782

TwinCAT
TwinCAT®
PLC and Motion Control on the PC

TwinCAT

783
 794 TwinCAT PLC

796 TwinCAT NC/CNC

805 TwinCAT Supplements
TwinCAT

784
TwinCAT®
The Windows Control and Automation Technology

786 Product overview 794 TwinCAT PLC 806 TwinCAT Supplements

790 PC-based control technology System
791 PLC and Motion Control
on the PC
796 TwinCAT NC PTP 812 TwinCAT Supplements
Motion

798 TwinCAT NC I 816 TwinCAT Supplements

Communication

800 TwinCAT CNC 824 TwinCAT Supplements

Controller

802 TwinCAT I/O 825 TwinCAT Supplements

Building Automation

804 TwinCAT CP

TwinCAT

785

www. beckhoff.com/TwinCAT BECKHOFF New Automation Technology

 Product overview TwinCAT

Software PLC Software NC PTP

TwinCAT PLC TwinCAT NC PTP

794 796
PC hardware standard PC/IPC hardware, no extras TwinCAT PLC inclusive 794
Operating systems Windows NT/2000/XP/Vista, Windows 7, PC hardware standard PC/IPC hardware, no extras
NT/XP Embedded, CE* Operating systems Windows NT/2000/XP/Vista, Windows 7,
Real-time Beckhoff real-time kernel NT/XP Embedded, CE*
I/O system EtherCAT, Lightbus, PROFIBUS DP/MC, Interbus, Real-time Beckhoff real-time kernel
CANopen, DeviceNet, SERCOS, Ethernet and I/O system EtherCAT, Lightbus, PROFIBUS DP/MC, Interbus,
PC hardware CANopen, DeviceNet, SERCOS, Ethernet and
Run-time system 4 multi-tasking PLCs each with 4 tasks in each PLC PC hardware
run-time system, development and run-time systems Programming performed using function blocks for TwinCAT PLC
on one PC or separately (CE: only run-time) according to IEC 61131-3 (standardised PLCopen
Memory process image size, flags area, program size, Motion Control libraries), convenient axis commis-
POU size, number of variables only limited by sioning menus in the System Manager
the size of the user memory (max. 2 GB with Run-time system NC point-to-point including TwinCAT PLC
NT/ 2000 / XP/Vista) Number of axes up to 255
Cycle time adjustable from 50 µs Axis types electrical and hydraulic servo drives, frequency
Link-time 1 µs (Intel® Core™2 Duo) for 1,000 PLC commands converter drives, stepper motor drives, switched
Programming IEC 61131-3: IL, FBD, LD, SFC, ST, powerful drives (fast/crawl axes)
library management, convenient debugging Cycle time 50 µs upwards, typically 1 ms (selectable)
Axis functions standard axis functions: start / stop /
reset /reference, speed override,
special functions: master/slave cascading,
cam plates, electronic gearings, online distance
compensation of segments, “flying saw”

TwinCAT Level TwinCAT Level

TwinCAT I/O TwinCAT CP

TwinCAT

802 804
PC hardware standard PC/IPC hardware, no extras PC hardware standard PC/IPC hardware, no extras
786 Operating systems Windows NT/2000/XP/Vista, Windows 7, Operating systems Windows NT/2000/XP/Vista, Windows 7,
NT/XP Embedded, CE (only run-time)* NT/XP Embedded*
Real-time Beckhoff real-time kernel Real-time Beckhoff real-time kernel
Multi-purpose I/O interface for all common fieldbus systems, Windows driver for Beckhoff Control Panel
PC Fieldbus Cards and interfaces with integrated real-time driver

BECKHOFF New Automation Technology We reserve the right to make technical changes.
 TwinCAT system
TwinCAT
Supplements System Manager

TwinCAT CP

TwinCAT I/O

Building Automation
TwinCAT PLC

Communication
TwinCAT NC PTP

Controller
TwinCAT NC I

Motion
System
TwinCAT CNC

Software NC I Software CNC

TwinCAT NC I TwinCAT CNC

798 800
TwinCAT PLC inclusive 794 TwinCAT PLC inclusive 794
TwinCAT NC PTP inclusive 796 TwinCAT NC PTP inclusive 796
PC hardware standard PC/IPC hardware, no extras TwinCAT NC I inclusive 798
Operating systems Windows NT/2000/XP/Vista, Windows 7, PC hardware standard PC/IPC hardware, no extras
NT/XP Embedded, CE* Operating systems Windows NT/2000/XP/Vista, Windows 7,
Real-time Beckhoff real-time kernel Windows NT/XP Embedded*
I/O system EtherCAT, Lightbus, PROFIBUS DP/MC, Interbus, Real-time Beckhoff real-time kernel
CANopen, DeviceNet, SERCOS, Ethernet and I/O system EtherCAT, Lightbus, PROFIBUS DP/MC, Interbus,
PC hardware CANopen, DeviceNet, SERCOS, Ethernet and
Programming DIN 66025 programs for NC interpolation, PC hardware
access via function blocks from TwinCAT PLC Programming DIN 66025 programming language with
according to IEC 61131-3 high-level language extensions, mathematical
Run-time system NC interpolation, including TwinCAT NC PTP functions, programming of parameters/variables,
and PLC user macros, subroutine techniques, spindle and
Number of axes max. 3 axes and up to 5 auxiliary axes per group, help functions, tool functions, zero offset shifts
1 group per channel, max. 31 channels Run-time system CNC, including TwinCAT NC I, NC PTP, PLC
Axis types electrical servo axes, stepper motor drives Number of axes / 8 path axes / 6 controlled spindles, max. of
Interpreter subroutines and jumps, programmable loops, spindles 64 axes / 12 controlled spindles (optional)
functions zeroshifts, tool compensations, M and H functions Axis types electrical servo-axes, analog/encoder interface
Geometries straight lines and circular paths in 3-D space, via fieldbus, digital interface via fieldbus
circular paths in all main planes, helixes with base Geometries linear, circular, helical interpolation in the main
circles in all main planes linear, circular, helical planes and freely definable planes, 8 interpolating
interpolation in the main lanes and freely definable path axes per channel, look-ahead function
planes, Bezier splines, look-ahead function Axis functions coupling and gantry axis function, override, axis
Axis functions online reconfiguration of axes in groups, error and sag compensation, measuring functions
path override, slave coupling to path axes, Operation automatic operation, manual operation (jog / inching),
auxiliary axes, axis error and sag compensation, single block operation, referencing, block search,
measuring functions handwheel operation (motion /superposition)
Operation automatic operation, manual operation
TwinCAT

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

TwinCAT CNC Options
handwheel operation (motion /superposition)
Options TwinCAT CNC Axes Pack 801 787
TwinCAT CNC Channel Pack 801
TwinCAT CNC Transformation 801
TwinCAT CNC HSC Pack 801
TwinCAT CNC Spline Interpolation 801
TwinCAT CNC Virtual NCK Basis/Options 801

* version-dependent

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

Supplements | System Supplements | Motion

TwinCAT ECAD Import 806 TwinCAT PLC Motion Control XFC 812
software tool for importing engineering results PLC library for high-precision logging and switching
from an ECAD program of digital signals in relation to axis positions
TwinCAT Engineering Interface Server 806
software tool for co-ordinating programming tasks TwinCAT PLC Hydraulic Positioning 812
via a central source code management system PLC library for the control and adjustment of hydraulic axes
TwinCAT Eventlogger 807
alarm and diagnostic system for logging events TwinCAT NC FIFO Axes 813
which occur in the TwinCAT system PLC library for the implementation of a pre-defined user setpoint
TwinCAT XML Data Server 807 generator for an NC axis
software package for reading and writing of XML-based data
by the PLC TwinCAT NC Flying Saw 813
TwinCAT Backup 807 PLC library for implementing “flying saw” functionality
software tool for backing up and restoring files,
operating system and TwinCAT settings TwinCAT PLC Remote Synchronisation 813
TwinCAT Simulation Manager 808 PLC library for remote synchronisation
software tool for the simplified preparation and configuration
of a simulation environment TwinCAT NC Camming 814
TwinCAT Database Server 808 PLC library for using the TwinCAT NC cam plate functionality
software package for accessing databases from the PLC (table coupling)
TwinCAT Database Server CE 808
software tool for accessing databases from the PLC TwinCAT Cam Design Tool 814
for Windows CE platforms graphic design tool for electronic cam plates
TwinCAT PLC HMI 808
software tool for displaying visualisations created in PLC Control TwinCAT Digital Cam Server 815
TwinCAT PLC HMI CE 809 software implementation of fast cam controller
software tool for displaying visualisations created in PLC Control
on Windows CE platforms TwinCAT Valve Diagram Editor 815
TwinCAT PLC HMI Web 809 graphical tool for designing the characteristic curve
display of visualisations created in PLC Control in a web browser of a hydraulic valve
TwinCAT Management Server 809
software tool for the central administration of Beckhoff CE control systems TwinCAT Kinematic Transformation 815
TwinCAT Scope 2 810 PLC library for the implementation of different kinematic
graphical analysis tool for displaying time-continuous signals transformations for TwinCAT PTP or TwinCAT NC I
TwinCAT EtherCAT Redundancy 810
extension of the TwinCAT EtherCAT master with
cable redundancy capability
TwinCAT PROFINET IO Controller 810
TwinCAT PROFINET IO controller turns every PC-based controller
TwinCAT

into a PROFINET IO controller.

TwinCAT PROFINET IO Device 811

788 TwinCAT PROFINET IO device turns every PC-based controller

into a PROFINET IO device.
TwinCAT EtherNet/IP Slave 811
TwinCAT EtherNet/IP slave turns every PC-based controller
into an EtherNet/IP slave.
TwinCAT Solar Position Algorithm 811
PLC library for precise calculation of the sun’s position

