complex controllers (PI, PID), pulse width modulation, ramps, signal generators, filters.
TwinCAT PLC
IEC 61131-3 software library for TwinCAT PLC for temperature control 1179
Temperature Controller TwinCAT PLC
1179
IEC 61131-3 software library for TwinCAT PLC for controlling hydraulic axes
Hydraulic Positioning
1166
TwinCAT PLC Modbus RTU
IEC 61131-3 software library for TwinCAT PLC with Modbus RTU function blocks for serial communication with Modbus devices IEC 61131-3 software library for TwinCAT PLC for communication via serial Bus Terminals
1171
TwinCAT PLC Serial Communication
or PC COM ports
1170
TwinCAT PLC
IEC 61131-3 software library for TwinCAT PLC for execution of basic functions in
Building Automation
the building automation area (basic library)
TwinCAT Engineering
The TwinCAT Engineering Interface Server integrates drivers for interfacing with
Interface Server
Microsoft Visual Source Safe or Subversion.
We reserve the right to make technical changes.
1180 1158
BECKHOFF New Automation Technology
TwinCAT
TwinCAT PLC
1147
TwinCAT NC PTP – Point-to-point axis positioning Position control with the PC TwinCAT 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 fieldbuses. TwinCAT NC PTP replaces conventional positioning modules and NC controllers.
TwinCAT
NC PTP software on the PC The position controller is normally calculated on the PC processor and cyclically exchanges data via the fieldbus 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 simultaneously.
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System structure Axes are structured into channels for PTP movement and for interpolated movements.
Axis structure TwinCAT 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 functions Axis 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
Drive interfaces – analog – EtherCAT – SERCOS – SSI – Lightbus – PROFIBUS DP/MC – pulse train Interfaces – interfacing to all popular fieldbuses, 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
Position measurement systems The position controller acquires the actual position through: – incremental encoders – absolute encoders – digital interfaces to the drives
BECKHOFF New Automation Technology
We reserve the right to make technical changes.
TwinCAT NC PTP
Positioning Positioning is executed with a powerful, modern positioning algorithm in which profiles 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/servicing The online menu allows important 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.
– – – – –
camming (support through TwinCAT Cam Design Tool) FIFO axes change over encoders/ controllers external axis set value generator multi-master coupling
Programming IEC 61131-3 function blocks or standard PLCopen Motion Control libraries
Special functions – linear coupling (electrical gears) – distance compensation – online master/slave and slave/master conversion – “flying saw” (diagonal saw)
Connection between NC software and drive using drag and drop
Technical data
TwinCAT NC PTP
PC hardware
standard PC/IPC hardware, no extras
Operating systems
version-dependent: Windows NT/2000/XP/Vista, Windows 7, Windows NT/XP Embedded, Windows CE (only run-time)
Real-time
Beckhoff real-time kernel as a component of TwinCAT
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
Configuration
all axis parameters such as the measuring system, drive parameters and position controller can be conveniently configured
Remanence
remanent data, UPS-supported storage on hard disk
I/O system
free choice of fieldbus: 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
Ordering information TwinCAT NC PTP
licence for using the PTP positioning software with integrated IEC 61131-3 TwinCAT PLC,
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 specified FIFO set value generation
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TwinCAT NC Flying Saw
IEC 61131-3 software library for TwinCAT, implements a “flying 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
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We reserve the right to make technical changes.
BECKHOFF New Automation Technology
TwinCAT
contains programming software and run-time system
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TwinCAT NC I – Axis interpolation in three dimensions Follow the path with the PC The TwinCAT NC Interpolation (NC I) is the NC system for interpolated path movements. TwinCAT NC I offers 3-D interpolation (interpreter, set point generation, position controller), an integrated PLC with an NC interface and an I/O connection for axes via the fieldbus. 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 software, and are thus superfluous. TwinCAT NC I – interpreter The syntax which is laid down in DIN 66025 is a reliable descriptive language for machine sequences. There is also an additional extension 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 interpolation The 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
The NC structure and many NC parameters are also set using the System Manager.
TwinCAT NC I – operating interface An operating interface integrated into the TwinCAT System Manager provides information on all set and actual values and on the physical and logical state of the interpolation channels and interpolation axes.
The structure of an axis group
TwinCAT
The NC program editor
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BECKHOFF New Automation Technology
We reserve the right to make technical changes.
TwinCAT NC I
Online changes of configuration of the axes Individual PTP axes can be collected flexibly, when the axes are stationary, into new interpolation groups, after which they can be reconfigured as PTP axes. In this way all PTP characteristics such as reference run, tool change, etc. can be used. PLC blocks for interpolation In order to create a simple interface for axis interpolation, PLC blocks which can create positioning commands for the interpolation channel, using easily understood descriptions organised as tables are available. TwinCAT NC I – pathway dynamics A rate-of-change limited profile, which at any moment describes the acceleration, speed and position on the path as well as the associated transformed Cartesian axis values. The maximum allowed dynamic limiting values can be changed at any time in the NC program.
TwinCAT NC I – path override TwinCAT NC I possesses a speed override function which can synchronously work on all of the axes. Speed reduction at curves TwinCAT NC I offers different reduction 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 axes For each channel three path axes (X, Y, Z) can be used. In addition, five 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 possible 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.
TwinCAT Scope
Slave coupling on the path axes A master/slave coupling on a path axis is possible, independently of which slave type is involved. Geometric-dynamic smoothing Various options are available in order to achieve optimum geometrical 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 boundary conditions are suitable. This is particularly important for pickand-place tasks and manipulations (e.g. laser welding).
Diagnostic and optimisation possibilities All 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, following error, etc.
