TC3 e 04

Overview
TwinCAT 3 New Automation Technology
Training fr Umsteiger
TwinCAT 3 | New Automation Technology
Object-orientated programming in IEC
Overview of contents
Object orientation with

IEC 61131-3 3rd edition
Extension Details
Example applications for
OOP
TwinCAT 3 | Training | Object-orientated

programming in IEC
03.05.2012
Requirements of the OO in automation technology

Integration into one PLC development environment (with online functions, online
change etc.)
Mixing of procedural and object-orientated code (existing projects must be capable
of being integrated simply and without expenditure)
Extension of the familiar IEC languages instead of an extra language for OOP
OOP universal in all IEC languages (not only ST)
Standardisation of the language by the IEC
New third edition of the IEC61131-3
Standardisation expected at beginning of 2011

programming in IEC
03.05.2012
Advanced IEC features | Keywords

Six new keywords:
METHOD : action on FB with own variables
PROPERTY: POE pair for Set/Get of attribute
THIS : in Methode/Property for the current FB instance
SUPER : in Method for access to the basic class instance
EXTENDS : inheritance between FBs
INTERFACE : defines abstract object type (FB without implementation)
IMPLEMENTS in the FB: instances can be called via the named interface
Call syntax for methods:

Objekt.Methodname()
Special methods:
FB_Init, FB_Exit, FB_Reinit
programming in IEC
03.05.2012
Advanced IEC features | Application

Object-orientated extensions of IEC 61131-3, 3rd edition:
the concept of the functional blocks has been extended by
Classes
Interfaces
Methods
Inheritance
Attributes
Keywords such as THIS, SUPER
Use of the extensions

Possible in all IEC languages
Independent of the hardware employed
Not absolutely necessary
programming in IEC
03.05.2012
Advanced IEC Features | SUPER and THIS

programming in IEC
03.05.2012
Overview of the language properties

Language properties
2nd Edition
IEC 61131-3
3rd Edition
IEC 61131-3
C++
Java
C#
Multilingual capability
OOP/procedural mixed
Classes
~ (FB)
Methods
~ (Actions)
Interfaces
Partially abstract classes
Polymorphism
+/-
Reference semantics
+ (Interfaces)
Constructor/Destructor
Properties
Visibility
~ (Variables)
~ (Variablen)
Dyn. memory (new)
- (in TC3)

programming in IEC
03.05.2012

Extension Details
OOP

programming in IEC
03.05.2012
IEC 61131-3 3rd Edition
History
1st edition 1993
2nd edition 2003: bugfixes and small extensions
3rd edition 2011
working at 3rd starts 2008
1st draft in july 2009
release 2010
IEC61131-3 3rd Edition
10.12.2012
Typography
3rd edition = 2nd edition + extensions
single line comment
nanoseconds
enum type with named values
pointers allowed
references
object oriented extension
namespaces
call a program from other programs
mixed data types in expressions and implicit conversions.

10.12.2012
10
New datatypes
LINT, ULINT, LWORD
64 bit length.
LTIME, LDATE, LDATE_AND_TIME, LTIME_OF_DAY
tTime:= LTIME#12s34ms2us44ns
DT:= CONCAT_DATE_TOD(DATE, TOD);
DATE:= CONCAT_DATE(YEAR, MONTH, DAY);
UNION
several datatypes in a single memory space
WSTRING
Unicode format
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11
Enum Type
Explixitly specify the datatype of an enumeration.
Default type is INT.
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12
UNION
All variables have the same memory offset.
All variables occupy the same memory location.
Size of the memory is defined by the major variable.
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13
VAR_TEMP - Temporary Variables

Temporary variables get initialized each call of the POU.
Usable in programs and function blocks.
In methods and functions every declared variable is temporary!
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14
VAR_STAT - Static Variables

Static variables get initialized only at the first call of the POU.
Static variables get stored and dont lose their value.
Usable in methods and functions.
In programs and function blocks every variable is static!
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15
Expression for variable initialization

initialize variables with ST expressions
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16
Pragma Instructions
{defined identifier}
{undefined identifier}
{IF expr}
{ELSIF expr}
{ELSE}
{END_IF}
{IF defined(variable:iInput)}
{IF defined(pou:CheckBounds)}
{IF defined(type:ST_DataType)}
{IF hasattribute(variable:iInput, DoSomething)}
{IF hastype(variable:iInput, UINT)}
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17
Pragma Instructions
Messages
{text 'Hello World!'}
{info 'Information!'}
{warning 'Warning!'}
{error 'Error!'}
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Pragma Instructions
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19
References
A reference is an alias for an object.
Instead of pointers.
Typesafe.
No dereferencing.
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20
Object Oriented Extensions

METHOD
PROPERTY
EXTENDS
INTERFACE
IMPLEMENTS
THIS
SUPER
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METHOD
Methods are describing a sequence of instructions.
Like a function that depends to a function block.
Extends the existing ACTION functionality.
VAR_INPUT, VAR_IN_OUT and VAR_OUTPUT
Access to variables of the belonging function block.
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PROPERTY
Gives access to internal states or values.
Provides methods how to get and/or set the value.
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FB_init, FB_reinit, FB_exit

FB_init
Contains explicit initialization code for the function block.
Gets called before starting the PLC. (SAFEOP => OP)
Implicit initializations have already been done.
User defined inputs: fbVal: FB_Val(iVal:= 3);
FB_reinit
Contains explicit reintinialization code for the function block.
Gets called when the instance gets copied. (online change)
FB_exit
Contains explicit deinitialization of ressources.
Gets called before a download, a reset or online change.
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Sample: FB_init, FB_reinit, FB_exit
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25
Execution order while online change.

Exit old instance.
old_inst.fb_exit(bInCopyCode := TRUE);
Initialize new instance.

new_inst.fb_init(bInitRetains := FALSE, bInCopyCode := TRUE);
Copy instance.
copy_fub(&old_inst, &new_inst);
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THIS
Every function block provides the pointer THIS.
THIS points to the current function block.
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EXTENDS
Structure includes all variables from the extended base.
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EXTENDS
Function block includes all variables from the extended base.
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EXTENDS
function block includes all methods from the extended base.
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SUPER
Every function block provides the pointer SUPER.
SUPER points to the basic function block.
Usable for overwriting existing methods from the base.

Change the behaviour of a existing function block.
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INTERFACE
POU which defines/describes.

methods and properties.
Just declaration, no implementation.

Only input, output and inout variables.
No body (implementation).
No declaration of internal variables.
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IMPLEMENTS
A function block implements
the interface.
Provides the implementation

of the declaration.
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Interface Usage
Declare an instance of the function block,
implementing the interface.
Declare an variable of the interface.
Store a reference to the function block in the interface.
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Interface Benefits
Use different implementations depending on the situation.
If use mem instance is active, FB_MathMem would be used.
Otherwise the FB_MathErase would be used.
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Attention while using interfaces!

Function blocks are value types. Copied by value/memory.
Interfaces are reference types. Copdied by reference/address.
Interfaces are pointers!
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36
Extended Structured Text - ExST

TwinCAT 3 specific extensions.
Dynamic Memory
__NEW
__DELETE
Adressing, Pointers and References

__ISVALIDREF
__QUERYPOINTER
__QUERYINTERFACE
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Not yet implemented

Extensible Function PARAMS
ANDN, ORN, XORN
ANY_TYPE
ANY_NUM_TO_<NUMERIC>
ANY_TO_<TYPE>
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Extension Details
OOP

programming in IEC
03.05.2012
39
Example applications for OOP

Sample01: Classic inheritance
EXTENDS : Inheritance between FBs
METHOD : Action on FB with own variables
Sample02: Inheritance with abstract upper class (late Binding)
IMPLEMENTS in the FB: Instances can be called via the named interface
Sample03: Access via Property by means of Get/Set
Sample04: Cylinder
EXTENDS, METHOD, INTERFACE , SUPER
Sample05: Crossroads
Sample06: Overshadowing with THIS and SUPER
programming in IEC
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By setting the keyword EXTENDS, the respective function block gets all the
properties (variables, actions, methods, etc.) of the basic function block as an
extension to its own!

programming in IEC
03.05.2012
41

Methods strongly resemble the familiar functions (FUN), i.e. all data are only
present temporarily!
Permitted variable classes: VAR, VAR_INPUT, VAR_OUTPUT
Not permitted: VAR_IN_OUT, VAR_TEMP

programming in IEC
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Sample02: Inheritance with abstract upper class

Used on function blocks for the management/organisation of methods
An INTERFACE describes a collection of method prototypes, i.e. methods that are
only declared but not implemented. All methods of the interface are implemented
by the FB (IMPLEMENTS).
The instance of an INTERFACE is filled in with code by assigning the FB that
implements this INTERFACE at runtime (dynamically)

programming in IEC
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Sample02: Inheritance with abstract upper class

Characterisation of the interface with the respective FB instance that implements
this interface.

programming in IEC
03.05.2012
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Sample03: Access via Property by means of Get/Set

A PROPERTY can use the private variables of the block module in a program block
(PRG) or function block (FB) by means of SET and GET
The SET and GET methods are added automatically by appending a PROPERTY. A
PROPERTY must always have the return type of the variable to be used.

programming in IEC
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45
Sample04: Cylinder
Example: Cylinder
Task:
Cylinders should all look the same
Identical behaviour
Special form: cylinder with diagnosis

programming in IEC
03.05.2012
46
Sample04 : PLC | OOA cylinder

ICylinder
+M_StateMachine() : bool
FB_Cylinder
+bAtLeftPos : bool
+bAtRightPos : bool
TimerReach
TimerStart
iState : int
FB_CylinderDiag
+tTimeOut
WatchDogTimer
+M_Diag() : bool
programming in IEC
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Sample04 : PLC | Cylinder | Interface

Definition of an abstract upper class (INTERFACE): ICylinder
Associated METHOD is only created, associated data are only defined on
implementation!

programming in IEC
03.05.2012
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Sample04 : PLC | Cylinder | Function block

Definition of a (basic) function block that implements the interface ICylinder.
All functions required for a (basic) cylinder are defined here.

programming in IEC
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Sample04 : PLC | Cylinder | Method

METHOD for controlling all cylinders:
Implementation
of the interface
method

programming in IEC
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Sample04 : PLC | Cylinder | Inheritance

Creation of a further FB, which extends the basic type (EXTENDS):
Overloading the METHOD: M_StateMachine from FB_Cylinder

programming in IEC
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Sample04 : PLC | Cylinder | Further methods

Extension of the inherited METHOD by special types for diagnosis:
Overwriting the
interface
method

programming in IEC
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Sample04 : PLC | Cylinder | Call via interface

Call of an FB - independent of the type - via the INTERFACE:

programming in IEC
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Object-orientated programming in IEC
Thank you very much
for your attention!
Presentation of the system
eXtended Automation
(XA) overview
Architecture (XAA)
Engineering (XAE)
Runtime (XAR)
Connectivity
TwinCAT 2 Migration
Functions
TwinCAT 3 | Overview
23.05.2012
eXtended Automation (XA) overview

Architecture (XAA)
Engineering (XAE)
Runtime (XAR)
23.05.2012
eXtended Automation (XA)

Architecture (XAA)
eXtended
Architecture (XAA)
TcCOM
Safety
C++
Module
TcCOM
TcCOM
TcCOM
eXtended
Automation
Runtime (XAR)
PLC
TcCOM
Modular runtime system

NC
TwinCAT 3
eXtended
Automation (XA)
eXtended
Automation
Engineering (XAE)
TwinCAT 3 development environment

based on Visual Studio 2010
TwinCAT 3
Standard
TwinCAT 3
Integrated
Visual Studio
2010 Shell
Visual Studio
2010
23.05.2012

Architecture (XAA): subdivision into
engineering/runtime
eXtended Automation
Engineering (XAE)
eXtended Automation
Runtime (XAR)
Visual Studio 2010 for

real-time programming in
IEC 61131-3 and C/C++
Execution of the created

modules in real-time
Visual Studio 2010 for

the configuration of the
complete system
Support for multi-core

CPUs
Support for 64-bit systems
23.05.2012
Architecture (XAA)
PC System
Windows 32/64 bit
TwinCAT 3 Engineering Environment based on Visual Studio
System Manager
- Configuration
Programming
- IEC 61131-3
- objectoriented extensions
- C/C++
eXtended
Automation Engineering (XAE)
TwinCAT Transport Layer - ADS

TwinCAT 3 Runtime
TcCOM
TcCOM
CPLC
Module
C++
PLC
Module
TcCOM
Simulink
PLC
Module
NC
PLC
TcCOM
TcCOM
CNC
PLC
Safety
PLC
TcCOM
TcCOM
PLC
PLC
TcCOM
Real-time Kernel
PLC
PLC
eXtended
Automation Runtime (XAR)
TwinCAT Automation Device Driver - ADD
Fieldbus
23.05.2012
eXtended Automation (XA) overview

Architecture (XAA)
Engineering (XAE)
TwinCAT 3 Standard
TwinCAT 3 Integrated
System Manager
PLC
Motion Control
C/C++ programming
Matlab/Simulink
Integration
C#/ .NET programming
Runtime (XAR)
23.05.2012
eXtended Automation
Engineering (XAE)
23.05.2012
eXtended Automation
Engineering (XAE)
eXtended Automation Engineering (XAE)
TwinCAT 3
One programming environment
One project folder
One debugging environment for IEC and C/C++ - code
Integration of the familiar TwinCAT System Manager
Programming in IEC 61131-3 3rd Edition (NEU:
NEU object-orientated extension)
Real-time programming in C/C++
Integration and sequence of the C/C++ - program in the IEC environment or
execution as independent real-time code
Link to Matlab/Simulink
TwinCAT 2 PLC projects can be converted into a TwinCAT 3 PLC project
The old TwinCAT System Manager file (*.tsm file) can be converted
Embedded in Microsoft Visual Studio 2010
23.05.2012
10
eXtended Automation
Engineering (XAE) - variants
TwinCAT 3 Standard
Based on the Microsoft
Visual Studio Shell
Integrated System
Manager
Integrated IEC-61131-3
3rd edition programming
(OOP)
Integrated Safety PLC
Integration in an existing
Microsoft Visual Studio 2010
Integrated System Manager
Integrated IEC-61131-3 3rd
edition programming (OOP)
Integrated Safety PLC
C/C++ programming
Matlab/Simulink
C# and .NET programming for
non-real-time applications
Optional: implementation of thirdparty software tools
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Engineering (XAE)
TwinCAT 3 Standard
For (standard) PLC

programmers and users
of existing, compiled
modules (e.g. C/C++,
Matlab/Simulink)
TwinCAT 3 Engineering Environment
System Manager
Configuration
I/O
PLC
MC
NC
CNC
Safety
others
Configuration,
parameterisation and
diagnosis
Debugging of the PLC
code
Programming
IEC 61131
Objectoriented
extensions
IEC Compiler
TwinCAT Transport Layer ADS
TwinCAT 3 Runtime
23.05.2012
12
Engineering (XAE)
For PLC and C/C++

programmer
Configuration,
parameterisation
and diagnosis
Module development
(C/C++ or
Matlab/Simulink)
Debugging (PLC,
C/C++,
Matlab/Simulink)
Matlab/
Simulink
TwinCAT 3 Engineering Environment based on Visual Studio

System Manager
Configuration
I/O
PLC
C/C++
MC
NC
CNC
Safety
others
Third-party
programming
tool
Programming
Non
real-time
Real-time
Real-time
Workshop
C#.NET
IEC 61131
Objectoriented
extensions
IEC Compiler
C/C++
C/C++
Microsoft C Compiler
TwinCAT Transport Layer ADS
TwinCAT 3 Runtime
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13
Engineering (XAE)
TwinCAT 3 Integrated integrated working area
Workbench integration - integrated working area
TwinCAT 3 framework = Microsoft Visual Studio 2010
Use of the commonest development environment
Supported by Microsoft
Ultimate
Extendable via plug-ins (e.g. third party modules)

Usable with many common source-safe databases
Use of C/C++ source code for the programming of automation
devices
Use of .NET languages for non-real-time applications (e.g.
visualisations)
Professional
Improved help system on the basis of Microsoft Visual Studio

2010 Help (Microsoft Help system)
Premium
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14
Engineering (XAE)
Parallel programming of IEC 61131 and C++
C++ Code
IEC Code
23.05.2012
15
eXtended Automation (XA) - overview

Architecture (XAA)
Engineering (XAE)
TwinCAT 3 Standard
System Manager
PLC
Motion Control
C/C++ programming
Matlab/Simulink
Integration
Runtime (XAR)
23.05.2012
16
Engineering (XAE)
Integrated System Manager | Directory tree
System configuration
Motion control configuration
PLC configuration
Safety PLC configuration
C++ module configuration
I/O configuration
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17
Engineering (XAE)
Integrated System Manager | Mapping
Mapping of the process image
Open for all common fieldbuses
Support for all PC hardware interfaces
Simple diagnosis of the fieldbus data
Correlation between logical and physical fieldbus
A change of the bus system does not entail a
change of the PLC code!
TwinCAT process images
Virtual
process
images
Physical
process
images
Inputs
Inputs
Outputs
Fieldbus 1
Outputs
Inputs
Outputs
Inputs
Fieldbus 2
Outputs
Fieldbus 3
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18

Architecture (XAA)
Engineering (XAE)
TwinCAT 3 Standard
System Manager
PLC
Motion Control
C/C++ programming
Matlab/Simulink
Integration
Runtime (XAR)
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Engineering (XAE)
TwinCAT 3 PLC
Multiple numbers of PLC projects:
Number of possible tasks: 256 (compare here to TwinCAT 2: 4x4)
Number of possible PLC projects limited only by the memory capacity of the automation
device (instead of 4 runtime systems in TwinCAT 2)
Programming
Standard IEC 61131-3 languages (IL, ST, FBD, LD, SFC) +CFC
Use of the object-orientated extensions of IEC 61131-3, 3rd edition
Call and data exchange of code developed in C/C++ and Matlab/Simulink
Large number of import and export interfaces
No direct addressing (necessary)
Commissioning/maintenance
Source code upload/download
Online Change
Complete debugging (breakpoints, monitoring, sequence control etc.) of IEC and C/C++
code
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20
Engineering (XAE)
TwinCAT 3 PLC | Development environment
Common tree structure for hardware and software
Common output of diagnosis and error messages (PLC, C++, system etc.)
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21

Architecture (XAA)
Engineering (XAE)
TwinCAT 3 Standard
System Manager
PLC
Motion Control
C/C++ programming
Matlab/Simulink
Integration
Runtime (XAR)
23.05.2012
22
Engineering (XAE)
TwinCAT 3 Motion Control
Scalable solutions (from stepper motor to servo)
Higher flexibility in use and exchange of technology
Shortened development time faster delivery
Fast commissioning, diagnosis and maintenance
Abstraction level - identical access:
PLC/SCADA/HMI always access the same objects, irrespective of the type of
axis or fieldbus employed.
Conversion of mechanical to electronic systems:
Electronic cam plate
Electronic gearing
Electronic coupling
Electronic cam shaft
Flying saw
23.05.2012
23
+
PLC
SP
Pos Ctrl
Velo Preset
Limit
+
+
Scale & Limit
Pos Meas.
Drives
Layer
Fieldbus
Layer
Soft Motion
Layer
Soft SPS
Layer
Engineering (XAE)
TwinCAT 3 Motion Control | Abstraction level
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24
Engineering (XAE)
TwinCAT 3 Motion Control | From PTP to Robot Control
Covered functionality
NC PTP
NC I
CNC
Robotics
Point-to-Pointmovement
Interpolated motion
with 3 axes and
5 additional axes
Complete CNC
functionality
Interpolated motion
for robotic control
interpolated
movement for
up to 32 axes
per channel
various
transformations
support for a wide

rande of kinematic
systems
optional torque
pre-control
gearing
camming
superposition
flying saw
programming
according to DIN 66025
technological features
straightforward
utilisation through
function blocks from
the PLC
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25