BECKHOFF New Automation Technology We reserve the right to make technical changes.
 Supplements | Communication Supplements | Communication
TwinCAT PLC Serial Communication 816 TwinCAT Virtual Serial COM Driver 822
PLC library for communication via serial Bus Terminals virtual serial COM driver for Windows XP and Windows CE platforms
or PC COM ports TwinCAT FTP Client 823
TwinCAT PLC Serial Communication 3964R/RK512 816 PLC library for basic access from TwinCAT PLC to FTP server
PLC library for communication via serial Bus Terminals TwinCAT PLC RFID Reader Communication 823
or PC COM ports with the 3964R and RK512 protocol PLC library for connection of RFID readers to the TwinCAT PLC
TwinCAT PLC Serial Communication EnOcean 817 TwinCAT PLC S5/S7 Communication 823
PLC library for processing of signals from battery-less sensors PLC library for communication with S5/S7 controllers
with EnOcean technology
TwinCAT PLC Modbus RTU 817
PLC library for serial communication with Modbus end devices.
TwinCAT Modbus TCP Server 818
Supplements | Controller
software package for communication with Modbus TCP devices
(server and client functionality) TwinCAT PLC Controller Toolbox 824
TwinCAT PLC IEC 61850 Server 818 PLC library with modules for basic controllers (P, I, D), complex controllers
PLC library for IEC 61850 communication (PI, PID), pulse width modulation, ramps, signal generators and filters
TwinCAT PLC IEC 61400-25 Server 818 TwinCAT PLC Temperature Controller 824
PLC library for IEC 61400-25 communication PLC library with instanced temperature control function block
TwinCAT PLC IEC 60870-5-101, -102, -103, -104 Master 819 for monitoring and controlling different temperature ranges
PLC library for the implementation
of IEC 60870-101, -102, -103 and -104 masters
TwinCAT PLC IEC 60870-5-104 Master CE 819
PLC library for the implementation
Supplements | Building Automation
of IEC 60870-104 masters under Windows CE
TwinCAT PLC IEC 60870-5-101, -104 Slave 819 TwinCAT PLC Building Automation 825
PLC library for the implementation PLC library for executing basic room automation functions
of IEC 60870-101 and -104 slaves
TwinCAT PLC IEC 60870-5-104 Slave CE 819 TwinCAT PLC Building Automation DALI 825
PLC library for the implementation PLC library for communication with the KL6811 DALI master
of IEC 60870-104 slaves under Windows CE Bus Terminal
TwinCAT DriveTop Server 820 TwinCAT Building Automation Framework 826
software tool to configure Indramat SERCOS drives framework for the configuration and commissioning
with DriveTop software on TwinCAT systems of building automation projects
TwinCAT DriveCOM OPC Server 820 TwinCAT PLC HVAC 826
software tool for fieldbus-independent communication PLC library for the automation of HVAC and sanitary installations
connections between the engineering tool and the drive
TwinCAT OPC Server 820 TwinCAT PLC M-Bus 826
software package for access to TwinCAT variables PLC library for the use of the M-Bus for the acquisition
in accordance with the OPC DA/OPC XML DA specification of consumption data
TwinCAT

TwinCAT OPC UA Server 821 TwinCAT Crestron Server 827

software package for access to TwinCAT variables software package for communication between
in accordance with the OPC UA specification a TwinCAT PLC and a Crestron controller 789
TwinCAT ADS Communication Library 821 TwinCAT BACnet/IP 827
ADS communication components software package for communication with the data networks
TwinCAT SMS/SMTP Server 822 of the building automation and building control systems
software package for sending SMS and e-mails from the PLC TwinCAT FIAS Server 827
TwinCAT TCP/IP Server 822 software package for communication between TwinCAT PLC
software package for communication via generic TCP server and a system using the FIAS standard

We reserve the right to make technical changes. BECKHOFF New Automation Technology
 TwinCAT – PC-based control technology
The Windows Control and
Automation Technology
The TwinCAT Software System
turns almost any compatible
PC into a real-time controller
with a multi-PLC system and
NC/CNC axis control. At the
same time, TwinCAT integrates
the programming environment
for all Beckhoff controllers:
from high-end Industrial PC
Control to embedded controller.
TwinCAT architecture
TwinCAT consists of run-time
systems that execute control
programs in real-time and the
development environments
for programming, diagnostics
and configuration. Any Windows
programs, for instance visuali-
sation programs or Office pro-
grams, can access TwinCAT data
via Microsoft interfaces, or can
execute commands.
TwinCAT
A practically oriented
software solution
790 TwinCAT offers a precise
timebase in which programs
are executed with the highest
deterministic features, independ-
ently of other processor tasks.
The real-time and non-real-time
BECKHOFF New Automation Technology
parts can be set with TwinCAT: router” manages and distribut-
defined operating behaviour is es all the messages, both in the
achieved in this way. TwinCAT system and via TCP/IP connec-
indicates the system load for tions. This way, PC systems can
programs that are running. be linked worldwide via TCP/IP.
A load threshold can be set Bus Terminal Controllers can be
in order to assure a defined connected via serial interfaces
computing capacity for the and fieldbuses (e.g. EtherCAT,
operating programs as well as Lightbus, PROFIBUS, CANopen,
for Windows NT/2000/XP/Vista RS232, RS485, Ethernet TCP/IP).
or Windows 7. If this threshold Technologies such as OPC and
is exceeded, a system message OPC UA offer access to a wide
is generated. range of different SCADA/MES/
ERP packages via standardised
TwinCAT supports system routes.
diagnosis
The general use of hardware
and software from the open PC
world requires some checking:
Unsuitable components can
upset the PC system. Beckhoff
has integrated a practical indi-
cator of the real-time jitter, giv-
ing administrators an easy way
to evaluate the hardware and
software. A system message
during operation can draw
attention to incorrect states.
Worldwide access
The TwinCAT software devices
can be distributed to differ-
ent components, depending
on requirements. A “message
We reserve the right to make technical changes.
PLC and Motion Control on the PC
TwinCAT I/O – universal I/O
interface for all common
fieldbuses
Many PC fieldbus cards from
various manufacturers are sup-
ported. It is possible to operate
more than one fieldbus card per
PC. Master and slave function-
ality is supported, depending
on the selected fieldbus card.
The fieldbus cards can be con-
figured and diagnosed conve-
niently via the TwinCAT System
Manager. TwinCAT I/O includes
the TwinCAT real-time system
for operating the fieldbuses and
a DLL interface to application
programs.
TwinCAT PLC – the central
pillar of automation soft-
ware
Conceived as a pure software
PLC, TwinCAT PLC allows up to
four virtual “PLC CPUs”, each
running up to four user tasks,
on one PC. The PLC program can
be written in one or more of the
languages provided for in the
IEC 61131-3 standard:
– IL (Instruction List),
– LD (Ladder Diagram),
– FBD/CFC (Function Block
Diagram),
We reserve the right to make technical changes.
– SFC (Sequential Function
Chart) and
– ST (Structured Text).
TwinCAT PLC running under the
Windows NT/2000/XP/Vista and
Windows 7 operating systems
includes both the programming
environment and the run-time
system, so that an additional
programming device is not
required. Under the CE operating
system and the embedded oper-
ating systems for the series BX
and BC controllers, only TwinCAT
run-time is available. Program
modifications are implemented
via network-capable powerful
communication with the run-
time system. Programming can
be done
– locally,
– via TCP/IP or
– via the fieldbus
(BXxxxx and BCxxxx).
Many target platforms
– one tool
The PLC programs created with
TwinCAT PLC can be executed
on a number of target platforms.
Apart from Industrial PCs and
the Embedded PCs, the PLC
project can also be loaded into
the BC and BX series fieldbus
controllers from Beckhoff. Pro-
gram development and debug-
ging proceed in the same working
environment, regardless of which
unit is executing the program.
Extensive supplementary
libraries
As an extension to the blocks
defined by the IEC language
standard, Beckhoff offers a wide
range of supplementary libraries
for the execution of tasks typical
in automation technology: e.g.
libraries for controlling electrical
and hydraulic axes via TwinCAT
NC, serial communication librar-
ies, system libraries for message
outputs, write/read files, control
technology blocks, etc.
Helpful practice tools
Extensive faultfinding functions
in TwinCAT PLC facilitate the
solution of problems either on
site or via remote maintenance.
For this purpose, the PLC pro-
gramming environment in
TwinCAT offers:
– monitoring,
– powerflow (flow control),
– break point,
– sampling trace of PLC
variables,
BECKHOFF New Automation Technology
– single step,
– watchlist,
– call hierarchy and
– forcing of variables.
In addition, the TwinCAT
ScopeView (a software
oscilloscope) can be used
to record one or several
variables simultaneously.
TwinCAT NC – Motion
Control on the PC
A software NC consists of:
– positioning (set value
generation and position
control)
– integrated PLC with
NC interface
– operating programs
for commissioning
purposes
– I/O connection for axes
via fieldbus
With TwinCAT NC, the position
controller is calculated on the
PC processor as standard. It
TwinCAT
exchanges data cyclically with
drives and measurement systems
via the fieldbus. 791
Central NC positioning
on the PC
The computing capacity
of a PC enables axis motion
 simultaneously with the PLC.
The computing capacity of a
PC enables many axes to be
positioned simultaneously.
Analytical path calculation
The algorithms that TwinCAT NC/
NC I/CNC uses to control axes
take account of the dynamic
parameters of the axis: speed,
acceleration and jerk. In this
way, the axes are moved at any
time within the limits of what
is dynamically possible, and are
precisely analytically coordi-
nated. A range of different regu-
lation algorithms are available
in order to reduce the deviations
from the ideal trajectory that will
occur in practice.
Individual or joint
Based on the normal methods
for positioning an individual
electrical axis, moving from its
starting point to its destination
TwinCAT
(point-to-point positioning),
TwinCAT NC also allows the
792 coordinated movement of a
number of axes in multi-stage
master-slave operation (e.g.
gearing functions or cam plates)
to be executed.
BECKHOFF New Automation Technology
Convenient commissioning
Commissioning is simplified
significantly by the configuration
and diagnostic dialogs offered
in the TwinCAT System Manager.
For each axis, all main data are
displayed at a glance. The axes
can be moved via function keys.
Special functions such as cou-
plings, cam plates or distance
compensation can be triggered
and observed via the System
Manager. A convenient dialog
enables the dynamic param-
eters of an axis to be deter-
mined.
TwinCAT NC I – axis
interpolation in three
dimensions
TwinCAT NC I (interpolation)
is the NC system for linear
and circular interpolated path
movements of axis groups with
up to eight drives. The system
includes interpreter, set value
generation and position control-
ler. PLC functionality is integrated,
as is the connection of the axes
with the fieldbus.
The interpreter interprets
the code described in DIN 66025.
Comprehensive PLC libraries
enable interaction between
NC and PLC. NC programs, for
example, can be loaded directly
from the PLC program into the
interpreter. As an alternative to
DIN 66025, the path interpola-
tion via the TcPlcInterpolation
library can take place directly
from the PLC. In this case, the
geometry and help functions
(e.g. M functions) are writ-
ten to a table in the PLC and
transferred to the NC core. This
procedure is particularly suitable
for flexible movements, e.g. in
pick-and-place applications.
TwinCAT CNC –
the software CNC for
toughest requirements
TwinCAT CNC expands TwinCAT
NC I with classic CNC features:
up to 32 interpolating axes
and comprehensive coordinate
and kinematic transformations
are possible. Parts program-
ming is carried out according
to DIN 66025 using high-level
language extensions. TwinCAT
CNC can operate with up to
64 axes or 32 path axes and
controlled spindles that can be
distributed across up to twelve
CNC channels. In a CNC channel,
up to 32 axes can be interpolated
simultaneously, enabling even
the most difficult motion tasks to
be solved. Apart from the classic
linear, circular and helical inter-
polations, TwinCAT CNC offers
convenient spline interpolation,
optionally based on Akima or
B-splines. Real-time transforma-
tions enable complex machine
kinematics to be realised without
problem. Apart from the classic
linear, circular and helical inter-
polations, TwinCAT CNC offers
convenient spline interpolation,
optionally based on Akima or
B-splines. Real-time transforma-
tions enable complex machine
kinematics to be realised without
problem.
HSC technology
(high-speed cutting)
Advanced HSC cutting technol-
ogy requires CNC control tech-
nology with optimised solutions
for Motion Control in order to
achieve optimum results in terms
of processing time while at the
same time offering maximum
accuracy and workpiece surface
quality.
We reserve the right to make technical changes.
 TwinCAT 3 – eXtended Automation
With TwinCAT 3 a PC-based
control software is available
which will expand the standard
automation world considerably.
In addition to the object-ori-
ented IEC 61131-3 extensions,
the languages of the IT world
are available in C and C++.
The integration of Matlab®/
Simulink® enables the applica-
tion in scientific fields. And all
of that in just one engineering
environment. The modules
run in different languages in a
common runtime. The advan-
tage of this modularity is the
improved reuse of modules,
once they have been written
and tested. The runtime runs
under harsh real-time condi-
tions with the use of multi-core
technology and the support
of 32- or 64-bit operating
systems.
Estimated market release 2nd quarter 2011, further information: www.beckhoff.com/TwinCAT3
We reserve the right to make technical changes.
eXtended Automation
Architecture
The familiar TwinCAT features
are continued with eXtended
Automation Architecture (XAA).
In addition, all widely used
fieldbuses will be supported
in future. Motion Control,
from point-to-point move-
ments to CNC is still possible,
of course. The pure automation
technology is considerably
expanded by Scientific Auto-
mation themes, such as robot-
ics, measurement technology
and condition monitoring.
eXtended Automation
Engineering
The eXtended Automation
Engineering environment (XAE)
is Microsoft Visual Studio®.
Alongside the already existing
C/C++ languages, Beckhoff
has also integrated the
IEC 61131-3 programming
option in this worldwide famil-
iar development environment.
This way, the benefits of the
IT framework become usable
for automation. The TwinCAT
System Manager – the con-
figuration tool for I/O and
Motion – is similarly integra-
ted in the same development
environment. The advantage
of this is the possibility to
integrate further programming
languages or to use additional
tools, such as source code
administration tools, with
little effort.
BECKHOFF New Automation Technology
eXtended Automation
Runtime
In the eXtended Automation
Runtime (XAR), all modules
written in IEC 61131, C/C++
or Matlab®/Simulink® are pro-
cessed in real-time. The proven
TwinCAT real-time extension
for Microsoft operating systems
is used here. The tasks can be
processed with a minimum
cycle time of 50 µs and very
small jitter. TwinCAT real-time
has been extended by the pos-
sibility to distribute certain
tasks to different cores of a
multi-core CPU. This increases
the performance of PC Control
further. 64-bit operating sys-
tems, which are now widely
used, are also supported with
TwinCAT 3. Only the modular
software architecture with
TwinCAT
clear interfaces enables the
processing of runtime objects
written in different program- 793
ming languages.
 TwinCAT PLC – IEC 61131-3 Multi-PLC on the PC
Software PLC for
Windows NT/2000/XP/Vista
or Windows 7
The TwinCAT PLC is programmed
in accordance with IEC 61131-3
independently of the manufac-
turer. Online connections with
PLC run-time systems around
the world can be implemented
with TCP/IP or via fieldbuses on
the IPC.
TwinCAT PLC programming
system
TwinCAT PLC offers all the
languages in the IEC 61131-3
standard and has a powerful
development environment for
programs whose code size and
data regions far exceed the
capacities of conventional PLC
systems.
Online connection via
networks
Changes to programs or data
are supported by a very power-
ful link to the run-time systems,
which can also operate over a
network. All the usual facilities
of a PLC are available.
Any Windows programs, for
instance visualisation programs
or Office programs, can access
TwinCAT data via Microsoft
interfaces or control the PLC.
Practically oriented
properties
– all defined programming
languages: IL, FBD, LD, SFC,
ST and CFC
– certified in accordance – incremental compilation
with base level (IL/ST) – all common data types,
– structured programming structures, arrays, including
with modular program multi-dimensional arrays
management – programming support:
– recompilation while PLC auto-format, auto-declare,
runs with maximum data cross reference, search/
retention (online change) replace
– convenient library – project compare
management – program converting in
– source code storage in different languages
target system – connection with source
– criterion analysis code management tools
– conversion between
languages