Technical data
TwinCAT NC I
PC hardware
standard PC/IPC hardware, no extras
Operating systems
version-dependent: Windows NT/2000/XP/Vista, Windows 7, Windows NT/XP Embedded, Windows CE (only run-time)
Real-time
Beckhoff real-time kernel as a component of TwinCAT
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 reconfiguration 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 free choice of fieldbus: EtherCAT, PROFIBUS DP/MC, CANopen, DeviceNet, SERCOS, Lightbus, Ethernet
Connectivity
variable access via OPC, Beckhoff ADS OCX/DLL (Automation Device Specification)
Further information
www.beckhoff.com/TwinCAT_NCI
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Ordering information 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
We reserve the right to make technical changes.
TwinCAT
errors of all axes), NC program line presently being executed, NC program line presently being interpreted, channel status I/O system
BECKHOFF New Automation Technology
TwinCAT CNC – High-performance CNC solution for complex applications
TwinCAT
Complex tasks – new solutions TwinCAT CNC offers complete CNC functionality as a pure PC-based software solution. TwinCAT CNC covers the complete range of classic CNC path control, including high-end systems for complex motion and kinematics requirements. The powerful, continuously evolving PC platform and the hard realtime base of the TwinCAT realtime kernel provide the foundation for the CNC software.
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TwinCAT continuity TwinCAT 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 positioning 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 systems In the CNC world, TwinCAT CNC offers unique openness towards the I/O periphery and the drive system through the consistent utilisation of Fieldbus technology. A variety of I/O modules can be connected via all common fieldbus 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 machining The required axis and spindle functions, interpolation and feed functions, tool and help functions according to DIN 66025 with specific expansions are available for a variety of machining technologies (e.g. milling, drilling, handling, special machines).
BECKHOFF New Automation Technology
Interpolation with 64 axes Complex 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 difficult motion tasks to be solved.
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HSC technology (high-speed cutting) Advanced HSC cutting technology requires CNC control technology 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
Real-time transformations Complex machine kinematics with difficult machining tasks require real-time transformations within the CNC for simple and flexible operation and programming. They are used, for example, for defining different coordinate systems within the machining process or for generating automatic compensating movements of rotary axes. A classic application is 5-axis machining.
– –
high surface quality through smoothed dynamics and associated reduction of vibrational excitation of the machine effective control of specified contour tolerances path programming via splines with programmable spline type (Akima spline, B-spline) for reduction of NC blocks for free-form surfaces
We reserve the right to make technical changes.
TwinCAT CNC
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 – definition of different coordinate systems – tool alignment in the chosen coordinate system – linking/transition of coordinate systems
CNC configuration and diagnostics
System operation for commissioning
with TwinCAT System Manager
Technical data
TwinCAT CNC
PC hardware
standard PC/IPC hardware, no extras
Operating systems
version-dependent: Windows NT/2000/XP/Vista, Windows 7, Windows NT/XP Embedded
Real-time
Beckhoff real-time kernel as a component of TwinCAT
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 fieldbus (e.g. EtherCAT, Lightbus, PROFIBUS, CANopen), digital interface via fieldbus (EtherCAT, Lightbus, SERCOS interface, PROFIBUS MC)
Geometry functions
linear, circular, helical interpolation in the main planes and freely definable 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 fieldbuses (EtherCAT, Lightbus, SERCOS, PROFIBUS DP/MC, CANopen, DeviceNet)
Connectivity
variable access via OPC, Beckhoff ADS OCX/DLL
Further information
www.beckhoff.com/TwinCAT_CNC
Ordering information TwinCAT CNC
licence for using the CNC path control software based on TwinCAT PLC or TwinCAT NC PTP
Options 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, definition 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 specified contour tolerances, path programming via splines
We reserve the right to make technical changes.
BECKHOFF New Automation Technology
TwinCAT
TwinCAT CNC Axes Pack
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TwinCAT I/O – I/O connection to Windows programs TwinCAT I/O TwinCAT 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 relationships
Data regions and process images are exchanged consistently.
Openness: all standards TwinCAT I/O supports all established fieldbuses – 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 display
TwinCAT
Open I/O interface
–
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BECKHOFF New Automation Technology
We reserve the right to make technical changes.
TwinCAT I/O
TwinCAT I/O – properties TwinCAT I/O provides the connected I/O channels as a structure 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 command. The connections can be moved by drag and drop. Software wiring With the aid of the TwinCAT I/O system, the inputs and outputs 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 variable-oriented, which means that
the smallest unit which can be addressed and linked is a variable, and the smallest size of a variable is one bit.
Import/export functions TwinCAT I/O manages variables, making import and export functions available at all levels.
Online analysis At the server’s fieldbus level and the level of the process image, commissioning and servicing are assisted by online display. TwinCAT I/O generates address relationships (mappings) between tasks and I/O devices, and provides powerful online tools: – online display in a directory tree – online watch window – force and write to commission and test task variables and I/O devices Diagnostic data is displayed in a consistent form for all I/O devices.
TcTimer API under CE On 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 fieldbus is triggered with a method call. The TcTimer API enables external applications to create deterministic applications that are synchronised up to the IO fieldbus level.
I/O configuration
Import/export functions
Technical data
TwinCAT I/O
PC hardware
standard PC/IPC hardware, no extras
Operating systems
version-dependent: Windows NT/2000/XP/Vista, Windows 7, Windows NT/XP Embedded, Windows CE (only run-time)
Real-time
Beckhoff real-time kernel as a component of TwinCAT
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 fieldbus: EtherCAT, PROFIBUS DP/MC, CANopen, DeviceNet, Interbus, SERCOS, Lightbus, Ethernet, variable access via OPC, Beckhoff ADS OCX/DLL (Automation Device Specification) (under CE: in addition TcTimer API)
Further information
www.beckhoff.com/TwinCAT_IO
1155
Ordering information TwinCAT I/O
We reserve the right to make technical changes.