Architecture (XAA)
Engineering (XAE)
TwinCAT 3 Standard
System Manager
PLC
Motion Control
C/C++ programming
Matlab/Simulink
Integration
Runtime (XAR)
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26
Engineering (XAE)
C/C++ programming languages
Reusability of already existing C/C++ code
Common use of C/C++ and PLC code
Real-time applications available for all platforms (CE, 7)
Opening up of a completely new world for automation technology
Renowned and well-known programming language
Standardised (C: ISO/IEC 9899 TC3, C++: IEC 14882)
The creation of Automation Device Drivers (ADD) enables you to implement your
own drivers (e.g. for your own fieldbus system or the like)
Beckhoff SDK supports (similar to PLC libraries)
ADS
No t
Motion
ye t
a va
File I/O ilable!
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27
Engineering (XAE)
C/C++ programming languages | Integration
23.05.2012
28

Architecture (XAA)
Engineering (XAE)
TwinCAT 3 Standard
System Manager
PLC
Motion Control
C/C++ programming
Matlab/Simulink
Integration
Runtime (XAR)
23.05.2012
29
Engineering (XAE)
Matlab/Simulink
Well-known from science and measurement technology
Large variability of toolboxes (e.g. fuzzy etc.)
Generation, simulation and optimisation of controller structures
Debug interface between Simulink and TwinCAT
Code generation
Design: Simulink
Automatic generation of C code by the Simulink real-time workshop
Compilation with the Visual Studio C compiler
Parameterisation in the TwinCAT System Manager
Download and execution in the TwinCAT 3 runtime (XAR)
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30
Engineering (XAE)
Matlab/Simulink | Integration
23.05.2012
31

Architektur (XAA)
Engineering (XAE)
TwinCAT 3 Standard
System Manager
PLC
Motion Control
C/C++ programming
Matlab/Simulink
Integration
Runtime (XAR)
23.05.2012
32
Engineering (XAE)
C#/.NET programming
HMI/
Windows processes
PLC module
C++ module
Real-time Code
23.05.2012
33

Architecture (XAA)
Engineering (XAE)
Runtime (XAR)

TwinCAT modules
Multi-core support
23.05.2012
34
eXtended Automation
Runtime (XAR)
23.05.2012
35
eXtended Automation
Runtime (XAR) | Modular runtime systems
Debugging
PLC
C++
Module
Task
TcCOM
Task
TcCOM
TcCOM
Call
PLC
Simulink
Module
PLC
CNC
Task
Task
PLC
NC
Call
PLC
PLC
C++
Module
TcCOM
Task
TcCOM
Task
Call
PLC
C
Module
TcCOM
PLC
TcCOM
Task
TcCOM
TwinCAT Object Manager
TcCOM
Firmly defined interface (e.g. TwinCAT

Component Object Model - TcCOM)
TC Configuration
TcCOM
Management of the modules with the

TwinCAT Object Manager
TwinCAT Real-time
Kernel
Dynamic environment for the execution

and management of TwinCAT 3
modules
Standard PLC code
NC code
C++ code

PLC
Simulink
Module
PLC
Safety
TwinCAT 3 Runtime
TwinCAT Automation Device Driver - ADD
Fieldbus
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eXtended Automation
Runtime (XAR) | TwinCAT modules
Must
Description (methods, functions, names
etc.)
StateMachine (Init, PreOp, Op)
TcCom Interface
TwinCAT Module
Module Description
State Machine
ITComObject Interface
Can
Interfaces
Parameter
Interfaces
Pointers
Interfaces
Parameter
Data Areas
Contexts
Data Areas
Categories
ADS Port
Data Area
Pointers
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eXtended Automation
TwinCAT 3 Multi-core support
23.05.2012
38
Runtime (XAR)
TwinCAT 3 Multi-core support
Support for multi-core systems
Assignment of the individual projects to
different cores
PLC, NC, HMI etc. each assigned
to their own core
Scalable basic time for each core
Scalable CPU limit adjustable for each
core
Multi-core CPU
Core 0
Core 1
Core 2
Core 3
Core ...
Windows
Apps
PLC Control
User HMI
PLC Runtime 0
PLC Runtime 1
NC Runtime 1
Windows
Drivers
ADS
ADS
ADS
Task 0 Task 1
ADS
ADS
ADS Router Engine
L2 Shared Cache
ADS Router Message Queues
System Memory
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Runtime (XAR)
TwinCAT 3 Multi-core support | Assignment
Activation of the cores
Definition of the CPU limits

Definition of the basic time
Assignment of the task to the core/CPU
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40
Motivation why
TwinCAT 3
eXtended Automation
(XA) - overview
Architecture (XAA)
Engineering (XAE)
Runtime (XAR)
Connectivity
TwinCAT 2 Migration
Functions
23.05.2012
41
eXtended Automation
Connectivity
23.05.2012
42
eXtended Automation
Connectivity | ADS to Communication
(PLC) PC 1
(PLC) PC 2
TwinCAT
TwinCAT
TwinCAT
TwinCAT
Automation
Protocols
Industry
Protocols
IT
Protocols
Web
Server Ils
TwinCAT
Automation
Device
Specification
(ADS)
OPC UA,
Modbus
TCP, Modbus
RTU
3964R/RK512
IEC 61850,
IEC 61400-25,
IEC 60870-510x,
BACnet, FIAS,
Creston
WLAN,
Bluetooth,
TCP, UDP,
RAS,
FTP, VPN,
SNMP, SNTP,
SMS, SMTP
XML, AJAX,
ASP,
DPWS/WSD
Automation
Device
Specification
(ADS)
Acyclic
TwinCAT ADS Router
TCP, UDP, Serial,

Fieldbus
TwinCAT ADS
Router
Cyclic
EtherCAT Automation
Protocol (EAP),
Network variables
23.05.2012
43
Motivation why
TwinCAT 3
eXtended Automation
(XA) - overview
Architecture (XAA)
Engineering (XAE)
Runtime (XAR)
Connectivity
TwinCAT 2 Migration
Functions
23.05.2012
44
eXtended Automation
TwinCAT 2 Migration | Opening old projects
The opening of projects created with TwinCAT 2 results in:
1.) Conversion of old projects to the TwinCAT 3 format

Process can not be undone!
TwinCAT 3 projects can not be saved in the TwinCAT 2 project format!
Conversion of existing TwinCAT 2 projects to the TwinCAT 3 format means:

Extension of the project by new features
Increased reusability of the existing code in new project parts
Use of the same tools for all projects
Conversion of PLC Control and System Manager files
23.05.2012
45
Motivation why
TwinCAT 3
eXtended Automation
(XA) - overview
Architecture (XAA)
Engineering (XAE)
Runtime (XAR)
Connectivity
TwinCAT 2 Migration
Functions
23.05.2012
46
eXtended Automation
TwinCAT Functions
The previously familiar TwinCAT supplements also exist in TwinCAT 3
The designation changes to TwinCAT Functions: TFxxxx
TwinCAT 2 supplement licences

cannot be used in TwinCAT 3!
New (if necessary trial) licences
must be generated for this.
23.05.2012
47
Overview
Thank you very much for your
attention!
New Automation Technology
12.04.2013

Architecture (XAA)
Engineering (XAE)
Runtime (XAR)
23.05.2012

Architecture (XAA)
eXtended
Architecture (XAA)
TcCOM
Safety
C++
modules
TcCOM
TcCOM
TcCOM
eXtended
Automation
Runtime (XAR)
PLC
TcCOM

NC
TwinCAT 3
eXtended
Automation (XA)
eXtended
Automation
Engineering (XAE)

based on Visual Studio 2010
TwinCAT 3
Standard
TwinCAT 3
Integrated
Visual Studio
2010 Shell
Visual Studio
2010
23.05.2012

Architecture (XAA) - notebook example (XAE) CX
eXtended
Automation
Engineering (XAE)

Visual Studio 2010
TwinCAT 3
Standard
TwinCAT 3
Integrated
Visual Studio
2010 Shell
Visual Studio
2010
eXtended
Automation
Runtime (XAR)
23.05.2012

Ethernet interface used as
programming interface
eXtended
Automation
Runtime (XAR)
TcCOM
Safety
C++
modules
TcCOM
TcCOM
TcCOM
PLC
TcCOM

NC
EtherCAT
23.05.2012

TwinCAT 3 development environment on
notebook
TwinCAT 3 runtime on CX /IPC
TwinCAT 3
Standard / Integrated
TwinCAT 3 Runtime
Real-time Kernel
Simulink
PLC
modules
C++
PLC
modules
PLC
PLC
IO
CNC
PLC
23.05.2012

TwinCAT 3 development
environment PC
TwinCAT 3 runtime on CX /IPC
TwinCAT 3
Standard / Integrated
Real-time Kernel
CNC
PLC
Simulink
PLC
modules
C++
PLC
modules
PLC
PLC
IO
TwinCAT 3 Runtime
Config Mode:
to enable communication (programming)
XAE status
PC
taskbar
scanning of hardware / IO test in Freerun

Run Mode : PLC NC IO etc. operate in real-time
23.05.2012

TwinCAT XAE displays TwinCAT

state on the target system
TwinCAT on the target computer

(CX / IPC)
PC taskbar
The target computer

must be in the RUN
state in order to logon
to the PLC
Real-time load in %
23.05.2012
Establishment of a connection
Practical part
Establishment of a
connection
23.05.2012
Requirement: TC3 is successfully installed on the programming computer and the
target computer
Hardware with PC (XAE)
Target system CX with BK1120 Bus Station
12.04.2013
10
Hardware
Example hardware
PC with TwinCAT3 XAE,
CX with EtherCAT
adaptor
TwinCAT3 XAE / XAR
on the same computer
(local)
BK1120 Bus Coupler
2* KL1XX2 2-CHANNEL
DIG IN
2* KL2XX4 4-CHANNEL
DIG OUT
1* KL2531 Stepper
Terminal
12.04.2013
11
Starting the VS2010 / 2010 shell

Taskbar TwinCAT
VS2010 symbol
12.04.2013
12
Enter higher-level headline
Starting the VS2010 / 2010 shell

New Project
XAE Project
12.04.2013
13
Setting the target system
12.04.2013
14
To search, first select Local Target System
12.04.2013
15
searches
for TC
controllers
IPC/ CX
Connection
to both
devices
(enter PC
target
system)
12.04.2013
16
Logon information: user name and password for computer.
Training CX 1020
CX training:
Administrator
1
12.04.2013
17
Connection
valid
12.04.2013
18
12.04.2013
19
Status of connection establishment

TwinCAT on the target computer

(CX / IPC)
PC taskbar
12.04.2013
20
State of the TwinCAT symbol

The TwinCAT system on the XAE

computer must be in the Config
Mode for logging on.
The target system must

be in Config Mode for
scanning and freerun test
of the hardware
The target computer

must be in the RUN state
in order to logon to the
PLC later
Run Mode is also possible if the XAE computer

simultaneously represents a control computer
(XAR)
12.04.2013
21
Scan and Freerun

Practical part
Hardware test
Scanning
Freerun Mode
22
23.05.2012
Scan Hardware
Check Config
Mode, activate
Config Mode if
necessary
Scan
12.04.2013
23
Scan Hardware
Scan Hardware
12.04.2013
24
Freerun
In Freerun Mode,
I/O can be tested
without PLC program
12.04.2013
25
PLC Program
Practical part
Create PLC program
Generate global variables

Linkage with the hardware
26
23.05.2012
Add PLC project

Create PLC project
12.04.2013
27
Global Variable List

PLC project from
template
Generate global variable
list
12.04.2013
28

Name
12.04.2013
29

Create global variables
12.04.2013
30
Linking
Link
12.04.2013
31
Linking
Link
12.04.2013
32
Linking
Further links
12.04.2013
33
Activate
Activating the
configuration
Wait for Run Mode
12.04.2013
34
Activate
If TwinCAT XAR is not
registered, a 7-day
licence can be created
12.04.2013
35
Login
Logon to PLC project
Login
Start
PLC
PLC
Online
PLC RUN
12.04.2013
36
Online
XAE offline + PLC not in Run Mode

XAE online + PLC not in Run Mode
XAE offline + PLC in Run Mode
XAE online + PLC in Run Mode
TwinCAT in Run Mode
Monitoring
Global variables online
Write
Value
s
12.04.2013
38
Extending the program

Logout
Create FB
12.04.2013
39

Create FB
12.04.2013
40

Edit FB
Toolbox: VIEW>TOOLBOX
12.04.2013
41

Edit FB
Adapt connection with
Set output connection
12.04.2013
42

Edit FB
Adapt connection with
Set output connection
12.04.2013
43

Call block in Main (ST)
with input assistant and
Auto Declare
12.04.2013
44

with input assistant
and Auto Declare
12.04.2013
45

with input assistant
and Auto Declare
Configure input and
output
12.04.2013
46
Autostart
Practical part
Settings for automatic start of

the XAR
Activate boot project

Enable boot project start
Set TwinCAT autostart for
RUN
47
23.05.2012
Autostart
Boot project
Enable autostart
Creating a boot project
12.04.2013
48
Autostart
TwinCAT autostart
12.04.2013
49
Autostart
User name and
password for the
control computer
12.04.2013
50
Handling
Version differences
Visual Studio 2010

Visual Studio 2010 Shell
Integration of the TwinCAT System

Manager
System
PLC
Slide-in 1: EtherCAT Bus Terminals
Slide-in 2: Variable Declaration
Practice slide-in 1: The first project
Automatic start of the controller
Establishing a remote connection
Own data types
Working with several tasks
Backup on the target system
Encrypt the project
TwinCAT 3 | Handling
23.05.2012
Version differences | Overview
TwinCAT 3 Standard
Based on the Microsoft

Visual Studio Shell
Integration in an existing Microsoft

Visual Studio 2010
Integrated TwinCAT
System Manager
Integrated IEC-61131-3 3rd edition

programming (OOP)
Integrated IEC-61131-3
3rd edition programming
(OOP)
Integrierte Safety PLC
Integrated System Manager
Integrierte Safety PLC

C/C++ programming
Matlab/Simulink
C# and .NET programming for nonreal-time applications
Optional: Implementation of thirdparty software tools
23.05.2012
Version differences | Concept
23.05.2012
Version differences
Visual Studio 2010


Manager
System
PLC
Own data types
Encrypt the project
23.05.2012
Integration of the TwinCAT System Manager

Complete integration of the TwinCAT
System Manager into the Microsoft
Visual Studio tree.
The complete collection of project data
(PLC, NC, hardware configuration) is
summarised in one solution
(Projectname.sln).
Each individual project in the solution
has its own process image.
Simulation of I/Os and axes.
Parameterisation of TwinCAT modules.
23.05.2012
Version differences
Visual Studio 2010


Manager
System
PLC
Own data types
Encrypt the project
23.05.2012
System configuration
The tree entry system contains
Licence
Real time
Tasks
Routing
TcCom Objects
23.05.2012
Licence | General overview

Licensing in TwinCAT 3 is divided into two steps:
Sales-related procedure
Technical integration in TwinCAT XAE
Alternative:
7-day test licence
Sales-related procedure
1. Ordering of the desired TwinCAT 3 package
Technical integration in TwinCAT XAE
2. All licences necessary for the project are listed automatically in TwinCAT XAE. This
list can also be extended manually. A licence file (Licence Request File) is generated
from it.
3. The licence file is sent by email to the Beckhoff Activation Server
4. The activation server creates a valid licence file (Licence Response File), which is
imported into TwinCAT XAE
23.05.2012
Licence | Diagram
Procedure for generating and integrating a chargeable licence file:
23.05.2012
10
Licence | Generation of the chargeable licence

In the Licence section below System in the configuration tree, the project-related
licences can be viewed on the Order Information tab or further licences can be
selected for ordering on the Manage Licences tab.
The corresponding file is generated by actuating the Generate Licence Request
File button
The Beckhoff Licence ID
is transmitted on
confirmation of the order
and must be entered here.
The generated file can then be sent by email:

23.05.2012
11
Licence | Importing the chargeable licence

The Licence Response File is received via the same email address that was used
to send the Licence Request File
This file can be read in the same section where the Request File was also
generated
After linking the licence file, it is automatically copied to %TwinCATDIR%

\Target\License
23.05.2012
12
Licence | 7-day test licence

In TwinCAT 3 there is a possibility to generate a 7-day test licence including
the required TwinCAT Functions - completely without limitations!
There are two different ways to use a test licence:
a)On the local system
i. The Order Information tab displays all licences necessary for the project for
which a 7-day test licence is generated
ii.
If a test licence has not yet been generated, but the project is to be activated,
then a message appears upon activation that licences are missing and will
now be generated. It is necessary to input a code for this:
23.05.2012
13
Licence | 7-day test licence | Remote system

b) On a remote system
i. An ADS connection must exist in order to copy the licence to the device
ii.
Two tabs are displayed in the Licence section: Order Information (Runtime)
and Order Information (Engineering). The necessary 7-day test licence can
be activated and confirmed on the Runtime tab.
23.05.2012
14
Real Time Settings

Assignment of the task(s) to a core
Definition of the base time for each
core
Setting of the CPU limit of the core
23.05.2012
15
Task Management
Central management of the task(s) for
this solution
Reference of the PlcTask from the PLC

to Task Management
23.05.2012
16
TcCom Objects
Linking of binaries
Matlab/Simulink
C++ modules in TwinCAT standard environments

23.05.2012
17
Version differences
Visual Studio 2010


Manager
System
PLC
Own data types
Encrypt the project
23.05.2012
18
PLC programming | Overview

Several PLC projects can be managed in a solution
Number of possible tasks: 65,000 (compare TwinCAT 2: 4x4)
Number of possible PLC projects: limited only by the memory capacity of the
automation device (compare TwinCAT 2: 4 RTS)
Programming:
Standard IEC 61131-3 languages (IL, ST, FBD, LD, SFC) +CFC
Use of the object-orientated extensions of IEC 61131-3, 3rd edition
Call and data exchange of code developed in C/C++ and Matlab/Simulink
Large number of import and export interfaces
No direct addressing (necessary)
Commissioning/maintenance
Source code upload/download
Online Change
Complete debugging (breakpoints, monitoring, sequence control etc.) of IEC
and C/C++ code
23.05.2012
19
PLC programming | Editor | Declaration of variables

Choice between normal declaration view and tabular view
All changes are consistent in both views
23.05.2012
20
PLC programming | Editor | Structured Text (ST)

Improved usability:
Automatic completion (auto-complete)
Marking of keywords associated with one another
Collapsing of programming structures
23.05.2012
21
PLC programming | Editor | LD/FBD/IL