TwinCAT multi PLC

TwinCAT

PLC run-time 1 PLC run-time 2 PLC run-time 3 PLC run-time 4

task 1-4 task 1-4 task 1-4 task 1-4
794
Process image 1 Process image 2 Process image 3 Process image 4
I/O mapping

Lightbus PROFIBUS DP Interbus CANopen

EtherCAT DeviceNet SERCOS PC hardware

IEC 61131-3 languages

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

Diagnosis using standard PC – online monitoring of variables in variable

techniques
Changes of any size to program and data
can be carried out “online”. Error location
and correction (debugging) is supported by
aid of a very powerful link to the run-time
system. This can also be used over a network.
All the usual features of a PLC are available.
Debugging features
– Online connections with PLC run-time
systems around the world can be imple-
mented with TCP/IP or via fieldbuses.
– online change of new variables, instances
or programs at run-time with maximum
data retention
lists, watch windows, editors
– online status and powerflow (accumula-
tor contents) of programs and instances
– triggering, forcing and setting variables
– single step, breakpoints
– step into, step over
– display of the current call stack
– Watch list shows a selection of variables.
– Trace function records variable values for
every cycle.
– online management of all variable names
and structures across the whole system
– TwinCAT ScopeView as a graphical diag-
nostic and analysis tool for the display
of values Powerful debugging

Technical data TwinCAT PLC

PC hardware standard PC/IPC hardware, no extras
Operating systems version-dependent: Windows NT/2000/XP/Vista, Windows 7, Windows NT/XP Embedded, Windows CE (only run-time)
Target systems PC (x86), Windows CE devices, Beckhoff Fieldbus Controllers (BCxxxx, BXxxxx, IL230x-Cxxx)
Real-time Beckhoff real-time kernel as a component of TwinCAT
Run-time system max. 4 multi-tasking PLCs each with 4 tasks in each PLC run-time system, development and run-time systems
on one PC or remote programming via TCP/IP
Memory process image size, flags area, program size, POU size, number of variables only limited by the size of the user memory
(max. 2 GB under NT/2000/XP/Vista)
Cycle time 50 µs upwards selectable (typically 1 ms)
Link time 1 µs (Intel® Core™2 Duo)
Programming IEC 61131-3: IL, FBD, LD, SFC, ST, CFC, powerful library management
Debugging online changes in programs and variables, online monitor, execution control, breakpoints, write, force, step,
data trace, remote debugging via TCP/IP
Remanence remanent and persistent data, UPS supported storage on hard disk, storage in NOVRAM as option
I/O system free choice of fieldbus: EtherCAT, PROFIBUS DP/MC, CANopen, DeviceNet, Interbus, SERCOS, Lightbus, Ethernet,
PC hardware (printer port, COM port, USB), PC cards: generic memory DPRAM support
Connectivity variable access via OPC, Beckhoff ADS OCX/DLL, .NET
Further information www.beckhoff.com/TwinCAT_PLC

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

Options
TwinCAT PLC The TwinCAT Controller Toolbox library contains blocks for basic controllers (P, I, D),
Controller Toolbox complex controllers (PI, PID), pulse width modulation, ramps, signal generators, filters. 824
TwinCAT PLC IEC 61131-3 software library for TwinCAT PLC for temperature control
Temperature Controller 824
TwinCAT PLC IEC 61131-3 software library for TwinCAT PLC for controlling hydraulic axes
TwinCAT

Hydraulic Positioning 812

TwinCAT PLC IEC 61131-3 software library for TwinCAT PLC with Modbus RTU function blocks
Modbus RTU for serial communication with Modbus devices 817
795
TwinCAT PLC IEC 61131-3 software library for TwinCAT PLC for communication via serial Bus Terminals
Serial Communication or PC COM ports 816
TwinCAT PLC IEC 61131-3 software library for TwinCAT PLC for execution of basic functions in
Building Automation the building automation area (basic library) 825
TwinCAT Engineering The TwinCAT Engineering Interface Server integrates drivers for interfacing with
Interface Server Microsoft Visual Source Safe or Subversion. 806

We reserve the right to make technical changes. BECKHOFF New Automation Technology
 TwinCAT NC PTP – Point-to-point axis positioning
Position control with
the PC
TwinCAT NC PTP includes axis
positioning software (set value
generation, position control),
an integrated software PLC with
NC interface, operating program
for commissioning and an I/O
connection to the axes through
various fieldbuses. TwinCAT
NC PTP replaces conventional
positioning modules and NC
controllers.
NC PTP software on
the PC
The controllers that are simulat-
ed by the PC cyclically exchange
data with drives and measuring
systems via the fieldbus.
The capacity of a PC allows
axes to be moved in parallel with
the PLC functionality. PC power
means that some tens of axes
can easily be positioned simul-
taneously.
TwinCAT
Axis structure
TwinCAT NC PTP uses variables
to operate axes. Each axis has
variables for encoder, drive and
controller. The axis can be linked
to I/O interfaces, and parameters
can be set.
Axis functions
Axis functions such as
– start (various modes)
– stop
– new target position
and velocity
– constant drive output
– set/call actual position
Axis types
– servo axes
– high/low speed axes
– stepper motor axes
– “low-cost” stepper motor
axes
– encoder axes
– simulation axes
– DC drives
Drive interfaces – Axis functions can be
– analog embedded into the
– EtherCAT IEC 61131-3 PLC system
– SERCOS by means of function block
– SSI libraries; the function blocks
– Lightbus comply with the PLCopen
– PROFIBUS DP/MC standard.
– pulse train – data interface to Windows
NT/2000/XP/Vista/CE or
Interfaces Windows 7 programs by
– interfacing to all popular means of open standards
fieldbuses, e.g. EtherCAT, (OPC, Beckhoff ADS)
Lightbus, SERCOS, PROFIBUS
DP/MC, synchron CAN
System operation

System structure Position measurement

796 Axes are structured into
channels for PTP movement
and for interpolated move-
ments.
systems
The position controller acquires
the actual position through:
– incremental encoders
– absolute encoders
– digital interfaces to
the drives

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

Positioning Commissioning/servicing Special functions

Positioning is executed with The online menu allows impor- – linear coupling
a powerful, modern positioning tant axis parameters such as (electrical gears)
algorithm in which profiles are – target position, – distance compensation
generated with jerk limitation – set speed, – online master/slave and
and with pre-control of speed – acceleration, jerk, slave/master conversion
and acceleration to minimise – reference speed, – “flying saw” (diagonal saw) Programming IEC 61131-3
the following error. – controller Kv factor, – camming (support through function blocks or standard
Positioning facilities: to be set, and general axis TwinCAT Cam Design Tool) PLCopen Motion Control
– Controller structures functions such as – FIFO axes libraries
can be adjusted. – start, – change over encoders/
– P controller – stop/emergency stop, controllers
– PID controller – new target position – external axis set value
– PID with speed with new speed, generator
pre-control to be called. – multi-master coupling
– PID with speed
and acceleration
pre-control
– override functions