TwinCAT
PC hardware (printer port, COM port, USB), PC cards: generic memory DPRAM support Connectivity
licence for using the I/O DLL for data exchange with Windows programs
BECKHOFF New Automation Technology
TwinCAT CP – Driver for Beckhoff Control Panels TwinCAT CP is a driver for the Beckhoff Control Panels C6xxx and C7xxx, the industrial operating and display devices. Control Panels are optimised for use as a human-machine interface. Operating and display elements create an independent unit, separated from the PC by a simple cable link. TwinCAT CP creates the driver connection between general Windows programs and the
operating and display elements on the Beckhoff Control Panel: – direct switches for fast machine functions – switch feedback by LEDs – UPS support The driver permits variableoriented operation of the Control Panel’s functions by the Windows programs.
Technical data
TwinCAT CP
PC hardware
standard PC/IPC hardware, no extras
Operating systems
version-dependent: Windows NT/2000/XP/Vista, Windows 7, Windows NT/XP Embedded
Real-time
Beckhoff real-time kernel as a component of TwinCAT
User program
User program running in user mode which can, for instance, run cyclically as a multimedia task (“soft” real-time).
TwinCAT
Access to the I/O process image is provided via cyclical calls of DLL functions.
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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 Specification)
Further information
www.beckhoff.com/TwinCAT_CP
Ordering information TwinCAT CP
licence for using the driver for the Beckhoff Control Panel, providing communication with general Windows programs
BECKHOFF New Automation Technology
We reserve the right to make technical changes.
TwinCAT
TwinCAT Supplements
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TwinCAT ECAD Import The TwinCAT ECAD Import Tool completes the engineering chain: everything happens automatically without user intervention, from electrical design to PLC projects. The achievable reduction 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 file. The TwinCAT ECAD Import Tool reads the XML file and generates a TwinCAT System Manager configuration with all I/O devices, Bus Terminals and Fieldbus Box
modules, and a basic PLC program with the I/O variables used. A software device hierarchy can be created by importing a further XML file. An NC device with tasks, axes and, obviously, I/O variables can be created automatically. 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 possible.
Ordering information TwinCAT ECAD Import
Licence for using the TwinCAT ECAD Import for importing XML files from the ECAD systems. A TwinCAT System Manager configuration and a PLC program are created automatically.
TwinCAT
TwinCAT Engineering Interface Server
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In cases where several programmers work on a PLC project, in the past the question kept recurring of how to integrate the work of the different programmers 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 Engineering Interface Server is installed on a central server within the network. It provides a shell for a variety of source code management systems. Microsoft Visual
Source Safe and drivers for Subversion source code management can be operated under this shell. The TwinCAT Engineering Interface Server contains configuration, management and diagnostic programs. Once the appropriate database has been
selected, the connected users have to be configured 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.
Ordering information TwinCAT Engineering
licence for using the TwinCAT Engineering Interface Server with integrated drivers for Microsoft Visual Source Safe
Interface Server
and Subversion
BECKHOFF New Automation Technology
We reserve the right to make technical changes.
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 file. 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 Formatter 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 visualisation system. The Event Viewer implements the visualisation of the resulting messages. In this manner the automatic display of all important information concerning 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 configurated with the TcEvent configurator. The TwinCAT Eventlogger is included in the TwinCAT system.
Event viewer
Message (D) COM f ormatter
Message database
(D) COM TwinCAT Eventlogger (COM server)
TwinCAT LogFile
ADS PLC code
TwinCAT XML Data Server A PLC library contains: – two function blocks for reading of variables from the XML file – FB_XmlSrvRead – FB_XmlSrvReadByName – two function blocks for writing PLC variables to an XML file – FB_XmlSrvWrite – FB_XmlSrvWriteByName
Variables can be addressed via names or addresses.
TwinCAT
The TwinCAT XML Data Server enables reading of data from an XML file directly into the PLC and writing of variable values from the PLC into an XML file. 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.
Ordering information TwinCAT XML Data Server
licence for using the TwinCAT XML Data Server for data exchange between an XML file and the TwinCAT PLC
TwinCAT XML Data Server CE
licence for using the TwinCAT XML Data Server for data exchange between an XML file and the TwinCAT PLC on Windows CE platforms
We reserve the right to make technical changes.
BECKHOFF New Automation Technology
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TwinCAT Supplements
System
TwinCAT Backup In addition to files, directories and settings, TwinCAT configurations are also backed up. Users can specify additional components they wish to back up. Furthermore, essential operating system-specific information is backed up. These include user settings, profiles, network settings and much more. Any of the media connected to the PC can be used for the backup, for example a hard disk, a floppy disk, a CD writer or a network drive.
In the event of a restore, all files and settings are copied to a new computer on which an operating system is already installed. In addition, TwinCAT is installed and configured. This also includes the automatic preparation of a System Manager configuration and creation of a boot project. Installations can be customised. If fieldbus cards differ (e.g. if the cards are plugged into different PCI slots), the backup tool will attempt an automatic adap-
out an automatic update. The backup is configured in XML.
tation. Between certain fieldbus cards, it is even possible to carry
Desktop application
Windows system service
Configuration
TcBackup configuration & restore
Read, configuration
TcBackup server
XML CFG
Storage Restore
Backup
Ordering information TwinCAT Backup
licence for using the TwinCAT Backup tool for the backing up and restoring of files, operating system settings and TwinCAT settings
TwinCAT
TwinCAT Simulation Manager The TwinCAT Simulation Manager is a tool for the configuration of a simulation environment, which integrates itself perfectly into the TwinCAT system environment. 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
Machine installation
another PC. The link between control system and simulation process is realised via real-time Ethernet and the TwinCAT network variables.