Just one editor for all 3 programming languages!
Switching between the
languages without translating
Online switching possible
Settings e.g. for
symbol comments affect all views
Mixed networks
LD
Contact networks at all inputs
Coils at all outputs
Several blocks in a network
IL
Now table-orientated
23.05.2012
22
PLC programming | Libraries

Namespaces and default namespaces
Internal and external objects in one library
Installation of the libraries necessary!
Identification via name, company and version
Several versions of a library possible per installation
Use of several versions of a library possible within a project
23.05.2012
23
Version differences
Visual Studio 2010


Manager
System
PLC
Own data types
Encrypt the project
23.05.2012
24
23.05.2012
25
EtherCAT Coupler as link

The EtherCAT Coupler (e.g. EK1100) represents the link between the fieldbus
master and the EtherCAT I/O system.
A fieldbus master can manage up to 65535 EtherCAT slaves

These slaves can be I/O terminals, EtherCAT couplers or servo controllers etc.
23.05.2012
26
The EtherCAT terminals in detail
Terminal block design:

12 x 100 x 68 mm (W x H x D)
Screwless
connection
technology
Symmetrical
unlatching for
vertical removal
Power contacts for

automatic bridging
of the power
potentials
23.05.2012
27
Further features of the EtherCAT terminals

4-wire connection
technology
Terminal type based on the label

Digital inputs:
EL1xxx
Digital outputs:
EL2xxx
Analog inputs:
EL3xxx
Analog outputs:
EL4xxx
Communication:
EL6xxx
Drive:
EL7xxx
System:
EL9xxx
Last digit = number of channels
Leading PE contact
Tongue and groove

connection
23.05.2012
28
Version differences
Visual Studio 2010


Manager
System
PLC
Own data types
Encrypt the project
23.05.2012
29

In order to be able to link variables from the PLC to hardware inputs or outputs,
these must be specially declared
The variable
AnalogValuePot1
is to record a potentiometer
control value via an analog input terminal.
General addressing regulation:
I
0.1
BOOL
Variable name
AT
;
INT
This results in the following declaration possibilities for the example variable
AnalogValuePot1:
or
23.05.2012
30
Fixed addressing vs. automatic addressing

In comparison with fixed addressing,
a placeholder for an address to be assigned

by the System Manager is inserted in
automatic addressing by adding a *:
23.05.2012
31
Declaration regulation for naming

Naming restrictions
Lamp AT %QX0.0 : BOOL;

Switch AT %IX0.0 : BOOL;
Analog_Value AT %IB2:INT;
1. No special
characters
2. No spaces
Temperature AT %IB100 :INT;
Zhler AT %IB3 : UINT;
3. Permitted for
separation
b
c
PWM_Output AT %QB10 :INT;
4. No umlauts
23.05.2012
32
Version differences
Visual Studio 2010


Manager
System
PLC
Own data types
Encrypt the project
23.05.2012
33

Starting the TwinCAT 3 engineering
(XAE) - fast start via the TwinCAT Icon
23.05.2012
34
Creating a new project

Generating a new project
Selection of the template
TwinCAT Project
TwinCAT Project creates a

new solution with System
Manager tree
Enter name and specify

storage location for the
solution
23.05.2012
35
Project folder explorer

The project folder explorer manages
the complete solution and contains the
name that was selected when creating
the project.
If there is only one project, then
this has the solution name.
If there are several projects the
name can simply be changed
with a right click.
Further projects can be added by rightclicking on the project folder.
Existing projects always end
with *.tsp
23.05.2012
36
Installation: devices compatible with real-time Ethernet

For the use of real-time
Ethernet devices as fieldbus
masters, such as
9 EtherCAT
9 Realtime Ethernet
it is necessary to install an
appropriate protocol for
an INTEL chipset-based
Ethernet controller:
TwinCATShow
Realtime Ethernet
Compatible Devices
23.05.2012
37
Step 1: Generating a hardware configuration

1 You can automatically search for devices
by right-clicking on Devices in the I/O
menu option.
2 Depending on the fieldbus masters in
use, these will be displayed for selection
in the subsequent window.
3 When the selection is confirmed

with
, a search will be performed
for slaves connected to the selected
master if
is selected in the
dialog box.
23.05.2012
38
Testing the created configuration

The Free Run mode can be activated
in order to perform an I/O check.
23.05.2012
39
Step 2: Creating a PLC configuration

By right-clicking on PLC, either a
new TwinCAT 3 project
or an existing TwinCAT 3
(*.plcproj) or TwinCAT 2
(*.pro file) can be added
The standard PLC project or an

empty PLC project can be used
as the template for the new
project
23.05.2012
40
PLC project in detail

Below the PLC Configuration a PLC
project is created with the name
entered previously.
On creating the project the first POU:
MAIN is also created.
The PLC project is subdivided into
code and instance
At the same time as the PLC project, a

PLC task was created as a reference to
the created task in the system task
area.
23.05.2012
41
Step 3: IEC example Blinker

A function block FB_Blinker is now added to the already created POU MAIN.
By right-clicking on POUs a further block can now be created as a function block in
FUP/FBD.
2
23.05.2012
42
FB_Blinker | Add box

Depending on the selected language,
the Toolbox contains elements for
inserting into the block:
A total of 3 boxes are required, which

are inserted one after the other
The first box is pulled here into the first

network by drag & drop.
23.05.2012
43
FB_Blinker | Structure of the FB
The blinker is to be realised by means of an AND condition and two seriesconnected timer blocks of the type TON, to which an instance name will also be
assigned in the next step
23.05.2012
44
FB_Blinker | Instancing
Typing the implementation name for a timer opens the selection help:
If the instance name is now issued by selecting the ??? above the box, the
declaration help for creating the instance opens:
If you confirm the entries here, then
the instance is created in the selected
object FB_Blinker in the local variable
class VAR.
The second box is instanced in exactly
the same way.
23.05.2012
45
The first box in the chain becomes the AND gate which, inserted as a function,
requires no instance formation:
The first input of the AND gate should be connected to the external variable bStart.
As soon as this is entered in place of ???, the declaration help opens again.
VAR_INPUT is selected here as
the memory location (Scope)
The type of variable (type) is
recognised automatically on the
basis of the block.
23.05.2012
46
The second input of the AND gate is connected to the output Q of the second
timing element T2 and negated by right-clicking on the input in front of the box:
The runtime is specified via the PT inputs of timing elements T1 and T2, which are
declared as input variables of the FB_Blinker
On creating the tZeit variables, the declaration help opens again, via which the
variables are created in the VAR_INPUT area.
23.05.2012
47
The generated pulse is output from the FB_Blinker via the variable bBlinkimpuls by
declaration as VAR_OUTPUT.
The value is tapped by means of adding an Insert Assignment by right-clicking in
front of the IN input of T2:
23.05.2012
48
FB_Blinker | The finished block

The finished FB now contains all necessary blocks and variables for operation and
can be instanced and called in the MAIN POU.
23.05.2012
49
MAIN | Creation in FBD

The first POU MAIN has been inserted in the Structured Text (ST).
This can be deleted by a right-click and replaced by a block of the type program
with the same name:
23.05.2012
50
MAIN | Assignment to the task

The new MAIN POU must now be assigned again to the task:
The FB_Blinker is now called again by creating a box in the first network
In this case, however, the button is used that appears as soon as the inner ???
are selected:
23.05.2012
51
MAIN | Inserting the FB_Blinker as an instance

Using the Input Assistant, you can now search inside the PLC project Plc0815 for
the block to be inserted:
After insertion, an instance name is selected as before and added to the variables
area VAR in the POU MAIN
23.05.2012
52
MAIN | Creation of global I/O variables

The input tZeit of the FB_Blinker instance is permanently assigned the value T#2s
bStart and bBlinkImpuls should be linked to hardware inputs or outputs.
To this end, a global variables list is first created under GVLs:
Subsequently, the variable Taster1 can be created via the variable declaration in
the global variables at address %IX0.1:
23.05.2012
53
MAIN | Creation of global I/O variables

The procedure is similar for the output bBlinkImpuls.
The only difference here is that the output must first be made connectable via
Insert Assignment
The variable Lampe1 is then placed at the address %QX0.1 as an output
23.05.2012
54
Project creation | Creation of the instance

After successful translation (creation) of the PLC project by right-clicking, a PLC
instance is created with the variables that are to be linked to hardware:
The variables from this instance can now be connected to the hardware
23.05.2012
55
Linking the variables

By right-clicking on the respective variable, the link target can be selected via
Change Link
23.05.2012
56
Activation of the configuration

The configuration can now be activated and the controller set to RUN
2
The feedback signal can be recognised by the
green TwinCAT icon in the TwinCAT XAE and
the taskbar.
23.05.2012
57
Login to the controller

After successful activation, the login to the controller can take place
To this end the project is selected and starts automatically
23.05.2012
58
Version differences
Visual Studio 2010


Manager
System
PLC
Own data types
Encrypt the project
23.05.2012
59

So that the controller starts
automatically and loads its project
when switching on, a few settings need
to be made.
The system must be parameterised in
such a way,
that the Windows login is
performed automatically,
that TwinCAT XAR starts
automatically and
that the generated boot project is
loaded.
Power ON
Windows start
Windows login
Starting of TwinCAT
XAR
Loading of the boot project
Starting of the PLC
23.05.2012
60
Windows login & start of TwinCAT XAR
2
1
23.05.2012
61
Loading of the boot project
3
Context Menu
3
23.05.2012
62
Version differences
Visual Studio 2010


Manager
System
PLC
Own data types
Encrypt the project
23.05.2012
63
Establishing a remote connection | Principles

As a rule, programming does not take place locally on the controller, but using a
remote programming device.
For the simple establishment of a remote connection to the automation system, the
following items must be observed:
Programming device and automation system must lie in the same network
class (observe subnet mask!).
No double AmsNetIds may occur in the connected network.
If necessary, the user name/password of the automation system must be
known.
23.05.2012
64
Establishing a remote connection | Example

Add a connection or select via
Choose target
Alternative: Drop-down menu

23.05.2012
65
Establishing a remote connection|Choose Target System (1)
Select from
the list or
search
23.05.2012
66
Establishing a remote connection | Add Route Dialog

If the DNS name or the IP is known,
this can be entered directly.
Otherwise there is a possibility to
search the network via Broadcast
Search.
After selection of a device from the list,
the route can be added:
23.05.2012
67
Establishing a remote connection|Choose Target System (2)
Select from
the list and
OK
23.05.2012
68
Version differences
Visual Studio 2010


Manager
System
PLC
Own data types
Encrypt the project
23.05.2012
69
Own data types

To create your own data types, rightclick on the PLC project:
The following are available:

Structure
Enum
Alias
Union
23.05.2012
70
Own data types | Structure
Declaration
Instance formation
Declaration
Call and
assignment
23.05.2012
71
Own data types | Enum
Declaration
Instance formation
Declaration
Call and
assignment
23.05.2012
72
Own data types | Alias
Declaration
Instance formation
Declaration
Call and
assignment
23.05.2012
73
Own data types | Union
Declaration
Instance formation
Declaration
Call and
assignment
23.05.2012
74
Own data types | Struct vs. Union

As in structures, elements of different types can be combined into a unit in a union.
Unlike structures, however, only one element of a union is available at any one time.
Explanation
1.In a structure,
structure the individual elements
of the structure are located one behind
the other in memory. The overall
memory requirement is thus
determined from the sum of the sizes
of the individual elements.
2.In a union the memory requirement is
determined from the largest element. In
the example shown above, therefore,
from the String variable.
23.05.2012
75
Version differences
Visual Studio 2010


Manager
System
PLC
Own data types
Encrypt the project
23.05.2012
76
Working with several tasks | Creation of the tasks

65,000 different tasks are available to the user in TwinCAT 3; these tasks can be individually
assigned to a core of the IPC.
If a further task is to be assigned to a special (program) block in an existing PLC project, then
this can be created by right-clicking on the project:
23.05.2012
77
Working with several tasks | Assigning the tasks to a block

After creation of the Referenced Task, this task is available
in the System Manager tree
By right-clicking on the new task inside the PLC project, it can
be assigned to a program block
1
4
23.05.2012
78
Working with several tasks | Core assignment

The project tasks can be assigned to the individual cores of a
multi-core CPU.
23.05.2012
79
Working with several tasks | Whats to consider?

When using several different task cycle time you have to have a look at the
resepective priority!
The task with the fastets cycle time gets the highest priority.
10.12.2012
80
Working with several tasks | Priority Management
10.12.2012
81
Working with several tasks | Multitasking

Preemptive multitasking in TwinCAT3 by using the example of an NC task with 1ms
(Priority 1) and a PLC task with 2ms (Priority 2)
Real time operation with software for PLC and NC on one PC

NC
PLC-Program
Win NT and HMIInterface
z.B.: 1 ms
2 ms
NC-Cycle (z.B. 1ms) NC-Cycle

PLC-Cycle (z. B. 2 ms)
3 ms
4 ms
NC-Cycle
2
5 ms
NC-Cycle
t
t
PCL-Cycle
10.12.2012
82
Working with several tasks | Choice of time base

The highest priority task and thus fastest are usually dictates the size of the time
slice or time base
Biggest value for time base:
1 ms
Smallest value for time base:
50s
Too low base period has a high copy expenses and thus may result in a higher
processor utilization as required for the application!
10.12.2012
83
Version differences
Visual Studio 2010


Manager
System
PLC
Own data types
Encrypt the project
23.05.2012
84
Backup on the target system | Download

A download of the TwinCAT configuration and the PLC or C program always takes
place automatically!
CurrentConfig.tszip is genereated on the target system.
The option can be disabled if required by "right-clicking the TwinCAT project".
10.12.2012
85
Backup on the target system | Upload

Reloading the project via the VS2010 environment :
FileOpen "Open project from Target system"
10.12.2012
86
Version differences
Visual Studio 2010


Manager
System
PLC
Own data types
Encrypt the project
23.05.2012
87
Encrypt project| Protection

TwinCAT 3 offers two different types of encryption
Change Protection: The project can be opened but not saved or modified
activated!
Read Protection: The project can not be opened without a password
The select "Protection" is also used for the project download!

10.12.2012
88
Handling
Thank you very much
for your attention!
TR3020 | Training for new users | Overview
Identifier
Indentifier serves to assign individual names to variables, data types,
functions, etc.
The identifier starts with a letter or underscore
followed by numbers, letters and underscore
No distinction is made between upper and lower case
The following are not permitted
special characters (!, , , $, etc.)
spaces
consecutive underscores
umlauts
TwinCAT Training: Programmer
12.04.2013
Keywords
Keywords are identifiers specified by IEC61131-3. They are thus fixed
components of the syntax and therefore may not be used for other
purposes.
Examples
Standard operators AND, OR, NOT
Standard types BOOL, INT, REAL...
Types TYPE, STRUCT
Block types FUNCTION, FUNCTION_BLOCK, PROGRAM
12.04.2013
Keywords and comments

The comments are delimited by character strings with (* or *) at the beginning
and at the end. Comments may be placed wherever spaces are also permitted.
Exception: within string literals.
(*digitale Eingnge*)
bStart AT %IX0.0 :BOOL;(*Anlagenstart*)
(*analoge Eingnge*)
TemK1 AT %IW10 (*Byte 10-11*) :WORD;
Comments to the end of the line
bStart AT %IX0.0 :BOOL; // Anlagenstart
12.04.2013
Elementary data types

Type
Lower
Upper
BOOL
FALSE
TRUE
Size
Prefix
x
b
BYTE
8 BIT
by
Bitstring
WORD
16 BIT
Bitstring
DWORD
32 BIT
dw
Bitstring
12.04.2013
Detail slides
Overflows
Example: EL3102
Example: KL2531
12.04.2013
Data types 1: Elementary data types

Type
Lower
Upper
Size
Prefix
TIME_OF_DAY
TOD#0:0:0
TOD#23:59:
59
32 Bit
tod
DATE
D#1970:01:01
D#2106 ???
32 Bit
date
DATE_AND_TIME
DT#1970:01:01:00:00:00
DT#2106
???
32 Bit
dt
TIME
T#0s
T#49d17h2m 32BIT
47s295ms
tim
Detail slides
DT example - reading the system time
DT example - working with standard operators
12.04.2013

Type
Lower
Upper
Size
Prefix
REAL
4 Byte
LREAL
8 Byte
lr
12.04.2013
Data types: STRING

Type
Description
Example
Size
Prefix
STRING
String in ASCII
code. Standard
length 80
characters.
Maximum length
255. Strings are
zero-terminated
1234ABCDE
80 +1
ABCDE$R$L
ABCDE$0D$0A
String length specifications

Example
declaration
Assignment
Result SIZEOF
Result LEN
sVar : STRING;
sVar:=ABC;
81
sVar1 :STRING(1);
sVar := X;
sVar: STRING(255);
sVar:=ABC;
256
12.04.2013
Data types: STRING

Constants
$<2 Hex values>
ASCII Code
$0D
CR
$R
$r
CR
$L
$l
Line Feed
$N
$n
New Line
$T
$t
Tab
Detail slides
Example: FIND
Example: string functions LEN, REPLACE
String conversion with Union
12.04.2013
10
Data types: WSTRING

Type
Description
Example
Description
Pre
fix
WSTRING
String in Unicode
format
Level 0,Block
0x0400-0x4FFF
Cyrillic
ws
Training, seminar
Level 0
Block 0x00000x007F
Basic Latin
12.04.2013
11
Data types: Examples of literals

Variable Type
Examples
BOOL
TRUE
2#1
16#1
FALSE
2#0
16#0
WORD,
DWORD
2#1010111111111110
16#AFFE
45054
INT
2#1000000000000001
16#8001
-32768
TIME
t#1h
t#60m
t#3600000ms
t#0.5d
t#12h
t#43200000ms
day
hours
min
sec
ms
ms
REAL
t#30m18s90ms
t#0.505025h
0.3333
3.333e-1
t#1818090ms
12.04.2013
12
Data types 1: Variable declaration el. data types

A variable possesses a name behind which a value (number, string,
date, etc.) is concealed. The variable name is a type of description of
the path to the declared data. Variables are characterised above all by
the fact that their contents can be changed at runtime.
Identifier
Data type
Initial value
bStellerUntenLinks:BOOL:=TRUE;
The physical-logical storage

location of this variable is
unknown to the user
(unlocated)
The degrees of freedom and restrictions in the

assignment of the identifiers can be found on
the slide entitled Identifiers and Prefixes
12.04.2013
13
Data types 1: Located variables

It is possible when declaring a variable to link the name with an
address that must be explicitly specified. For the allocation of inputs
and outputs of the hardware the incomplete location is to be carried
out with I* and Q*
Identifier
AT
%I
Data type;
%Q*
12.04.2013
14
Data types 1: Located variables

Completely located variables.
Identifier
AT
%I
%Q
%M
Byte
Bit
Type
Byte
These variables possess a clear address

(located)
In TwinCAT 3 incompletely located variables can be used for inputs and
outputs
Applications for %M variables can be solved simply with Unions and
direct masking
Detail slides
Detail - Replace %MB by UNION
12.04.2013
15
Data types 1: Address division