Technical data TwinCAT NC PTP

PC hardware standard PC/IPC hardware, no extras
Operating systems version-dependent: Windows NT/2000/XP/Vista, Windows 7, Windows NT/XP Embedded, Windows CE (only run-time)
Real-time Beckhoff real-time kernel as a component of TwinCAT
Run-time system NC point-to-point (NC PTP) including TwinCAT PLC
Number of axes up to 255 axes
Axis types electrical and hydraulic servo drives, frequency converter drives, stepper motor drives, DC drives, switched drives
Cycle time 50 µs upwards selectable (typically 1 ms)
Axis functions standard axis functions: start/stop/reset/reference, speed override, destination override; special functions: master-slave
cascading, electronic gearing, online distance compensation
Programming performed using IEC 61131-3 function blocks in the TwinCAT PLC, convenient methods for axis commissioning
Debugging online monitoring of all axis state variables such as actual/set value, enable, controller values, online axis tuning,
forcing axis variables
Configuration all axis parameters such as the measuring system, drive parameters and position controller can be conveniently configured
Remanence remanent data, UPS-supported storage on hard disk
I/O system free choice of fieldbus: EtherCAT, PROFIBUS DP/MC, CANopen, DeviceNet, Interbus, SERCOS, Lightbus, Ethernet
Connectivity variable access via OPC, Beckhoff ADS OCX/DLL
Further information www.beckhoff.com/TwinCAT_NC_PTP

Ordering information
TwinCAT

TwinCAT NC PTP licence for using the PTP positioning software with integrated IEC 61131-3 TwinCAT PLC,
contains programming software and run-time system
797
Options
TwinCAT NC Camming IEC 61131-3 software library for TwinCAT, implemented camshaft functionality (table coupling) 814
TwinCAT NC FIFO Axes IEC 61131-3 software library for TwinCAT, permits specified FIFO set value generation 813
TwinCAT NC Flying Saw IEC 61131-3 software library for TwinCAT, implements a “flying saw” 813
TwinCAT Cam Design Tool graphical development tool for programming cams 814
TwinCAT Valve Diagram Editor graphics-oriented editor for designing the characteristic curve of a hydraulic valve 815

We reserve the right to make technical changes. BECKHOFF New Automation Technology
 TwinCAT NC I – Axis interpolation in three dimensions
Follow the path with the PC
The TwinCAT NC Interpolation
(NC I) is the NC system for
interpolated path movements.
TwinCAT NC I offers 3-D inter-
polation (interpreter, set point
generation, position controller),
an integrated PLC with an NC
interface and an I/O connection
for axes via the fieldbus. All well
known Fieldbus systems and
programming standards in the
CNC world, such as DIN 66025,
are supported. TwinCAT NC I
delivers open PC solutions for
standard axial components and
CNC controls. TwinCAT NC I uses
the power of the PC and allows
axis regulation under Windows
The NC program editor
TwinCAT
798
BECKHOFF New Automation Technology
NT/2000/XP/Vista/CE or
Windows 7. Hardware modules
are simulated in the software,
and are thus superfluous.
TwinCAT NC I – interpreter
The syntax which is laid down in
DIN 66025 is a reliable descriptive
language for machine sequences.
There is also an additional exten-
sion to the DIN syntax with a
number of useful functions:
– techniques for sub-routines
and jumps
– programmed loops
– zero offset shifts
– tool compensations
– tools
– M and H functions
3-D interpolation
The following geometries are
supported by the interpreter:
– straight lines in space
– circles in all main planes
– circles in space
– helices with base circles
in the main planes
– Bezier splines
TwinCAT NC I – operating
interface
An operating interface inte-
grated into the TwinCAT System
Manager provides information
on all set and actual values
and on the physical and logical
state of the interpolation chan-
nels and interpolation axes.
The NC structure and many
NC parameters are also set
using the System Manager.
Online changes of con-
figuration of the axes
Individual PTP axes can be col-
lected flexibly, when the axes are
stationary, into new interpolation
groups, after which they can be
reconfigured as PTP axes. In this
way all PTP characteristics such
as reference run, tool change,
etc. can be used.
The structure of an axis group
We reserve the right to make technical changes.
 TwinCAT NC I

PLC blocks for interpolation the speed on neighbouring

In order to create a simple
interface for axis interpolation,
PLC blocks which can create
positioning commands for the
interpolation channel, using
easily understood descriptions
organised as tables are available.
TwinCAT NC I –
pathway dynamics
A rate-of-change limited profile,
which at any moment describes
the acceleration, speed and
position on the path as well as
the associated transformed Car-
tesian axis values. The maximum
allowed dynamic limiting values
can be changed at any time in
the NC program.
TwinCAT NC I –
path override
TwinCAT NC I possesses a
speed override function which
can synchronously work on all
of the axes.
Speed reduction at curves
TwinCAT NC I offers different
reduction methods for reducing
geometrical cross-over points.
The parameter for this speed
reduction can be changed in
the NC program.
TwinCAT NC I axes
For each channel three path axes
(X, Y, Z) can be used. In addition,
five further auxiliary axes can TwinCAT Scope 2
be integrated into the channel.
These are interpolated with the
path, i.e. they start with the path
segment and arrive in the target
position with the path segment.
Geometric-dynamic Diagnostic and optimisation
“Look Ahead” smoothing possibilities
The “Look Ahead” function cal- Various options are available All machine state variables can
culates the maximum possible in order to achieve optimum be extracted and displayed for
path velocity at segment transi- geometrical and dynamic diagnostic and analysis purposes.
tions. It can take into account all smoothing at segment transitions An ideal tool in this respect
entries in the NC core and con- (e.g. Bezier smoothing). In this is TwinCAT ScopeView, which
nects neighbouring geometries way, the path velocity can be kept allows all internal and external
so far as this is possible. constant at segment transitions variables to be recorded. These
if the boundary conditions are variables include path values
Slave coupling on the suitable. This is particularly impor- (set and actual values) such as
path axes tant for pick-and-place tasks path speed, path acceleration,
A master/slave coupling on and manipulations (e.g. laser tangential and orthogonal path
a path axis is possible, inde- welding). error as well as Cartesian values
pendently of which slave such as position, speed, follow-
type is involved. ing error, etc.

Technical data TwinCAT NC I

PC hardware standard PC/IPC hardware, no extras
Operating systems version-dependent: Windows NT/2000/XP/Vista, Windows 7, Windows NT/XP Embedded, Windows CE (only run-time)
Real-time Beckhoff real-time kernel as a component of TwinCAT
Run-time system NC interpolation, including TwinCAT NC PTP and PLC
Number of axes 3 axes per group, 1 group per channel, max. 31 channels, auxiliary axes
Axis types electrical servo-axes, stepper motor drives
Interpreter functions subroutines and jumps, programmed loops, zero shifts, tool compensations, M and H functions, “delete distance to go”
Geometry functions straight lines and circular paths in 3-D space, circular paths in all main planes,
helixes with base circles in all main planes, Bezier splines
Axis functions online reconfiguration of axes in groups, path override, slave coupling to path axes
Programming DIN 66025 programs for NC interpolation, access via function blocks for TwinCAT PLC according to IEC 61131-3
TwinCAT

Debugging online monitoring in the TwinCAT System Manager with the following displays: present set/actual positions (following
errors of all axes), NC program line presently being executed, NC program line presently being interpreted, channel status
I/O system free choice of fieldbus: EtherCAT, PROFIBUS DP/MC, CANopen, DeviceNet, SERCOS, Lightbus, Ethernet 799
Connectivity variable access via OPC, Beckhoff ADS OCX/DLL (Automation Device Specification)
Further information www.beckhoff.com/TwinCAT_NCI

Ordering information
TwinCAT NC I licence for using the interpolation and PTP positioning software with integrated IEC 61131-3 TwinCAT PLC,
contains programming software and run-time system

We reserve the right to make technical changes. BECKHOFF New Automation Technology
 TwinCAT CNC – High-performance CNC solution
for complex applications
Complex tasks –
new solutions
TwinCAT CNC offers complete
CNC functionality as a pure
PC-based software solution.
TwinCAT CNC covers the com-
plete range of classic CNC path
control, including high-end sys-
tems for complex motion and
kinematics requirements. The
powerful, continuously evolving
PC platform and the hard real-
time base of the TwinCAT real-
time kernel provide the founda-
tion for the CNC software.
TwinCAT continuity
TwinCAT CNC is based on
TwinCAT PLC, the IEC 61131-3
software PLC. If TwinCAT NC PTP
is used as the basis; powerful
motion functionality for posi-
tioning tasks is also available.
Parts programming is carried out
TwinCAT
according to DIN 66025 using
high-level language extensions.
800 TwinCAT CNC expanded TwinCAT
NC I with classic CNC features.
Up to 64 interpolating axes and
comprehensive coordinate and
kinematic transformations are
possible.
BECKHOFF New Automation Technology
Open for I/O and drive
systems
In the CNC world, TwinCAT CNC
offers unique openness towards
the I/O periphery and the drive
system through the consistent
utilisation of Fieldbus technol-
ogy. A variety of I/O modules
can be connected via all com-
mon fieldbus systems. The drive
systems can be connected with
the CNC via an analog/encoder
interface or directly via a digital
drive interface (e.g. EtherCAT,
PROFIBUS DP/MC, SERCOS or
Lightbus). This offers maximum
openness and independence
in the choice of I/O and drive
systems for the user.
Versatile machining
The required axis and spindle
functions, interpolation
and feed functions, tool and
help functions according to
DIN 66025 with specific expan-
sions are available for a variety
of machining technologies
(e.g. milling, drilling, handling,
special machines).
Interpolation with 64 axes
Complex machining tasks
often require path movements
involving a large number of
axes and spindles. TwinCAT CNC
can operate with 64 axes and
controlled spindles that can be
distributed across up to 12 CNC
channels. In a CNC channel, up
to 32 axes can be interpolated
simultaneously, enabling even
the most difficult motion tasks
to be solved.
HSC technology
(high-speed cutting)
Advanced HSC cutting technol-
ogy requires CNC control tech-
nology with optimised solutions
for Motion Control in order to
achieve optimum results in terms
of processing time while at the
same time offering maximum
accuracy and workpiece surface
quality.
The TwinCAT CNC HSC pack
offers the following options:
– velocity and acceleration
control across blocks for
optimum utilisation of axis
dynamics and therefore high-
er achievable path velocities
– high surface quality through
smoothed dynamics and
associated reduction of
vibrational excitation of
the machine
– effective control of specified
contour tolerances
Real-time transformations
Complex machine kinematics
with difficult machining tasks
require real-time transformations
within the CNC for simple and
flexible operation and program-
ming. They are used, for example,
for defining different coordinate
systems within the machining
process or for generating auto-
matic compensating movements
of rotary axes. A classic applica-
tion is 5-axis machining.
We reserve the right to make technical changes.
 TwinCAT CNC

As an option, TwinCAT CNC

provides special CNC functions:
– RTCP function (rotation tool
center point)
– TLC function (tool length
compensation)
– kinematics selection from
the kinematics library
– definition of different
coordinate systems
– tool alignment in the
chosen coordinate system
– linking/transition of
coordinate systems