Realtime-Ethernet Simulation environment
TwinCAT Simulation Manager Copyright © 2004 Beckhoff GmbH Version: 2.0.504.0
– switches original/simulation profile – manages simulation configuration – creates simulation framework (mirrored PLC application)
1... 4 simulation PLCs
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Ordering information TwinCAT Simulation Manager
licence for using the TwinCAT Simulation Manager
BECKHOFF New Automation Technology
We reserve the right to make technical changes.
System
TwinCAT Supplements
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 Database 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 modified 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 supports 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 configured with a user-friendly configurator. A corresponding XML file with databases, ADS devices (e.g. PLC run-time) and transactions is described.
TC Database Server
LAN
ADS
PLC FBs
C# Delphi
Database
Database
Ordering information 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
TwinCAT PLC HMI visualisation features such as placeholder concept, KeyPad, NumPad, password protection, etc. can be used.
TwinCAT
The popular TwinCAT PLC Control option of simple visualisation 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 created with TwinCAT PLC Control. To this end, the tool only requires access to the PLC project. All
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Ordering information TwinCAT PLC HMI
We reserve the right to make technical changes.
licence for using the TwinCAT PLC HMI tool for developing visualisations under Windows NT/2000/XP/Vista
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TwinCAT Supplements
System
TwinCAT PLC HMI Web The TwinCAT PLC visualisation options have been extended: A web-based solution is now available in addition to the wellknown 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 visualisation 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. Web-based diagnostics and configuration
Ordering information TwinCAT PLC HMI Web
licence for using the system software TwinCAT PLC HMI Web under Windows XP or CE
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.
Ordering information TwinCAT PLC HMI CE
licence for using the system software TwinCAT PLC HMI CE under Windows CE
TwinCAT
TwinCAT Management Server
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The TwinCAT Management Server enables the central administration of Beckhoff controllers. Software updates, for example, can thus be loaded conveniently from a central place to controllers in the network. Besides the general updating of operating systems, device-specific components (PLC boot project) can also be loaded. In the first step, Beckhoff controllers in the network are detected automatically via “Device Discovery”; subsequently there is a possibility
to assign the detected devices to logical groups. For each group, actions can be defined that can be processed individually by the respective devices. The following basic actions are available: copying, deleting, renaming of files or folders, carrying out of registry entries, running of applications and restarting of the system. Building on these basic script-based actions, powerful 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
Ordering information TwinCAT Management Server
licence for using the TwinCAT Management Server for central administration of Beckhoff CE controllers
BECKHOFF New Automation Technology
We reserve the right to make technical changes.
System
TwinCAT Supplements
TwinCAT Scope 2 For some time now, TwinCAT contains a software scope: TwinCAT ScopeView. TwinCAT Scope 2 enables the graphics features of the new PC generation 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 configuration of the Scope is also carried out in the viewer. An assistant supports the search for variables to be recorded. Following 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 configuration. Charts are the actual display area of the ScopeView. They provide the X-axis as the time-defined 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. Channels represent the system variables to be analysed. The Viewer optionally uses DirectX for displaying. DirectX provides COM-based programming interfaces for multimediaintensive applications on the Windows platform.
Ordering information TwinCAT Scope 2
licence for using the TwinCAT Scope under Windows NT, 2000, XP, Vista
TwinCAT EtherCAT Redundancy is returned back to the master. The TwinCAT System Manager is used for configuration and diagnostics. TwinCAT
TwinCAT EtherCAT Redundancy is an extension option for the TwinCAT EtherCAT master offering cable redundancy. From the last logical device a cable
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Ordering information TwinCAT EtherCAT
licence for extending the TwinCAT EtherCAT master with cable redundancy capability
Redundancy
We reserve the right to make technical changes.
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TwinCAT Supplements
System
TwinCAT PROFINET IO Controller The PROFINET IO Controller (master) is a TwinCAT supplement 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 conjunction with the EL6631 PROFINET terminal for the
EtherCAT I/O system. In this way, any EtherCAT network can exchange data with PROFINET IO devices.
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
Cycle time
min. 1 ms
Number of possible IO devices
limited by CPU power and memory
PC (x86), Windows CE devices with EtherCAT interface up to 15 devices
Ordering information TwinCAT PROFINET IO
licence for using the TwinCAT PROFINET IO Controller for Windows XP, XP Embedded
Controller TwinCAT PROFINET IO
licence for using the TwinCAT PROFINET IO Controller for Windows CE
Controller CE
TwinCAT PROFINET IO Device
TwinCAT
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 supplement, a standard Ethernet interface becomes a PROFINET
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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.
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
Cycle time
min. 1 ms
Number of possible IO devices
limited by CPU power and memory
PC (x86), Windows CE devices with EtherCAT interface 1
Ordering information TwinCAT PROFINET IO Device
licence for using the TwinCAT PROFINET IO Device for Windows XP, XP Embedded
TwinCAT PROFINET IO Device
licence for using the TwinCAT PROFINET IO Device for Windows CE
CE
BECKHOFF New Automation Technology
We reserve the right to make technical changes.
System
TwinCAT Supplements
PROFINET system structure
Ethernet TCP/IP
Embedded PC + TwinCAT PROFINET IO Controller
Embedded PC + TwinCAT PROFINET IO Controller EtherCAT Embedded-PC + TwinCAT PROFINET IO Device
PROFINET
EL6631-0010 PROFINET IO Device
EtherCAT EL6631-0000 PROFINET IO Controller
PROFINET Fieldbus Box IL230x-B903
PROFINET Bus Coupler BK9103 IPC + TwinCAT PROFINET IO Device
PROFINET Bus Coupler BK9103 Embedded PC + TwinCAT PROFINET IO Device
TwinCAT EtherNet/IP Slave
Technical data
EtherNet/IP via RT Ethernet
Ethernet hardware
real-time Ethernet hardware
Operating system
Windows XP, XP Embedded, CE
Software
TwinCAT I/O, PLC, NC, NC I, CNC
Target systems
PC (x86), Windows CE devices
Cycle time
min. 1 ms
Number of possible slave
1
Ethernet interface becomes an EtherNet/IP slave. This product can be used on all PC controllers and Embedded PC controllers running XP and CE.