Examples:
IX10.7
IX10.6
IX10.5
IX10.4
IX10.3
IX10.2
IX10.1
IX10.0
Din0 AT%IX10.0 : BOOL;
IB10
IB1
Ain AT%IB0 : INT;

equivalent
IB0
IW0
Ain AT%IW0 : INT;

IX22.7
IX22.6
IX22.5
IB23
IX22.4
IX22.3
IB22
IX22.2
IX22.1
IB21
IW22
IB20
IW20
ID20
IX22.0
BitVar AT%IX22.1 : BOOL;

Posi AT%IB20 : UDINT;
equivalent
Posi AT%ID20 : UDINT;
12.04.2013
16
Data types 1: Variable classes, scope

Local variables are restricted
to the block in which they
were declared.
Keywords
VAR ..
END_VAR
VAR_INPUT ..
END_VAR
VAR_IN_OUT ..
Global variables are

known in each block
within a project.
Keywords
VAR_GLOBAL ..
END_VAR
VAR_CONFIG ..
END_VAR
END_VAR
VAR_OUTPUT ..
END_VAR
12.04.2013
17
Data types 1: I/O directly in an FB instance

In an FB the inputs and outputs to the periphery are to be created
directly as local variables
Implementation
12.04.2013
18
Data types 1: Access via the located variables

The variable locVar locally declared in Program B can be directly
accessed from Program A via address %MB2.
Project machine
PROGRAM A
PROGRAM B
VAR
VAR
locVar AT%MB2:WORD;
END_VAR
END_VAR
LD %MB2
12.04.2013
19
Data types 1: Overlaps in the scope

Project machine
VAR_GLOBAL
Var1:WORD;
END_VAR
PROGRAM A
VAR
Var1 :WORD;
END_VAR
Example
name:
Gvl1
As shown on the left, there is

an overlap in the scope.
In this case the locally
declared variable Var1 is
loaded into the accumulator.
The global variable can also
be accessed with
Namespaces.
LD Var1
LD Gvl1.Var1
12.04.2013
20
Data types 1: PERSISTENT attribute

Special properties of variables can be defined using attributes.
Example:
The variable(s) are saved when the PLC is shut down and loaded back on
restarting.
12.04.2013
21
Data types 1: Initialisation and CONSTANT

Initial values, the variables are to be preset with a certain value when
starting/resetting the PLC.
VAR
AccelerationTime : TIME := T#3s200ms;
END_VAR
Read-only:
VAR_GLOBAL CONSTANT
pi:REAL:=3.141592654;
Global
END_VAR
VAR CONSTANT
pi:REAL:=3.141592654;
Also locally
possible
END_VAR
12.04.2013
22
Data Types 2: Derived data types

The user can create his own data types on the basis of the elementary
data types or data types that have already been created. The newlycreated data types are visible in the entire project.
The declaration starts with TYPE and ends with END_TYPE.
Parent type
Name
Data type
New value
Derivation
Name
Data type
Initial value
Area
Inherit
ance
Initial value
Area
12.04.2013
23
Data Types 2: References (alias types)

The purpose of the selfdefined data type Reference is
to generate an alternative
name for a variable, constant
or function block.
Create your references as
objects in the object organiser
on the Data Types tab.
They start with the keyword
TYPE and end with
END_TYPE.
Syntax:
TYPE
<Bezeichner>:<Zuweisungsausdruck>;
END_TYPE
Type
Declaration
12.04.2013
24

Example: A global string variable is transferred to various blocks. If
changes are made to the Global Variables, the declarations must also
be changed in every block
12.04.2013
25

If a type has been created for the string, further changes are made
only to the type
12.04.2013
26

only to the type
12.04.2013
27

only to the type
12.04.2013
28
Data Types 2: Enumerated type (Enum)

An enumerated type is a self-defined data type consisting of a number
of string constants. These constants are called enumeration values.
The enumeration values are always known in the entire project. It is
best to create your enumerated types as objects in the object
organiser on the Data Types tab. They start with the keyword TYPE
and end with END_TYPE.
Syntax:
TYPE <Bezeichner>:(<Enum_0> ,<Enum_1>, ...,<Enum_n>);
END_TYPE
Example:
TYPE Woche:(Mo, Di, Mi, Dn, Fr, Sa, So:=10);(*Mo = 0 Di = 1..
.. Sa = 6 So = 10*)
END_TYPE
TYPE Richtung:(Up, Dn);(*Up = 0 Dn = 1*)
END_TYPE
The same enumeration value can be used twice via Namespace.

Example: Woche.Dn Richtung.Dn
12.04.2013
29

Example: signal light without Enum:
Declaration
Use
Online
12.04.2013
30

Example: signal light with Enum:
Type
Use
Declaration
Online
12.04.2013
31
Data Types 2: Structure declaration

Example: KL5101 Encoder Terminal Structures are self-defined data types.
They are an important aid to better
administration of the process data. In
addition, the structures are suitable
for encapsulated data transfer to
function blocks. Structures can be
used like individual element variables.
12.04.2013
32
Data Types 2: Structures instancing
ST_KL5101In_1 AT%I* : KL5101_IN

ST_KL5101Out_1 AT%Q* : KL5101_OUT
12.04.2013
33
Data Types 2: Arrays

Arrays represent lists or data fields. All elements in the arrays are of the
same type. Naturally arrays can also consist of own data types (structures).
One, two and three-dimensional arrays are possible.
VAR
Feld_1 :ARRAY[0..9] OF BYTE;
Feld_2 :ARRAY[0..9, 0..1] OF UINT;
Feld_3 :ARRAY[0..9, 0..1,0..1] OF DINT;
END_VAR
1-dimensional
2-dimensional
3-dimensional
There is a possibility to place a data field in a directly addressed memory

location
VAR
Feld_1 AT%MB100:ARRAY[1..10] OF BYTE;
END_VAR
Access to the sub-elements of a data field
Feld_1[2] := 120; (* Expliziter Zugriff*)
Feld_2[i,j] := EXPT(i,j); (*Indizierter Zugriff*)
12.04.2013
34
Data Types 2: Limit transgressions

A dangerous state can arise if an area outside the data field is
accessed in the PLC program.
VAR
Feld_1 :ARRAY[1..10] OF BYTE;
Feld_2 :ARRAY[1..10, 2..5] OF UINT;
END_VAR
i:= 9
Feld_1[i+2] := 120;
Feld_1[9];
Feld_2[1,2];
120
12.04.2013
35
Data Types 2: CheckBounds (FUN)

The access can be monitored by
the PLC at PLC runtime
This function enables a limit
transgression occurring in the
program to be recognised and
rectified.
FUNCTION CheckBounds :DINT

VAR_INPUT
I,L,U : DINT;
END_VAR
IF I< L THEN
Error case
CheckBounds := L;
ELSIF I > U THEN

Error case
i
Min
Max
Limited
value
CheckBounds := U;
ELSE
OK case
CheckBounds := I;
END_IF
12.04.2013
36
Data Types 2: Adding CheckBounds 1 (FUN)

Adding Checkbounds:
12.04.2013
37
Data Types 2: Adding CheckBounds 2 (FUN)
12.04.2013
38
Data Types 2: Method of operation of CheckBounds (FUN)

Example: user error
source code
Checkbounds is compiled-in
in XAR
10
Do not write,
it is called
automatically
(not visible in
the code)
10
9
Can be checked with call build:
12.04.2013
39
Note about further checker functions

The following further checker functions are possible from
TwinCAT 2.8:
Check for division by 0

CheckDivByte
CheckDivWord
CheckDivDWord
CheckDivReal
Check value ranges

CheckRangeSigned
CheckRangeUnsigned
(see appendix)
12.04.2013
40
Data Types 2: Combination: structures and arrays

An array can consist of structures:
Structure:
TYPE DrillPos :
STRUCT
XPos:
FeedrateX:
AccelerationX:
DeccelerationX:
JerkX:
YPos:
FeedrateY:
AcceleartionY:
DeccelerationY:
JerkY:
FeedDrill:
Kuehlen:
END_STRUCT
END_TYPE
LREAL;
LREAL;
LREAL;
LREAL;
LREAL;
LREAL;
LREAL;
LREAL;
LREAL;
LREAL;
LREAL;
BOOL; (*Pumpe ?*)
Declaration of the array:
Positions :ARRAY[0..100] OF DrillPos;

12.04.2013
41
Data Types 2: Combination: structures and arrays

Access to Drillpos 55:
Access:
MoveXAx (*FB Instanz*)
(
Execute:=
TRUE,
Position:=
Positions[55].XPos ,
Velocity:=
Positions[55].FeedrateX
Acceleration:=
Positions[55].AccelerationX,
Deceleration:=
Positions[55].DeccelerationX,
Jerk:=
Positions[55].JerkX,
Direction:=
.........,
Axis:=
.............,
);
12.04.2013
42
Block types
In IEC61131-3 there are three types of block covered by the generic
term POU (PROGRAM ORGANISATION UNIT):
Program
Function Block
Function
12.04.2013
43
Block types: program PRG

Program PRG
Called by a task (one program can call another)
Calls: FBs, functions, (programs)
Local variable: static, i.e. the local data are available again in the next cycle.
Inputs: usually 0, but VAR_INPUT possible
Outputs: usually 0, but VAR_OUTPUT possible
Transfer by reference VAR_IN_OUT likewise possible
Monitoring: Local data are immediately visible in the online mode of the PLC
control
Use: Main programs, Main, Manual, Automatic, etc.
12.04.2013
44
Block types: function block FB

Function block FB
Called by programs or other FBs
Calls: FBs, functions,
Local variable: static, i.e. the local data are available again in the next cycle.
Can be instanced in case of multiple calls (multipliable). Each FB call can have
its own local data.
Inputs: 0,1,2,3VAR_INPUT
Outputs 0,1,2,3.. VAR_OUTPUT
Transfer by reference 0,1,2,3.. VAR_IN_OUT
Monitoring: In the online mode of the PLC control the instance of the call
concerned must first be specified. The local data are then visible for each call.
Use: multiple-used modules, each of which requires its own data area. Step
chains...
12.04.2013
45
Block types: Function: FC

Function: FC
Called by programs, function blocks and other functions
Calls: Functions
Local variable: temporary, i.e. the local data are available only for the
processing time of the function. Afterwards this data area is used by
other functions.
Inputs:
1,2,3........ VAR_INPUT
Outputs:
precisely 1!, but structure variable possible. The name of
the output is at the same time the name of the function.
Transfer by reference
1,2,3........ VAR_IN_OUT ,
Monitoring: In the online mode of the PLC control only ??? are visible
for the local variables, since this data area is used by all functions in the
cycle and monitoring (debug) takes place only at the cycle limits.
Remedy: program development with breakpoints
Use: algorithms where the result is available after a run. Scaling,
comparison, etc.
12.04.2013
46
ST Structured Text: Operators

Operation
put in parentheses
Function call
Exponentiation
Negate
Build. complements
Multiply
Divide
Modulo
Add
Subtract
Compare
Equal to
Not Equal to
BOOL AND
BOOL XOR
BOOL OR
Symbol
Binding strength
(expression)
Strongest binding
Function name (parameter list)
EXPT
NOT
*
Same binding strength,
processing from left to right
/
(10/2*5 = 25 )
MOD
+
Same binding strength
<,>,<=,>=
=
<>
AND
XOR
Weakest binding
OR
12.04.2013
47
ST Structured Text: Instructions

Instruction
Example
Assignment:=
PosWert := 10;
Calling a Function Block
Ton1(IN:=Start, PT:=T2s); Output:= Ton1.Q;
RETURN
RETURN;
IF
more precise explanations and examples on the

following pages
CASE
FOR
WHILE
REPEAT
EXIT
Empty instruction
12.04.2013
48
ST: IF instruction
Is needed to branch in a program, depending on conditions. With the
IF instructions its not possible to jump back in the PLC cycle.
GOTO is also not available
Keywords:
IF
THEN
ELSIF
ELSE
END_IF
12.04.2013
49
ST: IF instruction
IF Condition THEN
Instruction block;
END_IF
No
Condition
Yes
Instruction block
12.04.2013
50
ST: IF instruction
IF a>b THEN
Instruction block A;
ELSE
Instruction block B;
END_IF
Condition
No
Yes
Instruction block A
Instruction block B
12.04.2013
51
ST: IF instruction
IF Condition1 THEN
ELSE
IF Condition2 THEN
Condition 1
ELSE
No
Yes
IF Condition3 THEN
Condition 2
Instruction block C;
ELSE
Yes
Instruction block D;
END_IF
END_IF
END_IF
Instruction
Instruction
block A
block B
No
Condition 3
No
Yes
Instruction
block C
Instruction
block D
12.04.2013
52
ST: IF instruction
IF Condition1 THEN
ELSIF Condition2 THEN
ELSIF Condition3 THEN
Instruction block C;
ELSE
Instruction block D;
END_IF
Condition 1
No
Yes
Condition 2
No
Yes
Condition 3
No
Yes
Instruction
block A
Instruction
block B
Instruction
block C
Instruction
block D
12.04.2013
53
ST: IF instruction
What can the BOOLEAN EXPRESSION be?
Conditions:
BOOLEAN variable
Comparison
Function calls
Querying of FB instances
NO FB call!
IF bVar THEN
.
IF a>b THEN
.
IF LEFT(STR:= strVar, SIZE:=7) =
'TwinCAT' THEN
.
IF Ton1.Q THEN
.
IF Ton1(IN:=bVar, PT:=T#1s ) THEN
12.04.2013
54
ST CASE Instruction
CASE Selection criterion OF
1:
Selection criterion = 2
or 4 or 6
Instruction 1
2, 4, 6: Instruction 2
7..10: Instruction 3
Selection
criterion = 1
Selection criterion = 7
or 8 or 9 or 10?
No
Yes
..
No
ELSE
Yes
Default
instructions
No
Yes
END_CASE;
Two identical values
may not be available
for selection in the list.
Instruction 1
Instruction 2
Instruction 3
Default
instructions
12.04.2013
55
ST: CASE instruction: possibility for a step chain /

state machine
Instructions for the step
(Actions)
CASE State OF
0:
Q0:=TRUE;
IF Transition THEN state := 1; END_IF
1:
Q1:=TRUE;
2:
Step-further condition
(Transition)
Q2:=TRUE;
3:
Q3:=TRUE;
END_CASE
12.04.2013
56
ST: CASE instruction Integer Selector Value

with constants
CASE State OF
0:
Instructions;(*State=0*)
IF THEN
Instructions
if state = 0
1:
Instructions
if state = 1
2:
Instructions
if state = 2
3:
Instructions
if state = 3
END_CASE
12.04.2013
57

with Enum types
Enum-Typ:
TYPE Schritte :
(INIT:=0, START, AUTOMATIK, ENDE);
END_TYPE
CASE State OF
INIT:
START:
AUTOMATIK:
ENDE:
END_CASE
12.04.2013
58
ST: CASE instruction: suggestion for a step chain /

state machine
TYPE Schritte :
( INIT:=0, START, AUTOMATIK, ENDE);
END_TYPE
Instructions for the step

(Actions)
CASE State OF
INIT:
Q0:=TRUE;
IF Transition THEN state := START; END_IF
START:
Step-further condition
(Transition)
Q1:=TRUE;
IF Transition THEN state := AUTOMATIK; END_IF
AUTOMATIK: Q2:=TRUE; Step

IF Transition THEN state := ENDE; END_IF
ENDE:
Q3:=TRUE;
IF Transition THEN state := INIT; END_IF
END_CASE
12.04.2013
59

with constants
CASE State OF
VAR CONSTANT
Step1 : INT:=
0;
Step1:
Step2 : INT:=
1;
Step2:
Step3 : INT:=
2;
Step3..Step4:
Instructions;(*State=2 oder 3*)
Step4 : INT:=
3;
END_CASE
END_VAR
VAR
State:INT;
END_VAR
12.04.2013
60
ST: Repeat instructions

The process sequence often requires the multiple processing of
precisely the same program sequences, where their number is known
only at runtime.
Disadvantage of loops:
In the case of wrong programming, an infinite number of repetitions
takes place.
If a continuous loop is executed, this does not impair the start of the
time slices (real-time). Tasks with a higher priority will still be executed
on time. Tasks with a lower priority will no longer be executed.
Forced switchover
to Win NT
1
e.g.: 1ms
2
2ms
3
3ms
Begin of a new
time slice
4
4ms
1
5ms
12.04.2013
61
ST: Loops (overview)

All loops can be terminated with the help of the EXIT instruction,
regardless of the abort condition.
Expression
Processing
n cycle fix
FOR
SINT/INT/DINT
Instructions
Yes
follow condition
WHILE
BOOL
Instructions
No
follow condition
REPEAT
BOOL
Condition
follows
instructions
No
12.04.2013
62
ST: FOR loop

At the beginning of the loop the
Cycle n
control variable i is set to the
starting value (see example).
The control variable is
decremented or incremented in
each loop, depending on the step
size (value after the keyword BY).
If i exceeds the end value
(after TO), the loop is no longer
processed.
FOR i:=1 TO 12 BY 2 DO
Start i:=StartValue
Yes
i
>EndValue
No
Instruction block
i: = i + step size
Feld[i]:=i*2;(*Anweisung*)
END_FOR
Cycle n
12.04.2013
63
ST: WHILE loop

The instruction block of a WHILE loop
is executed continuously until the
Boolean expression returns TRUE.
The abort condition can contain
variables that can be changed in the
instruction block.
If the Boolean expression is FALSE at
the beginning, then the instruction
block of the WHILE loop is not
processed.
i:=0;
WHILE i<100 DO
i:=i+1;
END_WHILE
Cycle n
Yes
Boolean
expression
No
Instruction block
i: = i + step size
Cycle n
12.04.2013
64
ST: REPEAT loop

Cycle n
The instruction block of a REPEAT

loop is executed as long as the
Boolean expression is satisfied.
The instruction block is processed at
least once.
Instruction block
i:= i + step size
i:=0;
REPEAT
i:=i+1;
UNTIL i>100
No
Boolean
expression
Yes
END_REPEAT
Cycle n
12.04.2013
65
ST: FB calls in ST
VAR
TON1:TON;
END_VAR
TON1 (IN:= NOT TON1.Q , PT:=T#1s );
Q0:= TON1.Q;
TON1(IN:= NOT TON1.Q, PT:=T#1s , Q=>Q0 );
12.04.2013
66
ST: FB calls in ST (alternative)

VAR
TON1:TON;
END_VAR
TON1.IN:= NOT TON1.Q;

TON1. PT:=T#1s;
TON1();
Q0:= TON1.Q;
12.04.2013
67
ST: FC calls in ST
Result:=Scale (x:=Eingang, xug:=0.0, xog:=32767.0, yug:=0.0,yog:=100.0);
(* Gleichwertig:*)
Result:=Scale (Eingang, 0.0, 32767.0, 0.0, 100.0);
(* Gleichwertig:*)
Result:=Scale (
xog:=
x:=
Eingang,
xug:=
0.0,
32767.0,
yug:=
0.0,
yog:=
100.0
);
In case of functions, all inputs must be occupied
12.04.2013
68
ST: FC calls in ST
Result := Scale (x:=Eingang, xug:=0.0, xog:=32767.0, yug:=0.0,yog:=100.0);
Result
CALL
Input parameters
(* Gleichwertig:*)
Result:=Scale
(
x:=
Eingang,
xug:=
0.0,
xog:=
32767.0,
yug:=
0.0,
yog:=
100.0
);
12.04.2013
69