CNC configuration and diagnostics System operation for commissioning

Technical data TwinCAT CNC

PC hardware standard PC/IPC hardware, no extras
Operating systems version-dependent: Windows NT/2000/XP/Vista, Windows 7, Windows NT/XP Embedded
Real-time Beckhoff real-time kernel as a component of TwinCAT
Run-time system CNC, including TwinCAT NC I, NC PTP and PLC
Number of axes/spindles 8 path axes/6 controlled spindles, with a maximum of 64 axes/12 controlled spindles (optional), 1 CNC channel,
with a maximum of 12 CNC channels (optional)
Axis types electrical servo-axes, analog/encoder interface via fieldbus (e.g. EtherCAT, Lightbus, PROFIBUS, CANopen),
digital interface via fieldbus (EtherCAT, Lightbus, SERCOS interface, PROFIBUS DP/MC)
Geometry functions linear, circular, helical interpolation in the main planes and freely definable planes, 8 interpolating path axes per channel,
a maximum of 32 interpolating path axes (optional), look-ahead function
Axis functions coupling and gantry axis function, override, axis error and sag compensation, measuring functions
Programming DIN 66025 programming language with high-level language extensions, mathematical functions, programming of
parameters/variables, user macros, subroutine techniques, spindle and help functions, tool functions, zero offset shifts
Operation automatic operation, manual operation (jog/inching), single block operation, referencing, block search,
handwheel operation (motion/superposition)
Debugging online monitoring in the TwinCAT System Manager
I/O system decentralised I/Os via freely selectable open fieldbuses (EtherCAT, Lightbus, SERCOS, PROFIBUS DP/MC, CANopen, DeviceNet)
Connectivity variable access via OPC, Beckhoff ADS OCX/DLL
Further information www.beckhoff.com/TwinCAT_CNC

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

Options
TwinCAT CNC Axes Pack expansion to a total of 64 axes/controlled spindles, of which a maximum of 32 can be path axes and a maximum
of 12 can be controlled spindles
TwinCAT

TwinCAT CNC Channel Pack 1 further CNC channel, expandable to a maximum of 12 channels, channel synchronisation, axis transfer between channels
TwinCAT CNC Transformation transformation functionality (5-axis functionality), kinematics selection from kinematics library, RTCP function,
TLC function, definition of various coordinate systems, linking/transition of coordinate systems 801
TwinCAT CNC HSC Pack velocity and acceleration control across blocks for optimum utilisation of axis dynamics for higher path velocities,
maximum surface quality through smoothed dynamics, control of specified contour tolerances
TwinCAT CNC path programming via splines with programmable spline type, Akima spline, B-spline
Spline Interpolation
TwinCAT CNC virtual TwinCAT CNC for simulation in a Windows environment
Virtual NCK Basis/Options

We reserve the right to make technical changes. BECKHOFF New Automation Technology
 TwinCAT I/O – I/O connection to Windows programs
TwinCAT I/O is a real-time driver TwinCAT I/O
for Windows programs running – provides variable-oriented
under Windows NT/2000/XP/ linkage of I/O devices and
Vista/CE or Windows 7. Program tasks
variables, the I/O devices present – provides variable-oriented
in the system and the connected linkage of tasks to other
I/O channels are brought into tasks
the proper relationship with one – The smallest unit is one bit.
another. – supports both synchronous
and asynchronous relation-
ships
– Data regions and process
images are exchanged con-
sistently.
Openness: all standards
TwinCAT I/O supports all
established fieldbuses –
even simultaneously.
– EtherCAT
– Lightbus
– PROFIBUS DP
(master and slave)
– PROFIBUS MC
(Motion Control)
– Interbus
– CANopen
– SERCOS interface
– DeviceNet
– Ethernet
– PC printer port
– USB
– serial Bus Coupler
BK8100 to COM
– memory interface
(DPRAM) for PC cards
– SMB (System
Management Bus)

Open I/O interface Online display

TwinCAT

802

BECKHOFF New Automation Technology We reserve the right to make technical changes.
 TwinCAT I/O

TwinCAT I/O – properties
TwinCAT I/O provides the con-
nected I/O channels as a struc-
ture and organises the mapping
of the data transfer.
TwinCAT I/O permits server
process images to be linked
bit-wise to I/O channels and
provides tools which can, for
instance, link a lot of channels
continuously with a single com-
mand. The connections can be
moved by drag and drop.
Software wiring
With the aid of the TwinCAT
I/O system, the inputs and out-
puts of a task can be cyclically
exchanged with the outputs and
inputs of another task – the data
consistency remains intact. The
TwinCAT I/O system is variable-
oriented, which means that
the smallest unit which can be
addressed and linked is a vari-
able, and the smallest size of
a variable is one bit.
Online analysis
At the server’s fieldbus level and
the level of the process image,
commissioning and servicing
are assisted by online display.
TwinCAT I/O generates address
relationships (mappings) be-
tween tasks and I/O devices, and
provides powerful online tools:
– online display in a directory
tree
– online watch window
– force and write to commis-
sion and test task variables
and I/O devices
Diagnostic data is displayed
in a consistent form for all I/O
devices.
Import/export functions
TwinCAT I/O manages variables,
making import and export func-
tions available at all levels.
TcTimer API under CE
On Beckhoff CE devices TwinCAT
I/O is available with the TcTimer
extension. The TcTimer API offers
a real-time timer (scalable from
100 µs) and access to the logical
process image. Data exchange
with the fieldbus is triggered I/O configuration
with a method call. The TcTimer
API enables external applications
to create deterministic applica-
tions that are synchronised up
to the IO fieldbus level.

Import/export functions

Technical data TwinCAT I/O

PC hardware standard PC/IPC hardware, no extras
Operating systems version-dependent: Windows NT/2000/XP/Vista, Windows 7, Windows NT/XP Embedded, Windows CE (only run-time)
Real-time Beckhoff real-time kernel as a component of TwinCAT
User program User program running in user mode which can, for instance, run cyclically as a multimedia task (“soft” real-time).
Access to the I/O process image is provided via cyclical calls of DLL functions.
Under CE: hard real-time with synchronised access to process image
Memory only limited by the size of the computer’s RAM (max. 2 GB under NT/2000/XP/Vista)
Cycle time 50 µs upwards selectable
Programming application program in any high-level language, e.g. C++, Delphi
TwinCAT

Debugging via the standard debugging tools of the high-level language used
I/O system free choice of fieldbus: EtherCAT, PROFIBUS DP/MC, CANopen, DeviceNet, Interbus, SERCOS, Lightbus, Ethernet,
PC hardware (printer port, COM port, USB), PC cards: generic memory DPRAM support 803
Connectivity variable access via OPC, Beckhoff ADS OCX/DLL (Automation Device Specification)
(under CE: in addition TcTimer API)
Further information www.beckhoff.com/TwinCAT_IO

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

We reserve the right to make technical changes. BECKHOFF New Automation Technology
 TwinCAT CP – Driver for Beckhoff Control Panels
TwinCAT CP is a driver for the
Beckhoff Control Panels C6xxx
and C7xxx, the industrial operat-
ing and display devices.
Control Panels are optimised
for use as a human-machine inter-
face. Operating and display ele-
ments create an independent
unit, separated from the PC by
a simple cable link.
TwinCAT CP creates the
driver connection between gen-
eral Windows programs and the
Technical data
PC hardware
Operating systems
Real-time
User program
Memory
TwinCAT
Programming
Debugging
804 I/O system
Connectivity
Further information
Ordering information
TwinCAT CP
BECKHOFF New Automation Technology
operating and display elements
on the Beckhoff Control Panel:
– direct switches for fast
machine functions
– switch feedback by LEDs
– UPS support
The driver permits variable-
oriented operation of the
Control Panel’s functions by
the Windows programs.
TwinCAT CP
standard PC/IPC hardware, no extras
version-dependent: Windows NT/2000/XP/Vista, Windows 7, Windows NT/XP Embedded
Beckhoff real-time kernel as a component of TwinCAT
User program running in user mode which can, for instance, run cyclically as a multimedia task (“soft” real-time).
Access to the I/O process image is provided via cyclical calls of DLL functions.
only limited by the size of the computer’s RAM (max. 2 GB under NT/2000/XP/Vista)
application program in any high-level language, e.g. C++, Delphi
via the standard debugging tools of the high-level language used
keys, LEDs and UPS functionality of the Beckhoff CP6xxx, CP7xxx Control Panels together with the Beckhoff
CP9030/CP9035 plug-in card
OPC, Beckhoff ADS OCX/DLL (Automation Device Specification)
www.beckhoff.com/TwinCAT_CP
licence for using the driver for the Beckhoff Control Panel, providing communication with general Windows programs
We reserve the right to make technical changes.
TwinCAT | Supplements

The TwinCAT supplement products from Beckhoff

enable the basic TwinCAT packages to be custom-
ised with additional functions. Supplements are
TwinCAT

available for the following product lines:

– System
– Motion 805
– Communication
– Controller v
– Building Automation

We reserve the right to make technical changes. BECKHOFF New Automation Technology
 TwinCAT ECAD Import
With the TwinCAT ECAD Import software library, existing engineering results can be retrieved from an ECAD program. Information about the
structure of I/Os and the linkages to PLC variables, which can be exported by XML, can be read-in by the ECAD Import Tools. A system manager
configuration and a basic PLC program with I/O variables in use is created from the read-in XML file. In the same way, it is also possible to auto-
matically generate an NC device, with tasks, axes, I/O variables and links with PLC variables.

Technical data TwinCAT ECAD Import

Target system Windows NT/2000/XP/Vista, Windows 7
PC (x86-compatible)
Min. TwinCAT level TwinCAT PLC/TwinCAT NC PTP (for NC devices)
Further information www.beckhoff.com/TC-ECAD

Ordering information
TwinCAT ECAD Import licence for using the TwinCAT ECAD Import for importing XML files from the ECAD systems

TwinCAT Engineering Interface Server

With the TwinCAT Engineering Interface (ENI) server it is possible for the work of a number of programmers to be coordinated via a central
source code management system. The TwinCAT ENI server offers interfaces with Microsoft Visual Source Safe and a driver for Subversion (SVN).
A user and rights management is as much part of the product as a database-independent diagnostic tool, which gives an overview of all current
tasks of the various users.
TwinCAT

Technical data TwinCAT Engineering Interface Server

Target system Windows NT/2000/XP/Vista, Windows 7
806 PC (x86-compatible)
Min. TwinCAT level TwinCAT PLC
Further information www.beckhoff.com/TC-ENI

Ordering information
TwinCAT Engineering The TwinCAT Engineering Interface Server integrates drivers for interfacing with Microsoft Visual Source Safe
Interface Server or Subversion.

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

TwinCAT Eventlogger
The TwinCAT Eventlogger is an alarm and diagnostic system for TwinCAT-based controllers. The TwinCAT Eventlogger has the task of managing all
messages (events) appearing in the TwinCAT system; to forward them and where necessary to write them into the TwinCAT log file. In this context
“events” are understood to comprise alarms, warnings, notes or instructions. Messages can be acknowledged. The Message Formatter produces
the connection between the actual event and its message text. This is stored in an external database.
By integration of the TcEventViewer type library it is possible, to create your own message display. Configuration of the message text is done
by the TcEvent configurator. The event logger is included in the main TwinCAT delivery.