TwinCAT
The TwinCAT EtherNet/IP Slave is a supplement that turns every Beckhoff PC-based control system into an EtherNet IO device. By installing the supplement, any
devices
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Ordering information 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
We reserve the right to make technical changes.
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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 pathcontrolled 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 position. The behaviour at the target can be selected through parameterisation: position control, pressure output with the correct sign, automatic repositioning.
The motion can be influenced through monitoring functions and aborted prematurely if a limit 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 files via supplied
blocks. The modular configuration of the axis within the PLC application enables the flexible combination of library blocks with customer- and applicationspecific special functions.
Ordering information TwinCAT PLC
licence for using the IEC 61131-3 software library for TwinCAT for controlling hydraulic axes
Hydraulic Positioning
TwinCAT
TwinCAT NC FIFO Axes
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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.
Ordering information TwinCAT NC FIFO Axes
licence for using the IEC 61131-3 software library for TwinCAT PLC to permit set value generation specified by the user for an NC axis
BECKHOFF New Automation Technology
We reserve the right to make technical changes.
Motion
TwinCAT Supplements
TwinCAT NC Flying Saw “Flying saw” generally represents 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 “flying saw” is a tool that processes a workpiece in continuous operation. 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 situation (stop, forward or reverse
– –
– –
travel) with the master in motion simple synchronisation with the master velocity precise position synchronisation with the master axis (velocity and position) synchronous velocity can be set via a coupling factor optional return prevention as additional safety function
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superimposed section compensation during the synchronous phase for dynamic position correction Typical applications for this functionality result can be found in transfer lines, printing and packing machines.
Ordering information TwinCAT NC Flying Saw
licence for using the IEC 61131-3 software library for TwinCAT PLC to permit implementation of the “flying saw” functions
TwinCAT PLC Remote Synchronisation Due to the increasing use of decentralised controllers, time synchronisation of different systems is becoming an increasingly important issue. In systems without identical time base, cyclic transfer of information can lead to beat effects, which can mani-
fest themselves as periodic malfunction in the synchronisation of drives for which axis information 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 implemented in the TcRemoteSync.lib library can be used.
Ordering information TwinCAT PLC
licence for using the IEC 61131-3 software library for TwinCAT PLC Remote Synchronisation
Remote Synchronisation
TwinCAT NC Camming interpolation points and a selection of motion laws. Application examples for TwinCAT cam plates are available from a wide range of industry sectors: press controllers, machining centres, transfer lines, product handling or packaging machines. The TwinCAT NC Camming PLC library contains all the function blocks required for dealing with these cam plates.
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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 according to VDI guideline 2143
– –
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cyclic or linear processing Cam plate described through offset and scaling, can be modified both on the master and the slave side. Motion functions can be modified online.
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Ordering information 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
We reserve the right to make technical changes.
TwinCAT
TwinCAT NC offers the option of coupling a slave axis with a master axis via a cam plate. Traditionally, cam plates are described as two-column position tables with master positions and corresponding slave positions. 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
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TwinCAT Supplements
Motion
TwinCAT Cam Design Tool 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 modified sine waves, harmonic combinations, or of various polynomial functions. Speed, acceleration and jerk are also represented in addition to the slave position. The starting and finishing values
may be entered graphically and interactively, or in the form of a table. The same applies to boundary values (derivative values) which can also be graphically and interactively modified for the appropriate functions. In order to synchronise to the movement of another slave that has already been defined, it is possible to attach the starting or finishing point of a movement section to that other movement, and to shift it. In this way jerkrestricted, 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 derivatives can also be displayed. The generated cam plates can be transferred to the NC as tables with specified 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 Manager project and automatically transferred to the NC on system start-up.
Ordering information TwinCAT Cam Design Tool
licence for using the TwinCAT Cam Design Tool for the graphical development of programming cams
TwinCAT
TwinCAT Digital Cam Server
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Fast camshaft controller implemented in software in TwinCAT. The camshaft controller can be freely configured by the TwinCAT System Manager. Communication with the TwinCAT PLC takes place both via the process image and via ADS (Automation Device Specification).
– – – – – –
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
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– –
independent of fieldbus (all the fieldbuses supported by TwinCAT) measurement and monitoring of rotary speed complete integration into the TwinCAT System Manager
Ordering information TwinCAT Digital Cam Server
licence for using the TwinCAT Digital Cam Server
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We reserve the right to make technical changes.
Motion
TwinCAT Supplements
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 characteristic curve. 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.
Ordering information TwinCAT Valve Diagram Editor
licence for using the TwinCAT Valve Diagram Editor for designing the characteristic curve of a hydraulic valve
TwinCAT Kinematic Transformation Programming is usually based on the Cartesian coordinate system, with the control system calculating 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 inertia values can be specified for dynamic pre-control. The “flying saw” and “cam plate” functions enable synchronisation with conveyor belts for picking or placing workpieces, for example.
TwinCAT Kinematic Transformation is optimised for the Beckhoff AX5000 drive series.
TwinCAT
The kinematics package integrates itself transparently into the existing Motion Control world of TwinCAT: simple insertion of an additional Kinematic channel is sufficient. The complete parameterisation is done in the TwinCAT System Manager. The package supports different parallel and serial kinematic systems, as used for e.g. pickand-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.
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Ordering information TwinCAT Kinematic
realises different kinematic transformations for TwinCAT PTP or TwinCAT NC I
Transformation
We reserve the right to make technical changes.