New keywords:
THIS : in Method/Property for the current FB instance

Object.Methodname()
Special methods:
programming in IEC
70
03.05.2012
Short information: OOP with example
12.04.2013
71

New keywords:
THIS : in Method/Property for the current FB instance

Object.Methodname()
Special methods:
12.04.2013
72
Advanced IEC features | Application

Object-orientated extensions of IEC 61131-3, 3rd edition:
the concept of the functional blocks has been extended by
Classes
Interfaces
Methods
Inheritance
Attributes
Keywords such as THIS, SUPER
Use of the extensions

Possible in all IEC languages
Independent of the hardware employed
Not absolutely necessary
12.04.2013
73
Advanced IEC features | SUPER and THIS

SUPER is available in every FB and represents a pointer to the basic FB instance.
THIS uses the local instance (e.g. a method).
Complete program: Sample06
12.04.2013
74

SUPER is available in every FB and represents a pointer to the basic FB instance.
THIS uses the local instance (e.g. a method).
12.04.2013
75

PUBLIC all methods can be accessed
PRIVATE can be used only in the FB. Not from outside as FB.Method()
PROTECTED cannot be overwritten in the derived FB
INTERNAL Methods Properties in a library cannot be overwritten
03.05.2012
12.04.2013
76
Example task
Example: a clock generator FB is to be created
that should be able to do the following:
generate a flashing cycle
generate a PWM signal (e.g. heating)
Parameter
fixed flashing time for flashing cycle
clock output for flashing signal
MaxCycles defines number of PLC cycles 100% duty cycle for PWM
generator
DCPercent; duty cycle in %
Enable: BOOL, enable for PWM signal
Vendor, name of the manufacturer as a string
12.04.2013
77
Standard procedure
All parameters are transferred with VAR_INPUT VAR_OUTPUT
The sub-functions are programmed in the FB and run through with the complete FB
to flashing
cycle
to PWM
generator
to flashing
cycle
to PWM
generator
12.04.2013
78
Standard procedure
This block is to be extended later
clock ratio of the flashing cycle is to be modified
the PWM generator is given a target profile generator (e.g. temperature profile)
Co
py
ex and
ten
d
12.04.2013
79
Alternative
With the new options
Methods
Features
Inheritance
Overwrite
12.04.2013
80
Example
A clock generator FB is to be created
Methods:
m_ClockGenerator generates the flashing cycle
M_Pwm generates a PWM signal (e.g. heating)
Features
p_CycleTime specifies flashing time for flashing cycle
p_MaxCycles defines number of PLC cycles 100% duty cycle
for PWM generator
p_Vendor
queries a string
12.04.2013
81
Example
FB_ClockGenerator
m_ClockGenerator()
m_Pwm()
p_Vendor
p_CycleTime
12.04.2013
82
The basic clock generator block is to be further developed. Name

FB_ClockGenerator_EX. All methods and properties are initially to be adopted from
the basic block.
Modifications:
the ClockGenerator method is to be given a different on/off ratio
the Vendor property is to be overwritten. (Different text)
A further method is to be created in m_PwmProfile. This method generates a
certain profile for the duty cycle (ramp) of the pwm generator (example:
temperature profile). This value is to go onto the pwm generator of the basic
class.
For execution, see training examples
12.04.2013
83
Example
FB_ClockGenerator
m_ClockGenerator()
m_PwmProfile()
p_Vendor
p_CycleTime
FB_ClockGeneratorEX
m_ClockGenerator() overwrite
m_PwmProfile() (new)
p_Vendor (overwrite)
12.04.2013
84
Extension
Block
see training examples
12.04.2013
85
Appendix: Standard IEC operators and FBs
The function blocks and functions are made available by integrating the
Standard.LIB. This is automatically integrated into the PLC project when
the project is created.
Standard blocks
Function Blocks
Timer
Functions
String Functions
Counter
Memory
Trigger
12.04.2013
86
Appendix: Logical operators
FBD /CFC
ST
Comments
BOOL
AND
WORD
AND
DWORD
AND
12.04.2013
87
Appendix: Numerical operators

FBD /CFC
ST
Comments
Arithmetic Operators
Overloading possible,
beware of overflow with
integers.
- * /
Determines integral
remainder of a division
(in this case 4)
12.04.2013
88
Appendix: Selection operators, SEL

Operator
Comments
FBD /CFC
Selection inputs can be

overloaded
SEL
ST
StrVarMode := SEL(Mode1, , Mode1Selected );
Example:
If Mode1 = TRUE, StrVarmode
contains Mode1Selected,
otherwise an empty string
12.04.2013
89
Appendix: Selection operators, MUX
FBD /CFC
Selection with
integer variable,
inputs can be
overloaded
ST:
Online:
12.04.2013
90
Appendix: Conversions
Operator
ST
Comments
Time values are resolved
in ms rt1:REAL
iT1:INT
bVar1:BOOL
Rounding up takes place:
0.4 output goes FALSE
>=0.5 output goes TRUE
12.04.2013
91
Appendix: Conversions
FBD /CFC
ST
Comments
Result 20000.0
Implicit conversion also
possible
Conversion to INT with
rounding up/down
Conversion to INT without
rounding up/down
Beware of overflows
(Result is negative)
12.04.2013
92
Appendix: Edge blocks R_TRIG F_TRIG

FBD /CFC
CLK
R_TRIG
Q
CLK
F_TRIG
Q
ST
CLK
BOOL
Trigger input
R_TRIG: Rising Edge
BOOL
Signal output (for 1 PLC cycle on)
F_TRIG: Falling Edge
12.04.2013
93
Appendix: Memory modules SR RS

FBD /CFC
SET1
SR
RESET1
Q1
SET1
RS
ST
RESET1
Q1
SET1
BOOL
Set
SR: priority is set
RESET1 BOOL
Reset
RS: priority is reset
Q1
Output
BOOL
12.04.2013
94
Appendix: Switch-on delay TON

FBD /CFC
IN
Q
ET
ST
IN
BOOL Start input
PT
TIME
BOOL Output
ET
TIME
Preset Time, delay time
Starts with edge, output is

available after delay and
Elapsed Time, current time value

12.04.2013
95
Appendix: Switch-off delay TOF

FBD /CFC
IN
PT
ST
IN
BOOL Start input
PT
TIME
BOOL Output
ET
TIME
Preset Time, extension
ET
Starts with falling edge on

IN, new edge extends signal

12.04.2013
96
Appendix: Pulse timer TP

FBD /CFC
IN
Q
ST
IN
BOOL Start input
PT
TIME
BOOL Output
ET
TIME
Preset Time, pulse time
ET
Starts with edge, restart is

not accepted

12.04.2013
97
Appendix: UP counter CTU

FBD /CFC
ST
CU
BOOL
Count up, count input
RESET BOOL
Counter reset
PV
UINT
Preset Value
BOOL
Counter value has reached PV
CV
WORD
Current counter value
Counts with edge on

CU, output is set when
the counter value has
reached the value of
PV.
12.04.2013
98
Appendix: DOWN counter CTD

FBD /CFC
ST
CD
BOOL
Count down, count input
LOAD sets counter,
LOAD
BOOL
Load value of PV to counter
PV
UINT
Preset Value
BOOL
Counter value has reached 0
Counts downwards with

edge on CU, output is set
when the counter value
has reached the value 0.
CV
UINT

12.04.2013
99
Appendix: UP/DOWN counter CTUD

FBD /CFC
LOAD
CD
CU
RESET
CV
ST
CV=PV
QD
QU
CU
BOOL
Count UP, count input +
CV
UINT
CD
BOOL
Count DOWN, count input -
Counts with edge on CD and CU,
RESET
BOOL
Reset
Negative count values are not possible
LOAD
BOOL
Load value of PV to counter
PV
UINT
Preset Value
QU
BOOL
Counter value has reached PV
QD
BOOL
Counter value has reached 0

12.04.2013
100
Appendix: String function CONCACT

FBD
ResultOnline
ST
STR1
STRING
First string
STR2
STRING
String that is appended

to the first string
12.04.2013
101
Appendix: String function FIND

FBD
ResultOnline
ST
STR1
STRING
String from which characters

are to be deleted
STR2
STRING
String to be found
12.04.2013
102
Detail : Overflows
Beware of overflows with numerical operations
0000h
INT 0
FFFFh
INT -1
8000h
7FFFh
INT -32768
INT 32767
PLC memory
INT value
12.04.2013
103
Data types: Example: EL3102

EL3102
2-channel analog input
terminals -10+10 V,
differential input, 16 bit
Input signal = Value

EL310x
10 V
5V
0V
-5 V
-10 V
Value
Decimal
32767
16383
0
-16383
-32768
Hexadecimal
0x7FFF
0x3FFF
0x0000
0xC001
0x8000
Status word from (EL3102-0000-0016) with older models only SW.0 - SW.7 1 byte
Bit
SW.15
SW.14
Name
TxPDO
Toggle
Bit
Name
SW.13
SW.12
SW.11
SW.10
SW.9
SW.8
TxPDO State Sync error
SW.7
SW.6
SW.5
SW.4
SW.3
SW.2
SW.1
SW.0
ERROR
Limit 2
Overrange
Underrange
Limit 1
With older
models
12.04.2013
104
Data types: Example: KL2531

KL2531
Velocity
Bit
15
14
Cont. VZ
13
12
11
10
Velocity value
Controlbyte (Ctrl)
Bit
Name
CB.7
CB.6
RegAccess Reset
CB.5
CB.4
CB.3
CB.2
CB.1
CB.0
AutoStop
AutoStart
Reduced
Current
Start
PLC-Stop
Enable
CW.13
CW.12
Reduced
Current
(drive)
CW.4
enLatch
FallEdge
CW.11
CW.10
CW.9
CW.8
Reduced
Current
SetPos
disMixed
Decay
GetEncoder
Position
CW.3
enLatch
RiseEdge
CW.2
enLatch
Input2
CW.1
enLatch
Input1
CW.0
Control word (ExtCtrl)

Bit
Name
Bit
Name
CW.15
CW.14
Set Position Clear

in ProcData Position
CW.7
CW.6
CW.5
GetPosition ToggleLatch GetLatch
Error
Data
Data
enLatchC
Position
Bit
15
14
13
12
11
10
Cont. Position value
Statusbyte (Status)
Bit
Name
SB.7
SB.6
RegAccess Error
SB.5
SB.4
SB.3
Warning
Idle
LoadAngle
SB.2
SB.1
SB.0
Ready
Status word (ExtStatus)

Bit
Name
SW.7
SW.6
SW.5
SW.4
SW.3
SW.2
SW.1
SW.0
Encoder
Disabled
LatchData
Toggled
LatchData
InByte2,3
LatchValid
Target
Reached
SetPos
Ready
Input E2
Input E1
Bit
Name
SW.15
SW.10
OpenLoad
Br A
SW.9
Under
Voltage
SW.8
Over
Temperature
SW.14
NoControl
Config Error
Power
SW.13
SW.12
SW.11
OverCurrent OverCurrent OpenLoad
Br B
Br A
Br B
Data types: Example: KL2531

KL2531
Summary
Description
Typ
Velocity 16-bit with sign
INT
Ctrl 8-bit bitstring
BYTE
ExtCtrl 16-bit bitstring
WORD
Position 16-bit, no sign
UINT
Status 8-bit bitstring
BYTE
ExtStatus 16-bit bitstring
WORD
12.04.2013
106
Data types: Example for reading the DT system time

The system time can be read with the
FB FB_LocalSystemTime
(TCUtilities.Lib)
12.04.2013
107
Data types: Example for DT

IEC standard operations can be applied to
D# and DT#
12.04.2013
108
Example: String function FIND
Pos 1
Pos
10
Pos
11
10
12.04.2013
109
Example: string functions LEN, REPLACE

Example: a string sVal is to be filled up to 5 characters. Output is right-aligned.
(Display CX or similar)
Pos 1
Pos 5
sVal
sResult
.1
-5
-5
12345
12345
12.04.2013
110
Example: String conversion with Union

A string is placed in the same address in the memory with an ARRAY OF BYTE
(Union)
A
B
C
D
E
$R
$N
12.04.2013
111
Detail - Replace %MB by UNION

Place target variable in same addresses in order to perform an ASCII - CHAR
transformation
Possible
Better, since user
does not have to
manage addresses
12.04.2013
112
System
Query the set PLC cycle time
Creation of a variable of the type PlcTaskSystemInfo;
Query the system variable _TaskInfo []
Task no.
Component .CycleTime returns the set cycle time. Scaling:

10,000 is 1 ms
12.04.2013
113
TR3020 | Training for new users | Overview
SFC
Sequential Function Chart, SFC
Step
Action
Transition
Jump
Jump to Target Step
12.04.2013
SFC
The Actions Blocks

and Transitions
can be programmed
in any of the four
IEC Programming Languages
IL,ST, FBD,LD
(TC3: also SFC in Action Blocks)
12.04.2013
SFC
Branch
Alternative
Brach
Only left or right

branch can be
active at once.
12.04.2013
SFC
Branch
Alternative
Brach
Both transition are active
Only the left step is active
12.04.2013
SFC
Branch
simultaneos
Brach
One transition to enter
simultaneos execution
One transition to leave
12.04.2013
SFC
Branch
simultaneos, special case
Brach
Cant leave before TR7 is

TRUE
12.04.2013
SFC
Actions
Brach
direct assign of a bool variable with
an action (here qualifier N)
12.04.2013
SFC
Actions
direct assign of a bool variable with an action (here Qualifier S0 R0)
12.04.2013
SFC
Jump
Target Step
12.04.2013
10
New Automation Technology
Connectivity
12.04.2013
ADS (General)
Definition
ADS = Automation Device Specification

- Modular ADS devices
e.g. PLC (each runtime system), NC, etc.
- Data exchange with message router
NEU
ADS General
Definition: ADS = Automation Device Specification
modular ADS devices
e.g. PLC (each runtime system), NC, etc.
message exchange by ADS via the message router
Beckhoff Training: TwinCAT ADS
12.04.2013
ADS: General device concept

ADS server
unambiguously
identifiable by:
AdsAmsServerPort
Router
unambiguously
identifiable by:
AdsAmsServerNetID
12.04.2013
Identification of ADS devices

Each (TwinCAT) PC in the network is clearly identifiable via a TCP/IP address,
e.g. 172.1.2.16
The NetID is the identifier of the message router on a TwinCAT system (PC, CX, BX, BC),
e.g. 172.1.2.16.1.1
The port number is the identifier of a TwinCAT device.

(PLC runtime 1, 2, 3, 4, NC, IO, cam controller)
12.04.2013
Identification of ADS devices

The port number is the identifier of a TwinCAT device.
(PLC runtime 1, 2, 3, 4, NC, IO, cam controller)
Port
PLC runtime 1 (TC3)
851
PLC runtime 2 (TC3)
852
PLC runtime 3 (TC3)
853
PLC runtime 1 (TC2)
801
PLC runtime 2 (TC2)
811
PLC runtime 3 (TC2)
821
PLC runtime 4 (TC2)
831
NC
500
(501)
IP Address
172.16.17.108
Message Router 172.16.17.108.1.1
IO server
TwinCAT device
PORT 851 PORT 852 PORT 500

NC
PLC 2
PLC 1
I
IO Mapper
12.04.2013
TwinCAT message router

Example:
an ADS client sends an ADS message to an ADS server.
the TwinCAT message router (transport layer 4) carries out:
the receipt of the clients request
forwarding the message to another router if appropriate
provision of the messages to the ADS server
12.04.2013
TwinCAT message router

Existing message router:
on each TwinCAT PC
on each CX1000, CX1020 Embedded PC
on each BX Bus Terminal Controller
on each BC XXXX Bus Terminal Controller
Possible communication paths:

Network (TCP/IP)
A PLC runtime system sends data to another PLC on another
TwinCAT PC, Embedded PC, etc. in the network.
Fieldbus (Lightbus / PROFIBUS)
A PLC runtime system sends data to another PLC
on a Bus Terminal Controller in the fieldbus.
12.04.2013
Client-server relationship
1.) Confirmed services
2.) Unconfirmed services
ADS Client
ADS Server
Request
(Anforderung)
Indication
(Aufforderung)
Confirmation
(Besttigung)
Response
(Antwort)
12.04.2013
Client-server between two PLC devices

Example: PLC (runtime 1) requests data from PLC (runtime 2)
ADS Client
PLC I
ADS server PLC II
Uses ADS FB
merely keeps the

data available
Request
Indication
(FB call)
Confirmation
Response
(Busy on the FB)
12.04.2013
10
Access methods, identification of the target data

By address
For PLC variable located in
%M
Memory range
%I
Input range
%Q
Output range
By name
PLC variable
Global
Example: .Tempsetpoint
Access with .Variablename

.TON1.ET GVL1.Input1 (global instance of an FB)
Local: VAR , VAR_INPUT, VAR_OUTPUT with instance path
Example: MAIN.TON1.ET
12.04.2013
11
Access methods, sequence

Synchronous:
Client sends a query to the server
Client waits until the result is available
Synchronous with the program line
Asynchronous:
Client sends a query to the server
Client continues to operate directly

Result of the server by callback
Notification:
Client registers itself at the server
Server serves the client autonomously by callback

(until the client logs off from the server again)
12.04.2013
12
Description of access with index group and index offset

Services are described by the parameters INDXGRP and IDXOFFS
In the case of the PLC function blocks ADSWRITE, ADSREAD, etc. these are
VAR_INPUT parameters
The same input parameters are used for the ADSDLL method calls
12.04.2013
13

Detail for access to PLC data (selection)
PLC SOURCE /
target variable
IDXGRP
IDXOFFS
%MB
0x4020
MB address
Example
IDXGRP 0x4020
IDXOFFS 100
%MX
%IB
0x4021
0xF020
MB address * 8 +
bit address
IDXGRP 0x4021
IB address
IDXGRP 0xF020
IDXOFFS 81
IDXOFFS 0
%IX
%QB
0xF021
0xF030
IB address * 8 +
bit address
IDXGRP 0xF021
QB address
IDXGRP 0xF030
IDXOFFS 41
ISXOFF 100
%QX
0XF031
QB address * 8 +
bit address
IDXGRP 0xF011
IDXOFFS 167
12.04.2013
14

Access by name takes place via a variable handle
See PLC example and VS example for details
Action
IDXGRP
IDXOFFS
Example
Create
Handle
0xF003
READ/ WRITE COMMAND
Read / Write
by
handle
0xF005
Handle
Read or Write : Data
Delete
Handle
0xF006
Write Data: Handle
WRITE: VarName
Read: Handle
12.04.2013
15
PLC examples
Examples with 2 PLC runtimes
12.04.2013
16
Access by address
Example: PLC 1 sends to PLC2 2; access by address
PLC 1
PLC 2 PORT 811
12.04.2013
17
Access by address
Variable access
PLC 1
PORT PLC2
NETID local
INDEXGROUP 0x4020 ->%MB

INDEXOFFSET 100 address %MB100
12.04.2013
18
Access by address
Notes
12.04.2013
19
Access by name / handle PLC-PLC