Technical data TwinCAT Eventlogger

Target system Windows NT/2000/XP/Vista, Windows 7, Windows CE
Min. TwinCAT level TwinCAT PLC
Further information www.beckhoff.com/TC-Eventlogger

Ordering information
TwinCAT Eventlogger The TwinCAT Eventlogger is included in the TwinCAT scope of supply.

TwinCAT XML Data Server

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

Technical data TwinCAT XML Data Server, TwinCAT XML Data Server CE
Target system Windows NT/2000/XP/Vista, Windows 7
PC (x86-compatible)
Min. TwinCAT level TwinCAT PLC
Further information www.beckhoff.com/TC-XML-Server

Ordering information
TwinCAT XML Data Server licence for using the TwinCAT XML Data Server for data exchange between an XML file and the TwinCAT PLC
TwinCAT XML Data Server CE licence for using the TwinCAT XML Data Server for data exchange between an XML file and the TwinCAT PLC
on Windows CE platforms

TwinCAT Backup
TwinCAT Backup allows files, directories and settings, as well as TwinCAT configurations such as essential operating system information to be
saved and restored. The user can also add extra parts which are to be saved. The backup can be carried out on any media connected to the PC
or any network drives.
TwinCAT

Technical data TwinCAT Backup

Target system Windows NT/2000/XP/Vista, Windows 7 807
PC (x86-compatible)
Min. TwinCAT level TwinCAT PLC
Further information www.beckhoff.com/TC-Backup

Ordering information
TwinCAT Backup licence for using the TwinCAT Backup server

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 TwinCAT Supplements System

TwinCAT Simulation Manager

The TwinCAT Simulation Manager is a tool for simplified configuration of a simulation environment, which integrates into the TwinCAT system
environment. It supports the creation of a “virtual machine,” which corresponds to a real one in its runtime performance.

Technical data TwinCAT Simulation Manager

Target system Windows NT/2000/XP/Vista, Windows 7
PC (x86-compatible)
Min. TwinCAT level TwinCAT PLC
Further information www.beckhoff.com/TC-Simulation

Ordering information
TwinCAT Simulation Manager licence for using the TwinCAT Simulation Manager

TwinCAT Database Server

The TwinCAT Database Server enables data exchange between databases and the TwinCAT system. In the process PLC variables or for example
the EtherCAT I/O values can be cyclically recorded by changes or event-control by means of the PLC function block. Stored procedures can also be
activated from the PLC. The following databases are supported: MS SQL, MS SQL Compact, Microsoft Access, ASCII files (e.g. Excel); as well as the
following ODBC databases: MySQL, PostgreSQL, DB2, Oracle, InterBase and Firebird.

Technical data TwinCAT Database Server

Target system Windows NT/2000/XP/Vista, Windows 7
PC (x86-compatible)
Min. TwinCAT level TwinCAT PLC
Further information www.beckhoff.com/TC-Database

Ordering information
TwinCAT Database Server licence for using the TwinCAT Database Server

TwinCAT Database Server CE

The TwinCAT database server CE has the same functional attributes as the version which runs on non-CE operating systems.
The only difference is the range of supported databases: MS SQL, MS SQL Compact and ASCII files.

Technical data TwinCAT Database Server CE

Target system Windows CE
Beckhoff Windows CE devices with large memory
Min. TwinCAT level TwinCAT PLC
Further information www.beckhoff.com/TC-Database-CE

Ordering information
TwinCAT Database Server CE licence for using the TwinCAT Database Server CE for Windows CE platforms

TwinCAT PLC HMI

TwinCAT PLC HMI is a stand-alone tool for the presentation of visualisations which are created in TwinCAT PLC Control. They are shown
TwinCAT

in full-screen as soon as the system starts up.

808 Technical data TwinCAT PLC HMI

Target system Windows NT/2000/XP/Vista, Windows 7
Min. TwinCAT level TwinCAT PLC
Further information www.beckhoff.com/TC-HMI

Ordering information
TwinCAT PLC HMI licence for using the TwinCAT PLC HMI

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

TwinCAT PLC HMI CE

TwinCAT PLC HMI is a stand-alone tool for the presentation of visualisations which are created in TwinCAT PLC Control. They are shown
in full-screen as soon as the system starts up.

Technical data TwinCAT PLC HMI CE

Target system Windows CE
Min. TwinCAT level TwinCAT PLC
Further information www.beckhoff.com/TC-HMI-CE

Ordering information
TwinCAT PLC HMI CE licence for using the TwinCAT PLC HMI CE on Windows CE platforms

TwinCAT PLC HMI Web

TwinCAT PLC HMI Web is a web-based visualisation system. The TwinCAT PLC Control acts as an editor for the generation of web pages.
Activation is carried out simply by setting an option in the TwinCAT PLC Control. The web pages are hosted by the Internet Information
Server (IIS). For display of the web pages a Java VM is needed.

Technical data TwinCAT PLC HMI Web

Target system Windows NT/2000/XP/Vista, Windows 7, Windows CE
PC (x86-compatible), Beckhoff Windows CE devices
Min. TwinCAT level TwinCAT PLC
Further information www.beckhoff.com/TC-HMI-Web

Ordering information
TwinCAT PLC HMI Web licence for using the TwinCAT PLC HMI Web

TwinCAT Management Server

The TwinCAT Management Server enables the central administration of Beckhoff CE controllers. Software updates, for example, can thus be con-
veniently loaded onto controllers in the network from a central location. Besides the general updating of operating systems, device-specific com-
ponents (PLC boot project) can also be loaded. By the option of separating known network devices into groups, individual actions can be defined
for each group.
TwinCAT

Technical data TwinCAT Management Server

Target system Windows NT/2000/XP/Vista, Windows 7 809
PC (x86-compatible)
Min. TwinCAT level TwinCAT I/O
Further information www.beckhoff.com/TC-Management

Ordering information
TwinCAT Management Server licence for using the TwinCAT Management Server

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 TwinCAT Supplements System

TwinCAT Scope 2
With the TwinCAT Scope 2 Beckhoff offers a graphical tool for signal analysis and data collection. Due to the separation of the data logger and
viewer it is possible to show the signal processes of multiple systems in the field in a central Scope 2 view. Depending on the system it is possible
to browse, for example in the PLC, NC or directly in the connected EtherCAT I/Os, in order to select the corresponding values. Alongside the pos-
sibility of long-term recording, various trigger functionalities and cursors are available in the TwinCAT Scope 2.

Technical data TwinCAT Scope 2

Target system Windows XP/Vista, Windows 7
PC (x86-compatible)
Min. TwinCAT level TwinCAT I/O
Further information www.beckhoff.com/TC-Scope2

Ordering information
TwinCAT Scope 2 licence for using the TwinCAT Scope 2

TwinCAT EtherCAT Redundancy

With TwinCAT EtherCAT Redundancy the TwinCAT EtherCAT master offers the possibility of implementing cable redundancy. From the last logical
device a cable is returned back to the master. The TwinCAT System Manager is used for configuration and diagnostics.

Technical data TwinCAT EtherCAT Redundancy

Target system Windows NT/2000/XP/Vista, Windows 7, Windows NT/XP Embedded, Windows CE
PC (x86-compatible)
Min. TwinCAT level TwinCAT I/O
Further information www.beckhoff.com/TC-EtherCAT-Redundancy

Ordering information
TwinCAT EtherCAT Redundancy licence for extending the TwinCAT EtherCAT master with cable redundancy capability

TwinCAT PROFINET IO Controller

The TwinCAT PROFINET IO Controller (master) is a TwinCAT supplement that turns every Beckhoff PC-based
controller into a PROFINET IO controller. By installation of the supplement, a standard Ethernet interface
becomes a PROFINET master. The supplement can be used on PCs and Embedded PCs. PROFINET can also
be tunnelled via EtherCAT in conjunction with the EL6631 PROFINET terminal for the EtherCAT I/O system.
This way, any EtherCAT network can exchange data with PROFINET IO devices.

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

Ethernet hardware real-time Ethernet hardware PROFINET terminal EL6631
Operating system Windows XP, Embedded Standard, Vista, Windows 7, CE
Software TwinCAT I/O, PLC, NC, NC I, CNC
Target systems PC (x86), Windows CE devices PC (x86), Windows CE devices with EtherCAT interface
TwinCAT

Cycle time min. 1 ms

Number of possible IO devices limited by CPU power and memory up to 15 devices
810 Further information www.beckhoff.com/TC-PROFINET-Controller

Ordering information
TwinCAT PROFINET IO licence for using the TwinCAT PROFINET IO Controller for Windows XP, XP Embedded
Controller
TwinCAT PROFINET IO licence for using the TwinCAT PROFINET IO Controller for Windows CE platforms
Controller CE

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

TwinCAT PROFINET IO Device

The TwinCAT PROFINET IO Device (slave) is a TwinCAT supplement that turns every Beckhoff PC-based con-
trol system into a PROFINET IO device. By installing the supplement, a standard Ethernet interface becomes
a PROFINET slave. The supplement can be used on PCs and Embedded PCs. PROFINET can also be tunnelled
via EtherCAT in conjunction with the EL6631 PROFINET terminal for the EtherCAT I/O system. This way, any
EtherCAT network can exchange data with PROFINET IO controllers.

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

Ethernet hardware real-time Ethernet hardware PROFINET terminal EL6631
Operating system Windows XP, Embedded Standard, Vista, Windows 7, CE
Software TwinCAT I/O, PLC, NC, NC I, CNC
Target systems PC (x86), Windows CE devices PC (x86), Windows CE devices with EtherCAT interface
Cycle time min. 1 ms
Number of possible IO devices 1 + 7 virtual devices 1 + 1 virtual device
Further information www.beckhoff.com/TC-PROFINET-Device

Ordering information
TwinCAT PROFINET IO Device licence for using the TwinCAT PROFINET IO Device for Windows XP, XP Embedded
TwinCAT PROFINET IO Device CE licence for using the TwinCAT PROFINET IO Device for Windows CE platforms

TwinCAT EtherNet/IP Slave

The TwinCAT EtherNet/IP Slave is a supplement that turns every Beckhoff PC-based control system into
an EtherNet/IP slave. By installing the supplement, any Ethernet interface becomes an EtherNet/IP slave.
This product can be used on all PC controllers and Embedded PC controllers running XP and CE.

Technical data TwinCAT EtherNet/IP Slave

Ethernet hardware real-time Ethernet hardware
Operating system Windows XP, Embedded Standard, Vista, Windows 7, CE
Software TwinCAT I/O, PLC, NC, NC I, CNC
Target systems PC (x86), Windows CE devices
Cycle time min. 1 ms
No. of possible slave devices 1
Further information www.beckhoff.com/TC-EthernetIP-Slave

Ordering information
TwinCAT EtherNet/IP Slave licence for using the TwinCAT EtherNet/IP Slave for Windows XP, XP Embedded
TwinCAT EtherNet/IP Slave CE licence for using the TwinCAT EtherNet/IP Slave for Windows CE platforms

TwinCAT Solar Position Algorithm

By using the TwinCAT PLC library Solar Position Algorithm it is possible to calculate the exact position of the sun. In order to synchronise the
angles of the sun with the TwinCAT library, the entry of date, time, latitude and longitude as well as further parameters, depending on desired
accuracy, are required. The algorithm used can also take into account physical effects, such as the average air temperature or the average air
pressure. The developed function block has a maximum inaccuracy of ±0.001° for the determination of the sun angles. In addition to that,
TwinCAT

the times for sunrise, solar apex and sunset can be determined.