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TwinCAT PLC Serial Communication Communication library for connection of serial devices such as printers, barcode scanners, peripheral controllers or distributed 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 configuration of serial Bus Terminals at run-time
Ordering information TwinCAT PLC
licence for using the IEC 61131-3 software library for TwinCAT PLC for communication via serial Bus Terminals
Serial Communication
or PC COM ports
TwinCAT
TwinCAT PLC Serial Communication 3964R/RK512
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In addition to serial communication, this library permits connection 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 functions in the “Serial Communication” library is included.
The RK512 protocol implements data exchange between serial Bus Terminals and other devices via a serial interface. The COMlibRK512 library for TwinCAT PLC supports transmission and reception 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 protocol. The COMlib, COMlib3964R and COMlibRK512 libraries are included in the package.
Ordering information TwinCAT PLC Serial
licence for using the IEC 61131-3 software library for TwinCAT PLC for communication via serial Bus Terminals
Communication 3964R/RK512
or the PC COM ports using the protocol 3964R/RK512
BECKHOFF New Automation Technology
We reserve the right to make technical changes.
Communication
TwinCAT Supplements
TwinCAT PLC Serial Communication EnOcean The transmitter or sender modules from the company EnOcean enable wireless sending 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 signal, 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.
Ordering information TwinCAT PLC Serial
free licence for using the PLC library for processing of data from the KL6023 wireless adapter
Communication EnOcean
or the KL6021-0023 serial Bus Terminal
TwinCAT PLC Modbus RTU of operating terminals support Modbus RTU. The Modbus RTU library offers blocks for master and slave operation. The operating devices serve as master, the TwinCAT control as slave. The configuration effort is very small. TwinCAT
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 operation with the serial KL6xxx Bus Terminals. Many manufacturers
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Ordering information 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.
We reserve the right to make technical changes.
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TwinCAT Supplements
Communication
TwinCAT PLC IEC 60870-5-101, -102, -103, -104 Master Four telecontrol libraries are available that comply with the globally accepted IEC 60870 standard. The -101 specification standardises a protocol for serial coupling. 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 transmitted at longer periodic intervals. Special safety measures ensure that the values cannot be falsified. 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 defines 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 “interoperability list�, the structure of which is defined in the standard. For the TwinCAT libraries interoperability lists are available for each product in the Beckhoff Information System.
Ordering information TwinCAT PLC
licence for using the IEC 61131-3 software library for TwinCAT PLC for communication via the telecontrol protocol
IEC 60870-5-101 Master
according to IEC 60870-5-101 (serial transmission), master
TwinCAT PLC
licence for using the IEC 61131-3 software library for TwinCAT PLC for communication via the telecontrol protocol
IEC 60870-5-102 Master
according to IEC 60870-5-102 (serial transmission), master
TwinCAT PLC
licence for using the IEC 61131-3 software library for TwinCAT PLC for communication via the telecontrol protocol
IEC 60870-5-103 Master
according to IEC 60870-5-103 (serial transmission), master
TwinCAT PLC
licence for using the IEC 61131-3 software library for TwinCAT PLC for communication via the telecontrol protocol
IEC 60870-5-104 Master
according to IEC 60870-5-104 (TCP/IP-based transmission), master
TwinCAT PLC
licence for using the IEC 61131-3 software library for TwinCAT PLC for communication via the telecontrol protocol
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 manufacturers have to communicate with each other. Standardised data exchange can easily be realised via the internationally
standardised telecontrol protocols 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
Ordering information
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TwinCAT PLC
licence for using the IEC 61131-3 software library for TwinCAT PLC for communication via the telecontrol protocol
IEC 60870-5-101 Slave
according to IEC 60870-5-101 (serial transmission), slave
TwinCAT PLC
licence for using the IEC 61131-3 software library for TwinCAT PLC for communication via the telecontrol protocol
IEC 60870-5-104 Slave
according to IEC 60870-5-104 (TCP/IP-based transmission), slave
TwinCAT PLC
licence for using the IEC 61131-3 software library for TwinCAT PLC for communication via the telecontrol protocol
IEC 60870-5-104 Slave CE
according to IEC 60870-5-104 (TCP/IP-based transmission) for Windows CE platforms, slave
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We reserve the right to make technical changes.
Communication
TwinCAT Supplements
TwinCAT DriveTop Server The TwinCAT DriveTop Server is a communication server for linking the Indramat DriveTop tools to TwinCAT. This means that the familiar tool for configuration and commissioning of Indramat drives can continue to be used. Configuration with a number of SERCOS rings is also supported. The TwinCAT DriveTop Server and the Indramat DriveTop software offer a further method for initialising and visualising the parameter data of Indramat drives in a SERCOS system, as an alternative to the TwinCAT System
Manager. From the point of view of the SERCOS interface, the DriveTop Server uses TwinCAT ADS communication. As an interface 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 parallel. The TwinCAT DriveTop Server makes the full range of Indramat DriveTop software functionalities available.
Indramat DriveTop Tool
Other Drive Manufacturer Tools
DDE
TwinCAT DriveTop Server SERCOS interface
...
Ordering information TwinCAT DriveTop Server
licence for using the TwinCAT DriveTop Server for the configuration of Indramat SERCOS drives with DriveTop software on TwinCAT systems
TwinCAT DriveCOM OPC Server 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 FCxxxxtype Beckhoff Fieldbus Card. The TwinCAT DriveCOM configurator finds supported drives in the TwinCAT configuration and makes this information available for the engineering tool. The configurator features an automation interface and can therefore be operated remotely by other tools.