Example: PLC 1 sends to PLC2 access by name handle
Request handle on variable name
Write by handle
Delete handle
PLC 1
PLC 2 PORT 811
12.04.2013
20

Request handle IDXGRP 16#F003
PLC 1
NetiD local
PORT PLC2
Create Handle
12.04.2013
21

Variable access by handle 16#F005
PLC 1
PORT PLC2
NETID local
INDEXGROUP 0xF005 ->Access by handle

INDEXOFFSET Handle
12.04.2013
22

Delete handle 16#F006
PLC 1
PORT PLC2
NETID local
INDEXGROUP 0xF006 ->Delete handle

INDEXOFFSET Handle
12.04.2013
23

Notes
12.04.2013
24
Example: access by IDXGRP IDXOFFS

Example: read and write PLC variable located at %MB and %MX
Access with IDXGRP and IDXOFFSET
(TCINFOSYS)
%MB in PLC:
INDEXGROUP
0x4020
INDEXOFFSET the %MB address of the PlcC variable

%MX in the PLC:
INDEXGROUP
0x4021
INDEXOFFSET byte address (%MB) * 8 + bit address
INDEXGROUP 0x4021
INDEXOFFSET 10*8 +1 = 81
INDEXGROUP 0x4020
INDEXOFFSET 12
12.04.2013
25
PLC
C# Application
VAR_GLOBAL
BIT0 AT%MX10.0 :BOOL;
iVar0 AT%MB12 :INT;
diVar0 AT%MB14 :DINT;
END_VAR
12.04.2013
26

Integration of Add AdsDll
1
12.04.2013
27
TcAdsClient tcClient = new TcAdsClient();

Instance TcClient
TcClient.Connect(851);
Link TcClient to PLC1
(PORT 851)
%MX ACCES
lblM10_0.Text = TcClient.ReadAny
(0x4021,
10 * 8 + 0,
typeof(bool)).ToString();
IDXGRP for %MX ACCESS

IDXOFFS MB ADDRESS *8
+ BIT ADDRESS
Type of variable
Result
12.04.2013
28
%MB ACCES
lblMW12.Text = TcClient.ReadAny
(0x4020,
12,
typeof(short)).ToString();
IDXGRP for %MB ACCESS

IDXOFFS MB ADDRESS of
the PLC variable (AT%MB12)
Type of variable
Result
12.04.2013
29
TcClient.Dispose();
Enables the resources
Details: Create PLC program, create Visual C# 2008 according to the

course notes
12.04.2013
30

Notes
12.04.2013
31
Example: access by name
Basic procedure:
Insert TcClient
Insert Namespace
Instance object variable for TcClient
Create handle variables
Request handle on PLC variable(s)
Write & read by handle
Delete handle(s)
Release resources (dispose)
12.04.2013
32

Write the variables to the PLC and read back
PLC
C# Application
VAR_GLOBAL
BIT0 :BOOL;
BIT1 :BOOL;
BIT2 :BOOL;
BIT3 :BOOL;
iVar0 :INT;
diVar0 :DINT;
END_VAR
12.04.2013
33

Instance TcClient
private int hBit0;
Handle on the PLC variable
hBit0 = TcClient.CreateVariableHandle(".BIT0");
Request handle
Name of the PLC variable. Do
not forget the dot with global
variables
(. BIT0)
12.04.2013
34

chkBit0.Checked = (bool)TcClient.ReadAny(hBit0, typeof(bool));
Return type is object
Type of variable
Handle on the variable
Result sets check box
TcClient.WriteAny(hiVar0, (short)tbariVar0.Value);
Value to the PLC
PLC INT is in C# Short
Handle
12.04.2013
35

TcClient.DeleteVariableHandle(hBit0);
Delete handle
TcClient.Dispose();
Release resources
Details: Open the templates (PLC/C#) distributed in the course and follow
the instructions
12.04.2013
36

Notes
12.04.2013
37
Example: access by notification

Methods:
TcClient.AddDeviceNotificationEx(.);
AdsNotificationEx += new AdsNotificationExEventHandler()
TcClient.DeleteDeviceNotification();
General procedure:
Register notification on each variable (handle)
Create event handler
Evaluate received data in the Notification Event
Delete notifications
Release resources
12.04.2013
38

Example
PLC
VAR_GLOBAL
AxisName:STRING(19);
Ready:
Error:
actVelocity:
actPosition: LREAL;
setVelocity:
setPosition: LREAL;
Lagdistance: LREAL;
END_VAR
C# Application
BOOL;
BOOL;
LREAL;
LREAL;
12.04.2013
39
Instance TcClient
TcClient.AdsNotificationEx += new
AdsNotificationExEventHandler(TcClient_AdsNotificationEx);
Event
Name of the event function
12.04.2013
40

void TcClient_AdsNotificationEx(object sender, AdsNotificationExEventArgs e)
{
if (e.NotificationHandle == hnReady )
{
e contains:
}
Datavalue
}
Notification handle
userobject
Is run through when the PLC
timestamp
has sent data
TcClient.DeleteDeviceNotification(hnReady );
delete notifications
ends reading
the instructions
12.04.2013
41

TcClient.Connect(851)
Open port on PLC
hnReady = TcClient.AddDeviceNotificationEx
(
notification handle
".Ready",
AdsTransMode.OnChange,
100, 0,
lblReady,
typeof(bool)
);
PLC variable name
Update method
Filter time
User object or zero
Data type of the read
variable
For each variable

12.04.2013
42

Notes
12.04.2013
43
Writing / reading a 1-dimensional array

Methods:
TcClient.CreateVariableHandle(.);
TcClient.ReadAny()
TcClient.WriteAny();
TcClient.DeleteVariableHandle();
Procedure:
Connect to device PLC
Create variable handle
Read / write variable by handle
Delete variable handle
12.04.2013
44

Example:
PLC
VAR_GLOBAL
VisuPositions: ARRAY [0..19]
OF LREAL;
C# Application
double[] PlcArray;
END_VAR
12.04.2013
45

PlcArray = (double[])TcClient.ReadAny
(
handle
hPlcArray,
typeof(double[]),
Variable Type
new int[] { 20 }
Array length, number of
);
elements
C# target variable
TcClient.DeleteVariableHandle(hPlcArray);
Delete handle
the instructions
12.04.2013
46

Notes
12.04.2013
47
Reading a 1-dimensional array with notifications

Methods:
notificationHandle =TcClient.AddDeviceNotificationEx()
TcClient.DeleteDeviceNotification(notificationHandle);
TcClient.AdsNotificationEx += new AdsNotificationExEventHandler();
Procedure:
Connect to device
Add notification handler
Add device notification, device sens automaticly
Data im callback auswerten
Delete device notification
12.04.2013
48

Reading a PLC array with notifications
PLC
VAR_GLOBAL
VisuPositions: ARRAY [0..19]
OF LREAL;
C# Application
double[] PlcArray;
END_VAR
12.04.2013
49

Instance of the
TcAdsClient
TcClient.AdsNotificationEx += new
AdsNotificationExEventHandler(TcClient_AdsNotificationEx);
Event
Name of the event
12.04.2013
50

TcClient.Connect(851)
Connect to plc
hnPlcArray=TcClient.AddDeviceNotificationEx(
PLC variable
Create notification handle ".VisuPositions",
AdsTransMode.OnChange,
Actualisation by
100,0,
Time for checking for
change of array
dataGridView1,
changes
User object
typeof(double[] ),
Data type
new int[] {20});
Arguments, number
of array elements
12.04.2013
51

void TcClient_AdsNotificationEx(object sender, AdsNotificationExEventArgs e)
{
if (e.NotificationHandle == hnPlcArray)
{
e contains:
}
}
Datavalue
Notification handle
Is run through when data is
userobject
received
timestamp
TcClient.DeleteDeviceNotification(hnPlcArray);
Delete notifications
the instructions
12.04.2013
52

Notes
12.04.2013
53
Read structure synchronously from the NC with IDXGRP

IDXOFFS
Method:
tcClientObject.Read(Indexgroup, Indexoffset, AdsStream);
AdsStream : Buffer for read data. Namespace: TwinCAT.Ads.Adstream
Class for evaluating the data stream:
BinaryReader. Namespace: System.IO
Or AdsBinaryReader Namespace TwinCAT.Ads simplified handling for strings
and PLC data and time types
Procedure:
Create Adsstream
Create BinaryReader or AdsBinaryReader
Read Methode aufrufen (Read, ReadAny)
Evaluate data stream and copy into target structure
12.04.2013
54

IDXOFFS
Example
NC
NC ADS Documentation :
IDXGRP 0x4000 + AxisID
IDXOFFSET 0
Details : TCMC.LIB
C# Application
ListView
12.04.2013
55

IDXOFFS
TcAdsClient tcClientNc = new TcAdsClient();
Instance
AdsStream AdsStrNcParaset= new AdsStream(512) ;
Ads stream for receive data
Length in bytes
tcClientNc.Read(Indexgroup + AxisId, Indexoffset, AdsStrNcParaset);
Read command
IDXGRP /IDXOFFS -> TcInfosys
Target stream
12.04.2013
56

IDXOFFS
Getting the index group and index offset from the Beckhoff information system
TcInfosystem
12.04.2013
57

IDXOFFS
Beckhoff Information System
Function to
read/write
Indexgroup +
Axid
Indexoffset
Acces Read
only
@ Result for AXIS1 : IDXGRP 0x4001 IDXOFFSET 0

12.04.2013
58

IDXOFFS
BinaryReader BinRead = new BinaryReader(AdsStrNcParaset,Encoding.ASCII );
Class for decoding the
receive stream
Constructor contains receive stream
Required if strings are contained
BinRead.ReadInt32()
Example for 32-bit INT
12.04.2013
59

IDXOFFS
Or: AdsBinaryReader:
AdsBinaryReader AdsBinRead = new AdsBinaryReader(AdsStrNcParaset);
Ads Class to evaluate stream
Constructor with AdsStrem
AdsBinRead.ReadInt32()
Example for 32-bit INT
the instructions
12.04.2013
60

IDXOFFS
Notes
12.04.2013
61
Reading structures with notifications

Methods:
TcClient.DeleteDeviceNotification(notificationHandle);
notificationHandle =TcClient.AddDeviceNotification()
TcClient.AdsNotificationEx += new AdsNotificationExEventHandler();
Procedure:
Connect to device
Add notification handler with datastream
Add device notification,
Evaluation of the data in callback
Delete device notification
Note:
StructLayout and MarshalAs can alternatively be used with the standard
framework. The method AddDeviceNotificationEx can be used there.
12.04.2013
62

Example
PLC
TYPE strAxisstate :
STRUCT
C# Application
private struct Axisstruct
{
AxisName:STRING(19);
public string AxisName;
Ready: BOOL;
public bool Ready;
Error: BOOL;
actVelocity: LREAL;
public bool Error;
actPosition: LREAL;
public double actVelocity;
setVelocity: LREAL;
public double actPosition;
setPosition: LREAL;
public double setVelocity;
Lagdistance:LREAL;
public double setPosition;
END_STRUCT
public double Lagdistance;
END_TYPE
}
VAR_GLOBAL
Axistate1 :strAxisstate ;
private Axisstruct Axistruct1;
END_VAR
12.04.2013
63

TcAdsClient TcClient = new TcAdsClient();
Instance for ads client
TcClient.AdsNotification += new AdsNotificationEventHandler
(TcClient_AdsNotification);
Add event
AdsStream StreamAxisstruct1 = new AdsStream(62);

Stream to receive data
12.04.2013
64

Check event
void TcClient_AdsNotification(object sender, AdsNotificationEventArgs e)
{ // check stream
AdsBinaryReader to
evaluate Stream
e.DataStream.Position = 0;
AdsBinaryReader AdsBinReader = new AdsBinaryReader(e.DataStream);
Axistruct1.AxisName = AdsBinReader.ReadPlcString(20);
Axistruct1.Ready = AdsBinReader.ReadBoolean();
Read Data from stream.
Position increments
automaticly
12.04.2013
65
TcClient.DeleteDeviceNotification(hnAxisstruct1);
Delete Notification only one handle per struct
TcClient.Dispose();
Release resources
the instructions
12.04.2013
66

Notes
12.04.2013
67
Beckhoff EtherCAT Training
EtherCAT Training
Contents
9
9
9
9
9
9
9
9
9
9
9
9
9
9
9
9
9
9
9
30.01.2012
Hardware
Principles
Topology
Benefits and efficiency
Exercise: Driver Installation ->System Manager
EtherCAT Data Exchange
Protocol
Performance
The Feildbus EtherCAT
Configuration In System Manager
Exercise:
Parameterization and commissioning of the
System Manager
Sync Units
Exercise: Hot Connect
Diagnose
Exercise: Cable Redundancy
XFC eXtreme Fast Control Technology
Exercise: Distributed Clocks Timing
Exercise: Distributed Clocks
with input channels
Exercise: Oversampling
EtherCAT Training
Hardware
EtherCAT Fieldbus Master
IPC / Control Panel
Intel-Chipset based network card
with a TwinCAT real-time
Ethernet driver:
FC9001/9002/9004/9011
Supported network adapters in the
Information System
(Online:http://infosys.beckhoff.com/
content/1033/tcsystemmanager/refe
rence/ethercat/html/ethercat_supne
tworkcontroller.htm?id=10257)
Embedded PC / Control Panel
CX90xx
CX10xx
CX50xx
30.01.2012
EtherCAT Training
Hardware
Overview of standard components EL (IP20)
Bus Coupler
/ EK1101
Bus End Cap :EL9011
EK1100
EL or ES Terminals with E-bus

30.01.2012
EtherCAT Training
Hardware
Overview of standard components KL (IP20)
Bus Coupler
End Terminal : KL9010
BK1120
KL or KS Terminals with K-bus

(BK1250: EtherCATK-Bus)
30.01.2012
EtherCAT Training
Hardware
Overview of standard components EP (IP67)
EP1111 EtherCAT Box
EP1122 EtherCAT 2-port junction
The EtherCAT connection is established via screened M8 screw plug-in

which will directly link activity and status.
30.01.2012
EtherCAT Training
Hardware
More EtherCAT components
EK1501
EK1521
EK1122
EK1110
30.01.2012
EK 1132
EL6692
EtherCAT Training
Principle
EtherCAT Ultra high-speed for Automation
30.01.2012
EtherCAT Training
Principle
Highlights
Ethernet up to the terminal - complete continuity
the Ethernet interface process, scaled from 1 bit to 64 Kbytes
the first true Ethernet solution for the field level
exact timing and synchronization
There were far different problems to make the classic
Ethernet real-time capability:
Collision detection (CSMA / CD) override
Special switches to create as frames temporally accurate deliver
Problem
Also be sent to small amount of data must be a complete
Ethernet frame
Lower-level bus system will lead to additional delay (eg K-bus)
30.01.2012
EtherCAT Training
EtherCAT
The Ethernet down to the terminal!
Direct address of the EtherCAT Slave Controller (ESC) to process
data in the EtherCAT frame
Through the ESC command header distinguishes between
process data and other commands
Ringbussystem mit softwareseitigem Abschluss
From an Ethernet point of view: EtherCAT bus is an Ethernet device
Process data for example are the PLC is no longer welcome in, but
interpreted by the EtherCAT Slave Controller (ESC) taken
directly from the message.
The EtherCAT frame is only a few ns delayed while passing through
the EtherCAT slave
The last device in the bus segment sends the frame back to
the EtherCAT master
30.01.2012
EtherCAT Training
10
EtherCAT
ESC
The handling of the EtherCAT communication in an
EtherCAT slave is tasked by an EtherCAT Slave Controller (ESC)
Each EtherCAT slave has such an ESC to cyclic and
acyclic process data exchanged by the master to the slave via
the EtherCAT field bus
This ESC can handle simple functions such as direct digital inputs
and outputs, but it can also be connected via serial /
parallel interface to another processor in the EtherCAT slave for
the more complex tasks such as Motion Control.
30.01.2012
EtherCAT Training
11
EtherCAT
Overview of EtherCAT Slaves
30.01.2012
EtherCAT Training
12
EtherCAT
typical embedding of the ESC
Of the RJ45 connector, the electrical signals through the transformer
to the PHY (physical interface) led.
The ESC then extracts from the encoded signal,
the Ethernet payload and forwards them to the ESC to
the processing.
Minimum delay (as in a continuous process),
the EtherCAT telegram then passed through PHYtransformer bushing to the next EtherCAT slave.
The ESC is configured in slave-start automatically with
configuration data from an EEPROM. If another CPU exists in the
slave, it can communicate with it via interfaces.
30.01.2012
EtherCAT Training
13
Topology
30.01.2012
EtherCAT Training
14
Topology
Line, tree or star topology

up to 65,535 slaves
Network size: almost unlimited (> 500 km)
Operating with or without switches
cost-effective cabling: Industrial Ethernet Patch Cable (CAT5)
physical transmission : Twisted-Pair:
Ethernet 100BASE-TX to 100 m between two devices
alternatively, fiber optic versions 50-2000 m
Hot-Connect/Disconnect from system
Upgrade to Gigabit Ethernet possible
Physical layer is converted in the coupler to the E-bus signal

form LVDS (Low Voltage Differential Signalling)
If necessary. re-conversion of the signal shape at the end of the bus
segment to pass on to the next Interface module and coupler.
30.01.2012
EtherCAT Training
15
Topology : Line
any number of nodes "in series"
IPC
..
..
DVI
Up to 65,535
participants
Cable: standard CAT 5 cable,
consistently without the
"crossover"
30.01.2012
EtherCAT Training
16
Topology : Chain
IPC
..
..
DVI
Up to 65,535
participants
"crossover"
30.01.2012
EtherCAT Training
17
Topology : Line & Daisy Chain
IPC
..
..
DVI
Up to 65,535
participants
"crossover"
30.01.2012
EtherCAT Training
18
Topology : Mixed!
flexible tree structures - can be extended
IPC
..
..
DVI
Up to 65,535
participants
"crossover"
30.01.2012
EtherCAT Training
19
Benefits and Efficiency

30.01.2012
EtherCAT Training
20
Benefits and Efficiency
no network tuning: lower engineering costs

hard real-time software with master: no plug
no active infrastructure components (switches, etc.) is required
Ethernet cable and connector costs lower than the classic field bus
systems
EtherCAT to the I / O terminal: no more complicated coupler
low connection costs due to highly integrated EtherCAT Slave
Controller
EtherCAT is the only fieldbus
Integration "in Fieldbus Fieldbus" for more field buses like CAN,
PROFIBUS, ETHERNET, etc.
No other fieldbus Master e.g. as a PCI card in the PC necessary!
30.01.2012
EtherCAT Training
21
Benefits and efficiency EtherCAT instead of PCI
Seamless integration of
existing Fieldbus Devices
Process image update
time over EtherCAT (1500
bytes of I / O data): 150s
Before:
Process image update
time via PCI (500 bytes of I /
O data): 400s
30.01.2012
EtherCAT Training
22
Benefits and efficiency topology with Ethernet

over EtherCAT
Ethernet over EtherCAT (EoE) allows direct connection of Ethernet
devices in the EtherCAT fieldbus
Complete integration of all Ethernet technologies!
virtual Ethernet Switch