Technical data TwinCAT Solar Position Algorithm 811

Target system Windows XP, Windows CE
Min. TwinCAT level TwinCAT PLC
Further information www.beckhoff.com/TC-Solar-Position

Ordering information
TwinCAT Solar Position Algorithm licence for using the PLC library TwinCAT Solar Position Algorithm

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 TwinCAT PLC Motion Control XFC
The TwinCAT PLC Motion Control XFC (eXtreme Fast Control) library contains function blocks for the high precision acquisition and switching of
digital signals related to axis positions. The functions use the EtherCAT distributed clocks determined by EL1252, EL2252 or EL2262 time stamp-
based input and output terminals. In addition to blocks for converting DC time to position and vice versa, a touch probe and a digital cam con-
troller block based on the PLCopen standard are available. The library requires TwinCAT 2.11.

Technical data TwinCAT PLC Motion Control XFC

Target system Windows NT/2000/XP/Vista, Windows 7, Windows CE
Min. TwinCAT level TwinCAT PLC
Further information www.beckhoff.com/TC-PLC-MC-XFC

Ordering information
TwinCAT PLC licence for using the PLC library TwinCAT PLC Motion Control XFC
Motion Control XFC

TwinCAT PLC Hydraulic Positioning

The blocks and functions of the TwinCAT PLC Hydraulic Positioning software library can be used for positioning and controlling hydraulic axes.
Various functions are available for the conversion of sensor signals into actual positions and of control values into output data. The function
blocks for the PTP motion use either time- or distance-controlled ramps. The behaviour at the target can be selected through parameterisation:
position control, pressure output with the correct sign, automatic repositioning. For optimisation and monitoring of the process further functions
are available (e.g. dead time compensation, limit value monitoring).
TwinCAT

Technical data TwinCAT PLC Hydraulic Positioning

812 Target system Windows NT/2000/XP/Vista, Windows 7, Windows CE
Min. TwinCAT level TwinCAT NC PTP
Further information www.beckhoff.com/TC-PLC-Hydraulic-Positioning

Ordering information
TwinCAT PLC IEC 61131-3 software library for TwinCAT PLC for controlling hydraulic axes
Hydraulic Positioning

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

TwinCAT NC FIFO Axes

The purpose of the TwinCAT NC FIFO axes is to send externally generated set position values to the axes in the form of a speed pre-control.
The set value generation is designed in such a way that both the set position and the set speed are determined as the FIFO inputs are worked
through in sequence. It is also possible, if necessary, to interpolate between two neighbouring FIFO inputs.

Technical data TwinCAT NC FIFO Axes

Target system Windows NT/2000/XP/Vista, Windows 7, Windows CE
Min. TwinCAT level TwinCAT NC PTP
Further information www.beckhoff.com/TC-NC-FIFO

Ordering information
TwinCAT NC FIFO Axes IEC 61131-3 software library for TwinCAT, permits specified FIFO set value generation

TwinCAT NC Flying Saw

“Flying saw” generally stands “flying saw” function under – precise position synchro- – superimposed section
for synchronisation of a slave TwinCAT NC. nisation with the master compensation during the
axis with a moving master axis. – synchronisation of the axis (velocity and position) synchronous phase for
The master axis can be a real slave axis from any motion – synchronous velocity dynamic position correction
axis, a virtual axis, or some situation (stop, forward can be set via a coupling
other external source of actual or reverse travel) with the factor
values. master in motion – optional return preven-
The PLC library contains – simple synchronisation tion as additional safety
blocks for programming this with the master velocity function

Technical data TwinCAT NC Flying Saw

Target system Windows NT/2000/XP/Vista, Windows 7, Windows CE
Min. TwinCAT level TwinCAT NC PTP
Further information www.beckhoff.com/TC-NC-Flying-Saw

Ordering information
TwinCAT NC Flying Saw IEC 61131-3 software library for TwinCAT, implements a “flying saw”

TwinCAT PLC Remote Synchronisation

Due to the increasing use of decentralised controllers, time synchronisation of different systems is becoming an increasingly important issue.
The implementation of cyclically-sent information on systems without identical timebase leads to a beat effect. These manifest themselves for
example as periodic operational faults in the synchronisation of drives, whose axis information is transferred via network.
The TwinCAT PLC Remote Synchronisation library offers options for general time synchronisation of information with distributed systems
as well as special techniques for synchronising NC axes (“distributed axes”).
TwinCAT

Technical data TwinCAT PLC Remote Synchronisation

Target system Windows NT/2000/XP/Vista, Windows 7, Windows CE 813
Min. TwinCAT level TwinCAT PLC
Further information www.beckhoff.com/TC-PLC-Remote-Sync

Ordering information
TwinCAT PLC licence for using a PLC library for TwinCAT PLC for general synchronisation of information in distributed systems
Remote Synchronisation

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 TwinCAT Supplements
TwinCAT NC Camming
TwinCAT NC Camming offers the
option of coupling a slave axis
with a master axis via a cam
plate. Traditionally, cam plates
are described as two-column
position tables with master posi-
tions and corresponding slave
positions. In addition to this sim-
ple cam plate type, TwinCAT NC
Technical data
Target system
Min. TwinCAT level
Further information
Ordering information
TwinCAT NC Camming
TwinCAT Cam Design Tool
The TwinCAT Cam Design Tool
offers support for the design
of electronic cam plates. Cam
plates represent the relationship
between the positions of dif-
ferent axes. The position of the
slave axis is uniquely functional
dependent on the position of
the master axis. The Cam Design
Tool can be used to graphically
develop or modify cam plates
interactively on the basis of the
guideline VDI 2143. The cam
plates are composed of sections
TwinCAT
Technical data
814 Target system
Min. TwinCAT level
Further information
Ordering information
TwinCAT Cam Design Tool
BECKHOFF New Automation Technology
Motion
also supports so-called motion
functions, which very accura-
tely describe a cam plate via
a few interpolation points and
a selection of motion laws.
The TwinCAT NC Camming PLC
library contains all the function
blocks required for dealing with
these cam plates.
TwinCAT NC Camming
Windows NT/2000/XP/Vista, Windows 7, Windows CE
TwinCAT NC PTP
www.beckhoff.com/TC-NC-Camming
IEC 61131-3 software library for TwinCAT, implemented camshaft functionality (table coupling)
of laws of motion such as modi-
fied sine waves, harmonic combi-
nations, or of various polynomial
functions. Speed, acceleration
and jerk are also represented,
in addition to the slave position.
The starting and finishing values
may be entered graphically and
interactively, or in the form of
a table. The same applies to
boundary values (derivative val-
ues) which can also be graphi-
cally and interactively modified
for the appropriate functions.
TwinCAT Cam Design Tool
Windows NT/2000/XP/Vista, Windows 7
PC (x86-compatible)
TwinCAT NC PTP
www.beckhoff.com/TC-Cam-Design
graphical development tool for programming cams
Table type: motion laws according to
– Position tables with master the guideline VDI 2143.
interpolations points and – cyclic or linear processing
corresponding slaves posi- – cam plate through offset
tions; interpolation between and scaling, can be modified
the points is done linearly or on the master or slave side
by splines. – Motion functions can be
– motion function table changed on-line.
describing a cam plate via
In order to synchronise to the called motion functions. The cam
movement of another slave that plates are saved in the System
has already been defined, it is Manager project and automati-
possible to attach the starting cally transferred to the NC on
or finishing point of a movement system start-up.
section to that other movement,
and to shift it. This way, jerk-lim-
ited, smooth movements are cre-
ated. For synchronising several
cam plate, all slaves of a master
can be displayed simultaneously.
The generated cam plates can be
transferred to the NC as tables
with specified step size or as so-
We reserve the right to make technical changes.
 Motion TwinCAT Supplements

TwinCAT Digital Cam Server

The TwinCAT Digital Cam Server place both via the process image – brake cams – measurement and moni-
is a fast cam controller imple- and via ADS. – dynamic speed toring of rotary speed
mented in TwinCAT, which is free- – up to 320 outputs correction – complete integration
ly configurable via the TwinCAT – up to 180 cams per output – independent of fieldbus into the TwinCAT System
System Manager. Communica- – path-path cams, (all the fieldbuses Manager
tion with the TwinCAT PLC takes path-time cams supported by TwinCAT)

Technical data TwinCAT Digital Cam Server

Target system Windows NT/2000/XP/Vista, Windows 7, Windows CE
PC (x86-compatible), Beckhoff Windows CE devices
Min. TwinCAT level TwinCAT NC PTP
Further information www.beckhoff.com/TC-Cam-Server

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

TwinCAT Valve Diagram Editor

In order to linearise non-linear characteristic curves of hydraulic valves, a velocity curve that has been measured for the output voltages has to
be read in and approximated by a characteristic curve. The measured characteristic curve can be graphically linearised very easily in the TwinCAT
Valve Diagram Editor. Only a few interpolation points are required to generate a straight line or a 5th degree polynomial between them. The char-
acteristic linearisation curve thus determined is then loaded into the TwinCAT NC real time and taken into account when the voltages are output
in the drive. Online monitoring is possible at any time.