TwinCAT DriveCOM OPC TwinCAT protocol ADS PLC
NC
NC I
TwinCAT IO Mapper
SimoComU
TwinCAT
PROFIBUS DriveMonitor
Drives
TwinCAT
The DriveCOM user organisation has set itself the aim of facilitating uniform, standardised communication between configuration, commissioning and diagnostic tools from different drive manufacturers, independent of the fieldbus. The TwinCAT DriveCOM OPC Server offers this type of communication connection: TwinCAT enables the data flow from the engineering tool to the drive, independent of the fieldbus. Due to the network-capable ADS TwinCAT communication system, distributed drives can be configured and diagnosed
Drives
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Ordering information TwinCAT DriveCOM OPC Server
We reserve the right to make technical changes.
licence for using the TwinCAT DriveCOM OPC Server
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TwinCAT Supplements
Communication
TwinCAT ADS Communication Library TwinCAT ADS organises the data exchange TwinCAT 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 applications The 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 router The data link to TwinCAT servers always takes place via the message system. In this way it is possible for the Windows programs 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 field 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 different physical transport routes: TCP, UDP, fieldbus, EtherCAT, serial, SOAP.
TwinCAT ADS monitor The TwinCAT ADS monitor is an important debugging and diagnostics 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 offline. The telegrams can be conveniently filtered in the viewer.
All ADS components are available free of charge as “TwinCAT ADS Communication Library”. Detailed descriptions and examples can be found in the Information System: http://infosys.beckhoff.com
Windows NT Visual Basic, VC + +, Delphi, etc. Windows programs
Windows NT/XP User level
TwinCAT ADS/OCX Message router
TCP/IP; COM ports
Message router
ADS interface
PLC server PLC run-time
NC PTP server NC PTP run-time
Windows NT/XP TwinCAT kernel extension
TwinCAT
ADS interface
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Ordering information TwinCAT ADS
free licence for using the ADS communication components
Communication Library
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We reserve the right to make technical changes.
Communication
TwinCAT Supplements
TwinCAT OPC Server The standard interface for automation OPC stands for “Openness, Productivity & Collaboration” and describes an initiative for standardisation of data exchange in automation. Formerly, applications such as operating and monitoring software were forced to use the differing access procedures of each controller manufacturer. OPC is the specification for a uniform software interface, and permits access to the process data from any manufacturer. OPC specifications The TwinCAT OPC Server supports the following specifications: 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 specification 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 firewalls. The TwinCAT OPC Servers can be configured in the configurator or via XML. In addition to the namespace and the eventspace, other features of the Beckhoff OPC server can be defined with the configuration tool, or via XML: simulation signals allow the OPC client/ server communication to be tested without accessing physical I/O.
The simulation algorithm allows sinusoidal, ramp and random signals, e.g. to configure in amplitude, slope and offset, etc. Also interesting is the facility for the online conversion of process values: configurable 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
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– Embedded PC access to TwinCAT variables project planning – supports browsing of namespace – automatic configuration via XML – The server supports browsing of variables.
Further features – Configurable simulation signals such as sine, ramp, random or none can be set for each variable in order to test OPC client/server communication without access to physical I/O by the OPC server. – online conversion of process values, configurable conversion algorithm
Scada, Visual Basic, Delphi
System Manager
PLC control
Motion Control
configuration, service, monitoring
PLC programming
TwinCAT NC PTP TwinCAT NC I TwinCAT CNC
Scada, Visual Basic, Delphi, Visual C++, .NET, C#, VB.NET,
OPC client
ADS
ADS
ADS
ADS OCX/DLL
Internet/Intranet
Since 1998 Beckhoff is member of the OPC foundation.
UA
XML
DA
TwinCAT OPC server ADS Message router TCP/IP | serial Message router Real-time server TwinCAT OPC is tested as
ADS interface
ADS interface
ADS interface
ADS interface
ADS interface
ADS interface
System Manager
I/O server I/O run-time
PLC server PLC run-time
NC I server NC PTP server NC PTP run-time NC I run-time
CNC server CNC run-time
I/O
I/O
I/O
I/O
“OPC compliant” product by the OPC Compliance certification.
I/O
I/O mapping
TwinCAT
I/O: all fieldbuses and PC interfaces
Ordering information 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.
We reserve the right to make technical changes.
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TwinCAT Supplements
Communication
TwinCAT OPC UA Server The TwinCAT OPC UA Server makes the options of the new Unified Architecture specification available. In addition to data access techniques, the UA also specifies 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 services or an efficient TCP-based binary protocol according to the specification are available as communication types. In addition to exchange of complex data, security mechanisms for authentication 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 exchange of variables and calling of ADS methods. The UA client enables communication with other UA servers and facilitates integration of third-party products.
Since 1998 Beckhoff is member of the OPC foundation.
Ordering information 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
TwinCAT
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.
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PLC block The TwinCAT PLC SMS library (TcPlcSMS) contains a block for sending SMS messages directly from the PLC. The library is available 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.
Ordering information 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
BECKHOFF New Automation Technology
We reserve the right to make technical changes.
Communication
TwinCAT Supplements
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.
Ordering information 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
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-neutral 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 configured via an XML file.
Ordering information 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 takes place via Windows API for serial interfaces. In this way, even existing Windows applications can be used to read data via an EL60xx from devices with serial interfaces, such as bar code scanners.
Windows Application COM5 COM6
TwinCAT
TcEL60xx
EtherCAT
TwinCAT
The driver inserts one or more EL60xx EtherCAT Terminals as normal serial interfaces (‘COMx’) in Windows CE or XP. Configuration takes place in the TwinCAT System Manager, wherein it is defined for each EL60xx whether or not and on which computer a serial interface should be created for it. Access to the device connected to the terminal then
Windows CE PC or Windows XP PC
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Ordering information TwinCAT Virtual Serial COM
licence for using a driver for Windows XP, Vista and Windows CE platforms
Driver
We reserve the right to make technical changes.
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TwinCAT Supplements
Communication
TwinCAT FTP Client The TwinCAT FTP client enables the TwinCAT PLC to access several FTP servers in a simple manner. There are various function blocks available for the PLC: following the establishment of a connection (optionally with
authentication), files can be loaded to/from the server. Additional function blocks allow files or directories to be searched for, created, deleted and renamed.