Functionality
EoE
Switchport
IPC
..
..
DVI
e.g. Connection
of a Label
Printer / Scanner
30.01.2012
Programming directly in the I / O

area
EtherCAT Training
23
Benefits and efficiency topology with vertical

integration
...via 2. Ethernet Port
IPC
..
..
DVI
any Ethernet protocols can be used
Ethernet performance is EtherCAT

not restricted
30.01.2012
No need for switch port terminal
requiring second Ethernet port (on IPC / control)

EtherCAT Training
24
Excersise
Driver Installation in System Manager

30.01.2012
EtherCAT Training
25
Real-time Ethernet driver

For real-time communication over the network card is a Y-driver
needed
Transparent integration into the operating system (compliant to the
operating system, while TwinCAT fieldbus card driver)
On the transmission side is by internal buffer and
prioritization ensures that the real-time frames always find a free
transmission line
The Ethernet frames to the operating system will be shipped
within gaps
On the receiving end, all Ethernet frames from the TwinCAT I / O system checks and filter out the real time relevant information
All other frames are routed back to the operating system
30.01.2012
EtherCAT Training
26
Excersise
Real-time Ethernet driver
The installation of real-time Ethernet driver can be made via the
TwinCAT System Manager.
To use the cable redundancy, the driver must be installed on two
network cards
30.01.2012
EtherCAT Training
27
Real-time Ethernet driver integration into the

operating system
30.01.2012
EtherCAT Training
28

30.01.2012
EtherCAT Training
29

When to take place between EtherCAT system of
direct, synchronous data exchange, various options are available for
this purpose.
Choosing the right approach should be taken in individual
cases, depending on the application.
To select the method the following distinguishing features used :
Synchronous data exchange with predefined in the configuration specified process data
Asynchronous data exchange
Support for ADS over EtherCAT (AoE)
Support the synchronization of distributed clocks (DC) of
both systems
30.01.2012
EtherCAT Training
30
EtherCAT Data Exchange Index

EL6692
Publisher/
Subscriber
EL6601
FC1100
Max. synchro
nous data
size
480 Byte,
any
1024 Byte,
1024 Byte,
Max. extent of
asynchronous
data
beliebig
AoE support
Yes
Yes
Yes
Yes
support DC
Yes
reference
- recommended to
synchronize EtherC
AT systemsTwinCAT
2.11 required
- Use of
Ethernet ports in
both
systems as realtime device recom
mended for
synchronous data
transfer
- Relocation
- free PCI slot in

the
IPC required Twi
nCAT 2.11-R2 is
required
- CX5000 is a lowerlevel autonomous co

ntrol of its
own IO integrated as
EtherCAT slave
option in the host
system requires B11
0
- TwinCAT
2.11 R2 required
30.01.2012
bidirectional
EtherCAT Training
of RT devices in
a terminalEtherCAT recom
mended for
synchronous dat
a transfer
CX50x0B110
31
EtherCAT topology data exchange
30.01.2012
EtherCAT Training
32
Protocol
30.01.2012
EtherCAT Training
33
Protocol
optimized protocol directly in the Ethernet frame
fully implemented in hardware
for routing and socket interface: UDP datagram
Processing while passing
Distributed clock for precise synchronization
Time stamp data type for resolution in the nanosecond range
Oversampling data types for high resolution measurements
30.01.2012
EtherCAT Training
34
Protocol in detail description

The EtherCAT protocol is optimized for process data Ethernet
protocol that either one (or more) or Ethernet frames over
UDP / IP is consistently sent
An Ethernet frame is 1514 bytes in
size EtherCAT datagrams (process data, etc.) with an effective
size of 1486 bytes to send
Need more data to be exchanged, a new Ethernet frame opened
With the EtherCAT process data in the Ethernet frame can be
addressed by a process image up to 4 GB.
The physical configuration of the EtherCAT slaves in the bus has
no effect on the speedof the frame or the data sequence within the
frame!
device profile for CANopen (CoE) or SERCOS (SoE)
30.01.2012
EtherCAT Training
35
Protocol in detail design of the frames

EtherCAT uses standard frames according to IEEE 802.3
no shortened Frames
Alternatively, via UDP / IP (if IP routing required)
MTU Maximum
Transmission Unit,
the computer
network, the
maximum amount
of
datatransmitted un
fragmented.
MTU: max. 1514 Byte
48 Bit
48 Bit
16 Bit
16 Bit
Destination
Source
EtherType
Header
Embedded in Standard Ethernet

Frame, EtherType 0x88A4
160 Bit
Ethernet H.
IP Header
32 Bit
CRC
1..n EtherCAT
Telegram
64 Bit
UDP H.
Header
CRC
Or: via UDP/IP

UDP Port 0x88A4
11 Bit
Length
0
30.01.2012
EtherCAT Training
1 Bit
4 Bit
Res.
11
Type
12
15
36
Protocol in detail
full integration of TCP / IP
all available Internet technologies: HTTP, FTP,
without limitation for real-time characteristics of the bus
system!
EtherCAT Device
Standard
TCP/IP
Stack
Real Time
Application
Ethernet
Application
TCP
UDP
Acyclic
Data
IP
Mailbox
Process Data
EtherCAT MAC / DLL

Ethernet PHY
30.01.2012
EtherCAT Training
Ethernet PHY
37
Performance
30.01.2012
EtherCAT Training
38
Performance
256 Digital-I/Os in 12 s
1.000 Digital-I/Os in 30 s
200 Analog-I/Os (16 Bit) in 50 s, corresponds 20-kHz-SamplingRate
100 servo axes in 100 s
12.000 Digital-I/Os in 350 s
The EtherCAT bus system is so fast that can be made between two
(PLC) control cyclesor internal processing of EtherCAT
EtherCAT is not limited to 100 MBaud
The bus system is no longer the bottleneck of control!
30.01.2012
EtherCAT Training
39
Performance
principle Ethernet on the Fly
Wagen
27
Trainn (Ethernet Frame) does not stop

and who sees the "train" through a narrow window, sees
the whole train
Carriages" (sub-frames) are of variable length
There may be some "people" (bits) or all the
"groups" (x Kbytes) "removed" and / or incorporated
30.01.2012
EtherCAT Training
40
Performance in the processing cycle

Data is taken from
the Ethernet cable on
the run. Inputs or
Outputs
no intermediate store of
Telegrams
minimum throughputDelay
optimal performance
30.01.2012
EtherCAT Training
vom
vom Master
Master
zum Master
41
The EtherCAT fieldbus

30.01.2012
EtherCAT Training
42
The EtherCAT fieldbus mapping of

multiple process images so far
Conventional fieldbus systems produce physical process image
Mapping is "onto this logical process image (s)
logical process images
Controller e.g. IPC

Feldbus Scanner/
DPRAM Master
node 1
node 1
Data n
PLC Data
node 2
node 2
NC Data
node 3
node 4
node 3
Mapping
node 4
30.01.2012
EtherCAT Training
43
The EtherCAT fieldbus mapping of a process

images so far
The same applies to controls with a single process image
Reordering of the process data ("mapping") is also required
Controller
logical process image
Feldbus Scanner/
DPRAM Master
node 1
node 1
node 2
node 2
Process
Data
node 3
node 4
node 3
Mapping
node 4
30.01.2012
EtherCAT Training
44
The EtherCAT
fieldbus mapping shifts in the slave
IPC
..
..
DVI
232
Telegram structure
logical process image: up to 4 GB
Ethernet HDR
30.01.2012
HDR 1
PLC Data
HDR 2
NC Data
HDR n
Data n
CRC
Data n
PLC Data
NC Data
SubTelegramm 1
SubTelegramm 2
SubTelegramm n
Control is released, is very easy to master

0
Data is ever transmitted on application

requirements: extremely fast, flexible and efficient
EtherCAT Training
45
The EtherCAT fieldbus Direct Memory

Access saves time
Fieldbus: take up to 30% of the
CPU time for copying data
PC Control mit Feldbuskarten
PC RAM
Control task
Scanner card, DP RAM

PCI
bus
EtherCAT: NIC is PCI bus

master DMA data is
provided by the PC RAM
Less CPU burden
More Performance
30.01.2012
EtherCAT Training
CPU
PC Control mit EtherCAT

CPU
NIC card, DMA transfer
memcopy
PC RAM
Control task
PCI
bus
DMA
46
The fieldbus reaction time

I PLC Task O I PLC Task O I PLC Task O I PLC Task O I PLC Task
Tmpd
Bus Cycle
TI/O
TI/O
Bus Cycle
TI/O
TI/O
Bus Cycle
TI/O
TI/O
Bus Cycle
TI/O
TI/O
TI/O
Bus Cycle
TI/O
TI/O
Bus Cycle
TI/O
TI/O
Bus Cycle
TI/O
TI/O
best case Reaction Time

Input
(Worst case)
worst case
Reaction Time
Input
(best case)
Output
Tmpd: Master Processing Delay
TI/O: Local I/O Update Time
(local Extension Bus + Firmware)
30.01.2012
EtherCAT Training
47
The EtherCAT fieldbus EtherCAT system design
No master controller board more
Tmpd
Bus Cycle
TI/O
TI/O
Bus Cycle
TI/O
TI/O
Bus Cycle
TI/O
TI/O
Bus Cycle
TI/O
TI/O
TI/O
Bus Cycle
TI/O
TI/O
Bus Cycle
TI/O
TI/O
Bus Cycle
TI/O
TI/O
No more lower-level expansion
30.01.2012
EtherCAT Training
48
The EtherCAT fieldbus processing between two

control cycles
DMA (NIC)
TDMA (Time for Data Transfer to /

from
the Ethernet controllers via Direct
MemoryAccess):negligible
EtherCAT Cycle
30.01.2012
EtherCAT Training
49
The reaction time with EtherCAT fieldbus
worst case
Reaction Time
Input
(Worst case)
best case
Input
(best case)
Output
Reaction time is reduced significantly with the same control performance

no subordinate local I / O cycles or more expansion buses
Because of the very simple protocol no special master
systems (eg plug-in) is required
30.01.2012
EtherCAT Training
50
Configuration of the System Manager

30.01.2012
EtherCAT Training
51
Configuration of the EtherCAT System in

TwinCAT System Manager
The EtherCAT master in the IPC environment
30.01.2012
EtherCAT Training
52
Configuration of the System

Manager software as EtherCAT Master Device
The EtherCAT master device as a software TwinCAT
Process data of the PLC / NC / Task assemble the Ethernet frames to
the EtherCAT datagrams and send them via the Ethernet port assigned
Extract from I / O environment received process data and then go
back to the task
Construction of cyclic and acyclic telegrams
Distributed-Clocks-Synchronisation
evaluates the diagnostic information of the EtherCAT slave
performs event-related diagnosis or respond to changing topologies
an EtherCAT system with up to 65,535 slaves on an
Ethernet interface ("RJ45 port") link.
Cable redundancy of the EtherCAT master with a second port
EtherCAT communication with other masters in
the same TwinCAT system
The sole producer of EtherCAT telegrams in an EtherCAT system
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Configuration of the System

Manager cyclic / acyclic communication
Synchronous execution of task and EtherCAT communication
Temporal distribution of cyclic (solid) and acyclic (variable)

EtherCAT telegrams
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Configuration in System
Manager of EtherCAT frames
Example of an EtherCAT communication with
20 slaves and a 100us task
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Configuring the EtherCAT master system

manager: Adapter tab
MAC Address: MAC address of the
Ethernet controller
IP Address: Set IP address from
the Windows registry. The
network class of "normal
Ethernet network interface
card should be different.
Freerun cycle : Cycle [ms] in
the config mode Freerun
Promiscuous Mode: should
be activated when the data
traffic as to be
recorded with Wireshark.
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manager: EtherCAT tab (above)
NetId: AmsNetId of the
EtherCAT master
Advanced Settings:
additional network setup, such
as DC, shift time, etc.
Sync Unit Assignment : Sync
Units each EtherCAT slave
Topology: Opens the view Topolgy
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manager: EtherCAT tab (below)
LRW = Read
inputs, write outputs
BRD =
Broad Cast Read, re
ad status of all slaves
Frame: Cyclic EtherCAT telegram

Cmd: Command type (LRD = Logical Read, Write LWR = Logical, Logical LRW = Read &
Write)
Addr: With logical addressing of the slaves here is the logical
address. Otherwise, specify theupper 16-bit physical memory address, the lower the
fixed 16-bit slave address (Auto IncAdr, Adr EtherCAT)
Len: data length
WC: Expected working counter. Each slave this counter incremented. Slaves who write
in theLRW Increment by 2, the slaves to read from the LRW Increment by 1
SyncUnit: associated SyncUnit
Cycle: associated cycle time
See also the
Utilisation: Overall utilization [%] of the frame
chapter Diagnostics!
Size: Size [bytes] of the entire frame
Duration: Time [s]
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EtherCAT Master: Master Advanced Settings

Start-up behaviour when
switching / start-up
Runtime behaviour
of the Diagnosis
Info data to fade into the

process image
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EtherCAT Master: Advanced Settings Global

Settings slave on the master
Startup checks during
initialization of the slaves
State machine after failure of

a slave or the master
Infodata to fade into the

process image
The slave settings
can be
made alternatively for
each slave.
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EtherCAT Slave: Advanced settings behaviour

In addition to the
master settings are :
The Final System State
The process data
is partly changed
A Fixed addressing are
enforced
The watchdog behaviour
can be parameterized
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EtherCAT slave: timeout advanced settings

If necessary, the switching
behaviour between the individual
EtherCAT slaves are changed.
In general, the EtherCAT slaves
should also be operated with the
default settings.
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Excersise
Parameterization and commissioning of the System

Manager
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EtherCAT slave configuration of

a specific example of the EL7041
In addition to the standard configuration of the
EtherCAT slave can often also becustomized settings
Process image change
PDO modify content
Parameters on startup lists initialized
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Change in the PDO Contents

If the assignment of
the PDO changed, this
should also be loaded at
start up in the slave.
Also, the configuration of
one (or more) PDO (s) are
loaded into the slave.
By selecting a PDO list, the
corresponding PDO content
s by right-clicking possibly
extended with
new parameters.
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Add start up parameters

If the content of the CoE
objects are modified, this
must be added to
the startup list for the
exchange of slaves make n
o further parameterizations.
On "New ...", the CoE
objects are selected and
added.
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Temporary change CoE-Online
values are changed only

temporarily, so in case of an
exchange of slaves are not
preserved.
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Update of
the EtherCAT Configuration Description
Since terminals is constantly evolving, the EtherCAT configuration
descriptions of the terminals (XML Device Description) is updated regularly
To take advantage of new terminals, modules, or FW-functions must be
provided according to current configuration descriptions
If these do not exist, the recognition of a new terminal will attempt to
load the description of the terminal :
This may range from not enough to ensure the proper operation of
the terminal - useful>update the XML device description
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Update of
The current XML device description are available on the Beckhoff website
for download and is updated regularly :
http://www.beckhoff.com/english/download/elconfg.htm?id=71003277100532
The files of the extracted zip file can be manually copied to
".. \ TwinCAT \ Io \ EtherCAT"and the files will be replaced there
If necessary. existing cache files that were created when
you upload the device description from
the terminal should be deleted (eg: ".. \ TwinCAT \ Io \ EtherCAT \OnlineDes
criptionCache00000002.xml")
The update of the device description can be conveniently carried out via
the TwinCAT System Manager (from TwinCAT Build 2.11.1545) (ESIupdater)
The old files are automatically backed up (zipped file) and delete any
existing cache files
Same dialogue / function without the TwinCAT System
Manager EsiUpdateDlg.exeunder ".. \ TwinCAT \ Io
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Update of
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Sync Units
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Sync Units Essential characteristics

Synchronous exchange of process data related to the validity
In addition to a diagnosis of the field bus, now the diagnosis of
individual groups, so-called "Sync Units" possible
Transparent data exchange for each Sync Unit
Synchronous exchange of process data in multi-task operation, so
that a sync unit of several different fast task can be served at the
end must be logically correct!
Using Sync Units for delineation of individual logical or physical
modules.
Each unit provides sync cycle synchronization process data that
can be used to diagnose the entire system.
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Sync Units
What For?
Sync units are used in particular for applications in which
individual parts are either machine or error
conditions can be switched off without the other machine parts are
to be influenced by.
For dynamic activation and deactivation of modules and
their connection to any position in the field bus (Hot Connect)
these modules are in separate units Sync.
Communication terminals such as fieldbus master-slave modules,
or modules, eg PROFIBUS, CAN should be in separate Sync Units
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Sync Units
parameterization in System Manager
SPSTask
Task
SPS
NCTask
Task
NC
SPSTask
Task
SPS
User
User
defined
defined
SyncUnit
Unit
Sync
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Sync Units
EtherCAT Commands
Each unit contains the sync process

data necessary for
your commands, depending on the
slaves.
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Excersise
Hot Connect
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Excersise
Hot Connect Funktionsprinzip
Many applications require a change in I / O configuration during
operation :
Machining centres with changing, sensor-equipped tool systems
Presses, in which individual printing units can be switched off
etc.
EtherCAT protocol structure allows this
The hot component Connect features / modules in the
EtherCAT network can in operation on or be
decoupled and may be attached to another, anywhere and on again
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Excersise
Hot Connect with EK1101
The EK1101 EtherCAT Coupler has three hexadecimal ID
switches can be assigned to those of a group of
EtherCAT components of an ID.
This group can then be located at any point in the EtherCAT
network.
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Excersise
Hot Connect - im System Manager
Right-click on EK1101 and

selection:
"Add to Hot Connect Groups ...".
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Selection of belonging to the

group participants
and registration of
contracts with input
coupler ID Word.
79
Excersise
Hot Connect - SyncUnit assignment
Change the display in a directory tree
For each group Hot
Connect automatically sync its
own unit is inserted:
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Diagnosis
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Diagnosis
Breaking point detection

continuous "quality-of-line"
measurement enables precise localization of transmission errors
Topology View
The EtherCAT system can be diagnosed through
various variables :
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Diagnosis :
EtherCAT State Machine
About the EtherCAT State Machine (ESM) of

the state of the EtherCAT slave is
controlled. We distinguish the following states:
Init
Pre-Operational
Safe-Operational und
Operational
Boot
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Init: EtherCAT master initializes

the Sync Manager channels 0 and 1
for the mailbox communication
Pre-Op: During the transition
from Init to preop checks the EtherCAT slave, if the
mailbox has
been initialized correctly.
Safe-Op: During the transition from preop checks for safe-Op of the
EtherCAT slave, if the sync
manager for
process data communication chann
els and, if the settings
for the distributed clocks are
correct. (Outputs safe)
Op:Before the EtherCAT master on the
EtherCAT slave after he
has already Op valid output
data transfer.
Boot: In the state boat can update
the firmware to be made slave.
83
Practical diagnosis example - "FrmXWcState

In the
sample configuration,
there are
two coupler with
one input
and one output
terminal.Each
coupler is in a
separate sync
unit (Hugo1, Hugo2).
LRD = LogicalRead: input data e.g. The EL1004

LWR = LogicalWrite: Output data e.g. The EL2004
BRD = BroadcastRead: Reading out the status of
all slaves
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The only frame of

this configuration inclu
des: 2 Cmds (LWR) +
2 Cmds (LRD) Cmd +
1(FRG)
= 5 Commands
84
Diagnose
Inputs -> Master -> FrmXState
FrmXState: Variable of type Word (UINT)
shows the status of
the frame X. For each EtherCATcommand a bit
is reserved:
FrmXState shows bit

by bit
at the respective Ether
CAT commands that
have not beensent.
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Bit:
0 (0x0001) 1. EtherCAT command not sent (NOP
requested)
requested)
requested)...
14 (0x4000) 15. EtherCAT command not sent
(NOP requested)
15 (0x8000)complete frame not sent
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Diagnose
Inputs -> Master -> FrmXWcState
FrmXWcState shows b
it by bit
at the respective Ether
CAT commands that
have received an
invalid WcState.
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FrmXWcState: variable of type Word (UINT)

shows the wrong working counter status
foreach cyclic frame X.
For each EtherCAT command a bit is reserved:
Bit:
0 (0x0001)wrong working counter of 1. EtherCAT
command received
command received
command received...
14 (0x4000)wrong working counter of 15.
EtherCAT command received
15 (0x8000)complete frame missing
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Diagnose
FrmXWcState - Evaluation
From terminal 1
(EK1100) is now terminal 3
(EL2004) located.
The variable Frm0WcState reports
the diagnostic value 0x001116
bzw. 0001 00012.
The
binary is now evaluating the failu
re of the first and
5 Commands, each
characterized by bit 0 and bit 4.
Bit 0 = no output data is written
Bit 4 = Read not
successful broadcast
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Diagnose
FrmXWcState Evaluation
An EtherCAT frame can consist of one or more commands.
These commands can be assigned different SyncUnits.
Each of these commands has an expected value of working counter.
The Master knows the number of slaves per SyncUnit that are
addressed to the respective command and calculates the
expected Working Counter.
The slaves Increment this value
If the master receives an incorrect working counter, then this
points to communication problems, to one or more slaves.
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Diagnose
FrmXWcState Evaluation
Outputs can be switched on invalid WcState continue from the PLC to
ensure a safe state of the system.
Terminals, which are separated by the EtherCAT switch, the output after
the SyncManager watchdog (watchdog SM) from.
Input values "freeze" to view the last current value when
the WcState is invalid.
That is, although an input terminal of the affected SyncUnit is still
in surgery can be viewed old values when the WcState is invalid.
The WcState of EtherCAT slaves should be "always" be evaluated!
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Explanation : FrmXWcState
SlaveCount: Number of slaves found

DevState: Device status information as
WORD (UINT)
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Diagnosis of the bus system DevState (Master)

State: 0xABCD
Bit
0 (0x0001)Link error detected.
1 (0x0002)I/O locked after link error (I/O reset required)
2 (0x0004)Link error (redundancy adapter)
3 (0x0008)Missing one frame (redundancy mode)
4 (0x0010)Out of send resources (I/O reset required)
5 (0x0020)Watchdog triggered
6 (0x0040)Ethernet driver (miniport) not found
7 (0x0080) I/O reset active
8 (0x0100)At least one device in 'INIT' state
9 (0x0200)At least one device in 'PRE-OP' state
10 (0x0400)At least one device in 'SAFE-OP' state
11 (0x0800)At least one device indicates an error state
12 (0x1000)DC not in sync
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EtherCAT Slave: WcState

Similar to the EtherCAT master and each
slave has individual diagnostic inputs
WcState: Variable of type BOOL, shows
the status of slaves working counter.
0 indicates valid Data
1 is an invalid Data.
An invalid value indicates that the
EtherCAT command is to update the inputs
and outputs an invalid value.
For further analysis, the Info-Data variables to
be used
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Diagnosis of the bus system state (slave)

State: 0xABCD
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0x___1 Slave in 'INIT' state

0x___2 Slave in 'PREOP' state
0x___3 Slave in 'BOOT' state
0x___4 Slave in 'SAFEOP' state
0x___8 Slave in 'OP' state
0x0010 Slave signals error
0x0020 Invalid vendorId, productCode... Read
0x0100 Slave not present
0x0200 Slave signals link error
0x0400 Slave signals missing link
0x0800 Slave signals unexpected link
0x1000 Communication port A
0x2000Communication port B
0x4000Communication port C
0x8000Communication port D
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Diagnostic Information Data additional elements
Shows the frequency of the process image

update
DevId(optional): Device ID of
the EtherCAT device.
AmsNetId(optional): The AmsNetId the
EtherCAT master. The corresponding ADS
port is fixed: 0xFFFF(65535)
AdsAddr( optional ): The
variable 'AdsAddr' and
the impressive keep the
AmsNetId AMsport the slaves to
communicate with the mailbox
Chn0( optional for drives only): Channel of a
drive.
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Online Diagnostics tab (Master)

No: physical position in the
EtherCAT ring
Addr: EtherCAT slave address
Name: Name of Slave
State: State of the
EtherCAT slave. If the
slave was not found ERR
is indicated + last validstate.
CRC: CRC count of slaves (ports
A, B, C, D if used)
Tx/Rx Errors:
be (counted from below TwinCAT)
on the network map
Lost Frames: are high,
with Tx / Rx error. Lost a frame
is accepted before Tx / Rx is
incremented.
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Online diagnostic indicator in Topology View

For static errors can also be the fault line in the Topology View display:
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Diagnosis of the bus

system EtherCAT Master: Emergency scan
Link State: All

participants will be
reached?
Number
of frames tocome
Scan frames st
arting with 0,
10,100,1000
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Excersise
Cable Redundancy
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Excersise
Cable Redundancy
Cable redundancy to compensate for a disconnection between
two bus segments
To cover the entire bus system is a ring topology used
The ring topology starts by default via a second network port of the
control in both directions
In the event of redundancy - the ring is interrupted at one point are not achievable by the components supplied by the
second EtherCAT master with process data
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Excersise
Cable redundancy - Setup
The cable redundancy is configured on the primary EtherCAT master.

For this, the entry point for the redundancy master must be chosen.
In the case of redundancy, the participants are then automatically added to
the list.
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Excersise
Cable Redundancy - Diagnostic
Diagnosis of the system
over the system variables and slave count SlaveCount2
Evaluation of the system variable DevState
The variable count shows slave in normal operation the value 0, the
variable SlaveCount2all achievable EtherCAT slaves
In the case of
redundancy SlaveCount/SlaveCount2 shows the still accessible
slaves
In addition, over DevState and a corresponding bit values can be
diagnosed:
- 0x0001: Link Error am primren Port
- 0x0004: Link Error am Redundanzport
- 0x0008: Missing one frame
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Praxiseinschub
Kabelredundanz Diagnose Topology View
Unterbrechung am
Redundanzport
Unterbrechungen,
Kommunikationsausfall zu
einem Klemmenblock
Klemme im 2.
Klemmenblock im
laufenden Betrieb
entfernt, dadurch
Spannungsunterbrechun
g zu nachfolgenden
Klemmen und
Kommunikationsausfall
dorthin
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Excersise
Cable redundancy - Notes
Supplement License: TwinCAT EtherCAT Redundancy required!

TwinCAT is 2.10.1313 or TwinCAT 2.11 used
The control PC has 2 full-fledged, real-time Ethernet ports.
A parallel connection made by a EK1122 for the purpose
of cable redundancy is not permitted
The supplement EtherCAT cable redundancy guarantees from :
- the failure of Ethernet cable runs (eg between couplers EK1100/EK1101)
when the power supply of the stations is not interrupted.
- the failure of the communication part of a single terminal, when the power
supply is not interrupted to the following terminals.
Cable redundancy is only one fault-tolerant
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Various Technologies
Under the XFC technology can be summarized in three different control
technologies :
Distributed Clocks
Time-Stamp
Oversampling
When it comes to these three variants each for ultra fast I / O

terminals with extended real-time property.
In the XFC technology, it is possible to achieve response time <100us,
which were due to technical reasons has been hard to reach.
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Distributed Clocks
Consider a regular, discrete control loop :
Actual value (input components)
Forwarding to control (communication components)
Calculate reaction (control component)
Result of setpoint output (output component)
Process (controlled system)
Crucial to the control process is both a very short
response time, as well as a deterministic, ie be exactly calculable :
actual value
Setpoint output
The temporal accuracy is therefore expected in the I / O
component and not in communication or computation unit!
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Distributed Clocks Principles

Distributed Clocks (DC ) Refers to a
logical terminology EtherCAT network of distributed clocks
With the distributed clocks, it is possible to EtherCAT, all bus
stations locally a reproachin a very narrow
range same time (Accuracy <100 ns)
If an
EtherCAT slave supports the Distributed Clocks capability, it include
its own clock, after power is working locally first, based on its
own clock in the EtherCAT slave (quartz, oscillator, ...).
The exact synchronization is of particular importance in cases where
spatially distributed processes require simultaneous actions.
This may be the case for example in applications that run in which
several servo axes simultaneously coordinated movements.
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Distributed Clocks
Time synchronization system
Time accuracy: 1ns
Aligned clocks have a high degree of tolerance to faultrelated delays
Since communication uses a logical ring structure, the "master
clock" run-time offset to the individual "slave clocks" to
determine accurately and easily and vice versa
which are based on the distributed clocks tracked
Distributed clocks can also provide information to the local time of
data collection :
e.g. timestamp at terminals
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Distributed Clocks
Reference Clock / Slave Clocks
In the EtherCAT strand exists a selected EtherCAT slave, which is
the reference clock /"master
clock" (M), to synchronize the slave clocks / "daughter Clock" (S) of
the other participants and the control.
This reference clock is the System Master.
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Distributed Clocks
Determination of the master-slave offset
The Reference Clock (M) is the first slave
in line with EtherCAT distributed clock
functionality to the EtherCAT master IPC, but can also be
selected freely
Since each slave on the round trip a short delay - both in the
local (S) itself and by the intermediate transmission line - causes the
running times (At) between the reference
clock and the respective slave clock in the synchronization of
the slave Clocks to be considered.
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Distributed Clocks
Measuring the offset times
Measuring the offset time starts in the start phase of the slave by
a broadcast read datagram (FRG)
Each slave is made to save the time of receipt of the telegram (with
respect to its local clock) on both the outward and also on the way
back .
This saved time points are then read by the master and charged
accordingly.
These cycles are measured for all EtherCAT slaves instead
of multiple times and repeated the process time.
This enables the EtherCAT master to create a very accurate
predictor of the topology, based on the frame delays between
the EtherCAT slave.
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Time-Stamp
Process data are usually in your
"real" format (bit digital values, word for analogue values).
The temporal evaluation of the process data can now
be made now from the communication cycle (PLC cycle time) can
be derived.
Resolution and accuracy limits!
Timestamp data types include, in addition
payload
also an associated
time stamp
Input value: When something has happened?
Baseline: When should a reaction?
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Oversampling
Process data are normally transmitted once per
communication cycle accurate.
Temporal resolution depends on the cycle time!
A higher resolution only by reducing the cycle time.
Practical, physical limit to the control component
Oversampling data-types now allow multiple sampling of a process
data within a communication cycle.
The oversampling factor is the number of sampling between two
communication cycles
The triggering of the scanning takes the I / O component by its local
clock (DC)
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Excersise
Distributed Clocks Timing

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Excersise
Distributed Clocks - Timing behavior
Mittwoch, 20. August 2008
Sync1 Timing-Diagramm
0
1000
2000
Datenaustausch
Master <-> Slave
Verzgerung, z.B.
bedingt durch einen
Jitter des PCs, der den
Sync1 Impuls (SyncImpuls der triggernden
Task) verschiebt
3000
Zykluszeit [s]
App
App
Shift Zeit
EC Master
112.4s
Reserve
FRAME
User Shift
500s
Reserve Shift Zeit
EC Master
112.4s
FRAME
Sync1
FRAME
App
Sync1
Sync1
Sync1
Shift Zeit
EC Master
112.4s
Verzgerung
Reserve
Reservezeit:
10% Zykluszeit
Reservezeit:
10s
Telegrammlaufzeit
10%
Zykluszeit
10 s Telegrammlaufzeit
50s Sicherheitsoffset
50 s Sicherheitsoffset
Globale Shift Zeit EC Master:
Globale Shift Zeit EC Master:

10%
Zykluszeit
10%
Zykluszeit
2s pro Knoten (z.B. EK1100)
60ns
Teilnehmer
(z.B.
EL1008)
2spropro
Knoten
(z.B.
EK1100)
60ns pro Teilnehmer (z.B. EL1008)
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EtherCAT Training
Datenaustausch
Master <->Slave:
Slave-Prozessdaten
sind noch nicht
bereit!
Erwarteter Zeitpunkt
des Datenaustausch:
Master <->Slave
Innerhalb der
Reserve-Zeit
Tritt dieser
Effekt
innerhalb von
5ms zwei Mal in
direkter Folge
auf, so spricht
man von einem
SyncLost
115
Distributed Clocks
Example Time Stamp / oversampling terminals
The distributed clock unit in the ESC has usually about 2
interrupts, which can be triggered timed: SYNC0 and SYNC1
If the local Distributed Clocks time with a userdefined default match time, triggers the ESC an interrupt and the
associated operations: SYNC0
Allowed time for example Beckhoff terminals Timestamp: The time
is about an event, for example, saved the arrival of a
(digital) signal and transmits the control
The ESC
can also automatically download new default values, which in this
case a cyclic sequence of actions for the ESC sequence (SYNC1) eg use Beckhoff terminals oversampling
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Distributed Clocks
Capture - Latch 0/1
If an ESC configured, it can save the occurrence of an external
event, the current local time, so they put a capture
unit without delay in a buffer. These external events can be :
Arrival of the EtherCAT frames,

End of the EtherCAT frames,
Edge on a dedicated pin of the ESC,
Communication with a connected microcontroller
etc.
With Servo Drive AX5000 can have high-speed input

(11s) as be stored on a digitalpulse, the current position and the
process image is made available.
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Excersise
Distributed Clocks with input channels

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Excersise
Distributed Clocks with Input Channels
In the figure, the master PC runs with his PLC to an
EtherCAT master an EtherCAT configuration with 3channel digital input terminal EL1202-0100 with Distributed Clocks
support.
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Excersise
Reading the values from the terminals
The PLC controlled and thus the EtherCAT fieldbus operated with
1 ms cycle time
every 1 ms, the input terminals polled EL1202-0100 after their input
values.
The EL1202-0100 is now the local Distributed clock for
sampling of both input channels is used: with each
SYNC interrupt the ESC reads directly adjacent to the input value (0
or1).
The terminal puts its values into the incident shortly after EtherCAT
frame
By using the distributed clock signal, the sampling of the
inputs is highly stable in the continuous equal distance with a
deviation of <100 ns.
All EL1202 EtherCAT-0100 in the entire network by
default read their inputs at the same time, a global, independent
of their location.
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Excersise
Distributed Clocks with Output Channels
Logic for output channels similar to that at input channels
The primary difference is
that the local slave clock sync has now to be most conveniently
by the passage of an EtherCAT frame, instead of at the input
channels before the frame.
Calculation of the global shift time for input and output slaves thus
takes place separately.
The standard established global shift time for the group
of output units is greater than the input modules.
Both lie in the meaningful range of 0 to
100% of EtherCAT cycle time.
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EtherCAT Training
121
Excersise
Parameterization of oversampling Terminal

30.01.2012
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Excersise
Oversampling Digital Output EL2262
The EL2262 digital output
terminal connects the
binary output signals of the control
process level with electrical isolation.
The outputs are adjustable with
an integer multiple (oversampling factor:
n) of the controlled bus
cycle (n micro cycles per bus cycle).
The terminal would receive for
each micro-cycle, a set of
process data sequentially output.
The time base of the terminal can be
synchronized precisely with other
EtherCAT distributed
clock by participants.
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Excersise
parameterization EL2262
The EL2262 is in the TwinCAT System Manager on an
oversampling = 200 set.
In the ESC generated in the terminal SYNC0 the interrupt with the nfold higher frequency.
At each SYNC0 signal is a new bit from the current record for each
channel read and output to the power stage.
By generating the SYNC0 pulse from the local synchronized clock in
the distributed clock composite is ensured that the output of the
output values in high temporal constant equal intervals with the
period of SYNC1 pulse (triggered PLC task) is.
30.01.2012
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Excersise
Oversampling factor set
Using the
tab "DC" ADJUSTING le
aves the oversampling
rate.
About "Advanced Setting
s" you can go into
the menu for
the Distributed Clocks
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Excersise
Adavenced Settings DC
In the advanced settings of
the EL2262 to the distributed
clock, the
time of SYNC1Interrupts can
be changed.
By entering a "User defined shift
time" may be a
few microseconds of
the timecompared
with the global sync setting mov
ed forward or back.
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126
Excersise
Variablendeklaration im PLC Control
For data transfer to the EL2262 is example for each channel an
array of size 25 bytes are required (200 bits / 8 = 25 bytes)
30.01.2012
EtherCAT Training
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Excersise
Link in the System Manager
30.01.2012
EtherCAT Training
128

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Overview

TwinCAT 3 New Automation Technology

TwinCAT 3 | New Automation Technology

Object-orientated programming in IEC

TwinCAT 3 | New Automation Technology

Object orientation with

TwinCAT 3 | Training | Object-orientated

TwinCAT 3 | New Automation Technology

Requirements of the OO in automation technology

TwinCAT 3 | Training | Object-orientated

TwinCAT 3 | New Automation Technology

Advanced IEC features | Keywords

Call syntax for methods:

TwinCAT 3 | New Automation Technology

Advanced IEC features | Application

Use of the extensions

TwinCAT 3 | New Automation Technology

Advanced IEC Features | SUPER and THIS

TwinCAT 3 | Training | Object-orientated

TwinCAT 3 | New Automation Technology

Overview of the language properties

Partially abstract classes

Dyn. memory (new)

TwinCAT 3 | Training | Object-orientated

TwinCAT 3 | New Automation Technology

Object orientation with

TwinCAT 3 | Training | Object-orientated

IEC 61131-3 3rd Edition

IEC61131-3 3rd Edition

IEC 61131-3 3rd Edition

IEC61131-3 3rd Edition

IEC 61131-3 3rd Edition

IEC61131-3 3rd Edition

IEC 61131-3 3rd Edition

IEC61131-3 3rd Edition

IEC 61131-3 3rd Edition

IEC61131-3 3rd Edition

IEC 61131-3 3rd Edition

VAR_TEMP - Temporary Variables

IEC61131-3 3rd Edition

IEC 61131-3 3rd Edition

VAR_STAT - Static Variables

IEC61131-3 3rd Edition

IEC 61131-3 3rd Edition

Expression for variable initialization

IEC61131-3 3rd Edition

IEC 61131-3 3rd Edition

IEC61131-3 3rd Edition

IEC 61131-3 3rd Edition

IEC61131-3 3rd Edition

IEC 61131-3 3rd Edition

IEC61131-3 3rd Edition

IEC 61131-3 3rd Edition

IEC61131-3 3rd Edition

IEC 61131-3 3rd Edition

Object Oriented Extensions

FB_Init, FB_Exit, FB_Reinit

IEC61131-3 3rd Edition

IEC 61131-3 3rd Edition

IEC61131-3 3rd Edition

IEC 61131-3 3rd Edition

IEC61131-3 3rd Edition

IEC 61131-3 3rd Edition