Ordering information TwinCAT FTP Client
licence for using the TwinCAT FTP Client for Windows XP, Vista and Windows CE platforms
TwinCAT
TwinCAT PLC RFID Reader Communication
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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 configuration can easily be adapted to a specific reader.
Ordering information TwinCAT PLC RFID Reader
for the connection of RFID readers to the TwinCAT PLC
Communication
BECKHOFF New Automation Technology
We reserve the right to make technical changes.
TwinCAT PLC Controller Toolbox A large number of control problems cannot be solved with standard controllers. The Controller Toolbox now offers all customers the option to create their own complex controller from basic components. The Controller Toolbox comprises: – simple basic controllers (P, I, D),
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complex controllers (PI, PID, switching controllers), filter blocks, control value generators (limiters, PWM),
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ramp and signal generator blocks. All blocks share the same look & feel and simple parameterisation.
TwinCAT blocks for control tasks
Ordering information TwinCAT PLC
Licence for using the IEC 61131-3 software library for TwinCAT PLC. The TwinCAT Controller Toolbox library contains blocks
Controller Toolbox
for basic controllers (P, I, D), complex controllers (PI, PID), pulse width modulation, ramps, signal generators, filters.
Library with temperature controller function block (multiple instances possible) for monitoring and control of temperature regulated areas with these features:
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easy commissioning through automatic adjustment of the controller (self-tuning) automatic and manual operation with smooth transition control values provided as direct analog or as pulse width modulated signal
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tolerance monitoring, absolute value monitoring scalable reaction to sensor error and heating power faults limitation of set and control values
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optional ramping of the setpoint values soft starting for the setpoint curve An industrial PID controller is at the heart of the temperature controller.
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Ordering information TwinCAT PLC
licence for using the IEC 61131-3 temperature controller software library for TwinCAT PLC
Temperature Controller
We reserve the right to make technical changes.
TwinCAT
TwinCAT PLC Temperature Controller
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TwinCAT PLC Building Automation Library for execution of basic functions in the Building Automation 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 contact, differentiation between single/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).
Ordering information TwinCAT PLC
licence for using the IEC 61131-3 software library for TwinCAT PLC for execution of basic functions
Building Automation
in the building automation (basic library)
TwinCAT
TwinCAT PLC Building Automation DALI
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DALI (Digital Addressable Lighting Interface) is a definition whose purpose is to standardise digital interfaces to lamp ballasts. The standard allows the manufacturers of lighting components to implement complex lighting tasks easily and conveniently. The TwinCAT PLC
Building Automation DALI library offers configuration and programming blocks for the KL6811 DALI master Bus Terminal. 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:
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blocks for changing the lamp power blocks for changing and querying various parameters of a DALI slave blocks for assigning addresses to individual DALI slaves blocks for configuring DALI groups and DALI scenes
Ordering information TwinCAT PLC
free licence for using an IEC 61131-3 software library for TwinCAT PLC for communication
Building Automation DALI
with the KL6811 DALI master Bus Terminal
BECKHOFF New Automation Technology
We reserve the right to make technical changes.
Building Automation
TwinCAT Supplements
TwinCAT Building Automation Framework such as lighting, shading, heating, air conditioning, etc. The operator therefore automatically has documentation available that may be helpful for maintenance purposes. An application program is created based on a PLC library supplied with the TwinCAT Building Automation Framework. The PLC library is structured in such a way that the parameters loaded from the Building Automation Manager into the controller are stored persistently. Specified and documented PLC variables provide an integrated interface that simplifies 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 Automation 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
Medium-sized or large building automation projects require a clear structure and administration 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 applications. 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 configured with the standard functions of the PLC program. From this information the configuration 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 subdivided into buildings, floors and zones. Each zone may contain different functional units
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Ordering information TwinCAT Building Automation
Licence for using the TwinCAT Building Automation Framework for development and commissioning of building automation
Framework
applications. The building automation PLC libraries are included. The Framework requires TwinCAT PLC 2.10 or higher.
We reserve the right to make technical changes.
BECKHOFF New Automation Technology
TwinCAT Supplements
Building Automation
TwinCAT PLC HVAC The HVAC library is a comprehensive PLC library for TwinCAT automation software with more than 70 functions that simplifies engineering significantly for applications in the area of building 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 generators The 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 internal parameters is standardised for all blocks.
TwinCAT
Room
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Ordering information TwinCAT PLC HVAC
licence for using the IEC 61131-3 software library for automation of heating, ventilation, air-conditioning and sanitary installations
BECKHOFF New Automation Technology
We reserve the right to make technical changes.
Building Automation
TwinCAT Supplements
TwinCAT PLC M-Bus The M-Bus (metering bus) is a fieldbus for logging consumption data (e.g. in water meters, electricity meters, gas meters, heat/ cold meters, etc.). Devices from different manufacturers support this common protocol. Up to 250 slaves can be connected 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 fixed or variable data structure. The M-Bus library evaluates data with variable data structure (low byte first). It supports the serial interfaces KL6001, KL6021 or PC-COM port. They are connected with an M-Bus level converter via RS232 or RS485. From there, the individual slaves are connected via a two-wire line that is protected against polarity reversal.
Ordering information TwinCAT PLC M-Bus
licence for using the PLC Library TwinCAT PLC M-Bus
TwinCAT Crestron Server 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
Beckhoff Device
Embedded and Industrial PCs running Windows XP.
Crestron Device
TwinCAT PLC ADS
TwinCAT Crestron Server
TCP/IP
Beckhoff Communication
TwinCAT
Crestron is one of the leading manufacturers of AV control systems. The TwinCAT Crestron Server enables communication 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
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Ordering information TwinCAT Crestron Server
We reserve the right to make technical changes.
licence for using the TwinCAT Crestron Servor for communication between a TwinCAT PLC and a Crestron control centre
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