Technical data TwinCAT Valve Diagram Editor

Target system Windows NT/2000/XP/Vista, Windows 7
PC (x86-compatible)
Min. TwinCAT level TwinCAT NC PTP
Further information www.beckhoff.com/TC-Valve-Diagram

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

TwinCAT Kinematic Transformation

The TwinCAT Kinematic Transformation software library supports different parallel and serial kinematic systems used for pick-and-place tasks,
for example. The supplement is based on TwinCAT NC I for interpolating movements and G-Code (DIN 66025). In addition, standard PTP and
cam plate applications can be realised.
Programming is usually based on the Cartesian coordinate system, with the control system calculating the inverse kinematics for the rele-
vant motor positions. The selection and configuration of kinematics is carried out in the TwinCAT System Manager. The kinematic channel is used
to parameterise the type (e.g. delta) and the bar lengths and offsets. Mass and mass inertia values can be specified for dynamic pre-control.
The “flying saw” and “cam plate” functions enable synchronisation with conveyor belts for picking or placing workpieces, for example.
TwinCAT Kinematic Transformation is optimised for Beckhoff Servo Drives of the AX5000 series.
TwinCAT

Technical data TwinCAT Kinematic Transformation

Target system Windows NT/2000/XP/Vista, Windows 7 815
Min. TwinCAT level TwinCAT NC I
Further information www.beckhoff.com/TC-Kinematics

Ordering information
TwinCAT Kinematic licence for using the TwinCAT PLC library for the realisation of different kinematic transformations for TwinCAT PTP
Transformation or TwinCAT NC I

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 TwinCAT PLC Serial Communication
Communication library for con-
nection of serial devices such
as printers, barcode scanners,
peripheral controllers or dis-
tributed display systems to the Terminals are supported. – automatic detection of
TwinCAT PLC. – sending and receiving byte start/stop sequences
The PC’s serial interface and by byte – configuration of serial
the Beckhoff KL6xxx serial Bus – sending and receiving strings Bus Terminals at run-time

Technical data TwinCAT PLC Serial Communication

Target system Windows NT/2000/XP/Vista, Windows 7, Windows CE
PC (x86-compatible), Beckhoff Windows CE devices, Beckhoff Fieldbus Controller (BCxxxx, BXxxxx, IL230x-Cxxx)
Min. TwinCAT level TwinCAT PLC
Further information www.beckhoff.com/TC-PLC-Serial-Communication

Ordering information
TwinCAT PLC Serial IEC 61131-3 software library for TwinCAT PLC for communication via serial Bus Terminals or PC COM ports
Communication

TwinCAT PLC Serial Communication 3964R/RK512

Serial communication via the 3964R or the RK512 protocols is implemented via the TwinCAT PLC Serial Communication 3964R/RK512 software
library. The PCs serial interface and the Beckhoff KL6xxx serial Bus Terminals are supported. The library also contains the TwinCAT PLC Serial
Communication library.
The TwinCAT Serial Communication RK512 PLC library supports transmission and reception of PLC variables of any type. Data up to 128 bytes
long is transferred transparently in the form of data blocks. To ensure secure data transmission, the 3964R protocol is used underneath the RK512
protocol.
TwinCAT

Technical data TwinCAT PLC Serial Communication 3964R/RK512

Target system Windows NT/2000/XP/Vista, Windows 7, Windows CE
816 PC (x86-compatible), Beckhoff Windows CE devices, Beckhoff Fieldbus Controller (BCxxxx, BXxxxx, IL230x-Cxxx)
Min. TwinCAT level TwinCAT PLC
Further information www.beckhoff.com/TC-PLC-Serial-3964R

Ordering information
TwinCAT PLC Serial licence for using the software library for communication via serial Bus Terminals or PC COM ports using
Communication 3964R/RK512 the protocol 3964R/RK512

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

TwinCAT PLC Serial Communication EnOcean

The transmitter or sender modules from the company EnOcean enable wireless sending of key signals and climate control signals without battery.
These signals are received by the KL6023 wireless adapter and converted to an RS485 signal by the TwinCAT PLC Serial Communication EnOcean
software library. They are directly processed further by the KL6021-0023 serial Bus Terminal.

Technical data TwinCAT PLC Serial Communication EnOcean

Target system Windows NT/2000/XP/Vista, Windows 7, Windows CE
PC (x86-compatible), Beckhoff Windows CE devices, Beckhoff Fieldbus Controller (BCxxxx, BXxxxx, IL230x-Cxxx)
Min. TwinCAT level TwinCAT PLC
Further information www.beckhoff.com/TC-PLC-Serial-EnOcean

Ordering information
TwinCAT PLC Serial free licence for using the PLC library for processing of data from battery-less sensors with EnOcean technology
Communication EnOcean

TwinCAT PLC Modbus RTU

The TwinCAT PLC Modbus RTU software library implements Modbus RTU communication via a serial RS232, RS422 or RS485 interface. It is there-
fore suitable for PC/CX interfaces as well as for use with the KL6xxx serial Bus Terminals. The Modbus RTU library offers blocks for the master and
slave use which are easy to configure.
TwinCAT

Technical data TwinCAT PLC Modbus RTU

Target system Windows NT/2000/XP/Vista, Windows 7, Windows CE
PC (x86-compatible), Beckhoff Windows CE devices, Beckhoff Fieldbus Controller (BCxxxx, BXxxxx, IL230x-Cxxx) 817
Min. TwinCAT level TwinCAT PLC
Further information www.beckhoff.com/TC-PLC-Modbus

Ordering information
TwinCAT PLC Modbus RTU IEC 61131-3 software library for TwinCAT PLC with Modbus RTU function blocks for serial communication
with Modbus devices

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 Communication
TwinCAT Supplements Communication

TwinCAT Modbus TCP Server

The TwinCAT Modbus TCP Server connects the TwinCAT controller with the Modbus TCP world. Modbus TCP is a simple, multi-supplier and
open protocol. The TwinCAT Modbus TCP Server represents a simple gateway between Modbus TCP and TwinCAT ADS devices. It can operate
as a server or as a client. In server mode, TwinCAT memory areas are mapped directly to Modbus memory areas. In client mode, a number
of PLC blocks are available that can be used to read inputs and input registers and to write coils and registers. It is configured via an XML file.

Technical data TwinCAT Modbus TCP Server TwinCAT Modbus TCP Server CE
Target system Windows NT/2000/XP/Vista, Windows 7 Windows CE,
PC (x86-compatible) CE devices
Min. TwinCAT level TwinCAT PLC
Further information www.beckhoff.com/TC-Modbus-TCP

Ordering information
TwinCAT Modbus TCP Server licence for using the TwinCAT Modbus TCP Server for communication with Modbus TCP end devices
TwinCAT Modbus TCP Server CE licence for using the TwinCAT Modbus TCP Server for Windows CE platforms

TwinCAT PLC IEC 61850 Server

IEC 61850 defines a communication protocol which is used particularly in electrical switchgears. Such standardised communication can be imple-
mented using the PLC library TwinCAT IEC 61850 Server. The communication stack developed by Beckhoff is based on the MMS protocol and as
well as the basic IEC 61850 standard also supports the related specialisations. For easy configuration the TwinCAT Telecontrol Configurator can be
used, which is delivered with the PLC library. Thanks to the created configuration a PLC code export can be carried out, which can be integrated
into existing PLC projects.

Technical data TwinCAT PLC IEC 61850 Server

Target system Windows NT/2000/XP/Vista, Windows 7, Windows CE
Min. TwinCAT level TwinCAT PLC
Further information www.beckhoff.com/TC-PLC-IEC61850

Ordering information
TwinCAT PLC IEC 61850 Server licence for using a PLC library for communication according to IEC 61850

TwinCAT PLC IEC 61400-25 Server

IEC 61400-25 is a specialisation of IEC 61850 for wind turbines. The data model is especially extended for objects, such as, for example wind
turbine generators. The TwinCAT Telecontrol Configurator can also be used here. Beside PLC codes it can also generate TwinCAT Scope 2 configu-
rations.
TwinCAT

Technical data TwinCAT PLC IEC 61400-25 Server

818 Target system Windows NT/2000/XP/Vista, Windows 7, Windows CE
Min. TwinCAT level TwinCAT PLC
Further information www.beckhoff.com/TC-PLC-IEC61400-25

Ordering information
TwinCAT PLC licence for using a PLC library for communication according to IEC 61400-25
IEC 61400-25 Server

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

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

PLC libraries are available for master implementation for the telecontrol protocol of the IEC 60870-5-101, -102, -103 and -104 master. The -101
and -104 user standards are general telecontrol protocols which are often used in substation communication, tunnel automation, railways, power
plant automation, wind turbine communication and building services. The -102 standard is reserved for the transfer of counter values of electrical
energy. Special safety measures ensure that the values cannot be falsified. The -103 protocol is for communication with digital protective devices,
which protect the electrical energy network from fault or error effects (e.g. short-circuit or earth leakage in individual power supplies). The inter-
operation of devices from different manufacturers is guaranteed by an interoperability list, which is stored in the Beckhoff Information System.
The -101, -102 and -103 protocols use a serial interface to communicate; the -104 protocol uses the TCP/IP interface.

Technical data TwinCAT PLC IEC 60870-5-101, -102, -103, -104 Master
Target system Windows NT/2000/XP/Vista, Windows 7, Windows CE
PC (x86-compatible), Beckhoff Windows CE devices
Min. TwinCAT level TwinCAT PLC
Further information www.beckhoff.com/TC-PLC-IEC60870-Master

Ordering information
TwinCAT PLC licence for using a PLC library for the implementation of IEC 60870-101 masters
IEC 60870-5-101 Master
TwinCAT PLC licence for using a PLC library for the implementation of IEC 60870-102 masters
IEC 60870-5-102 Master
TwinCAT PLC licence for using a PLC library for the implementation of IEC 60870-103 masters
IEC 60870-5-103 Master
TwinCAT PLC licence for using a PLC library for the implementation of IEC 60870-104 masters
IEC 60870-5-104 Master
TwinCAT PLC licence for using a PLC library for the implementation of IEC 60870-104 masters under Windows CE
IEC 60870-5-104 Master CE

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

The TwinCAT PLC IEC 60870-5-101, -104 Slave software libraries allow the use of slaves for the international standard telecontrol
IEC 60870-5-101 and -104 slave protocols.

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

Target system Windows NT/2000/XP/Vista, Windows 7, Windows CE
Min. TwinCAT level TwinCAT PLC
TwinCAT

Further information www.beckhoff.com/TC-PLC-IEC60870-Slave

Ordering information 819

TwinCAT PLC licence for using a PLC library for the implementation of IEC 60870-5-101 slaves
IEC 60870-5-101 Slave
TwinCAT PLC licence for using a PLC library for the implementation of IEC 60870-5-104 slaves
IEC 60870-5-104 Slave
TwinCAT PLC licence for using a PLC library for the implementation of IEC 60870-5-104 slaves under Windows CE
IEC 60870-5-104 Slave CE

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 Communication
TwinCAT Supplements Communication

TwinCAT DriveTop Server

The TwinCAT DriveTop Server is a communication server for linking the Indramat DriveTop Tools to TwinCAT. This means that the DriveTop tool
can be used for configuration and commissioning of Indramat drives. Configuration with a number of SERCOS rings is also supported.

Technical data TwinCAT DriveTop Server

Target system Windows NT/2000/XP/Vista, Windows 7
PC (x86-compatible)
Min. TwinCAT level TwinCAT NC PTP
Further information www.beckhoff.com/TC-DriveTop

Ordering information
TwinCAT DriveTop Server licence for using the TwinCAT DriveTop Server

TwinCAT DriveCOM OPC Server

The DriveCOM user organisa-
tion has set itself the aim of
facilitating uniform, standardised
communication between con-
figuration, commissioning and
diagnostic tools from different
drive manufacturers, independ-
ent of the fieldbus. The TwinCAT
DriveCOM OPC Server offers
precisely this type of commu-
nication connection. It enables
data flow from the engineering
tool to the drive, independent
of the fieldbus. Based on the
network-capable ADS TwinCAT
communication system, distribut-
ed drives can be configured and
diagnosed from a central point.
The TwinCAT DriveCOM OPC
server requires a subordinate
TwinCAT system with an FCxxxx-
type Beckhoff fieldbus card.
The TwinCAT DriveCOM configu-
rator finds supported drives in
the TwinCAT configuration and
makes this information available
for the engineering tool. The con-
figurator features an automation
interface and can therefore be
operated remotely by other tools.

Technical data TwinCAT DriveCOM OPC Server

Target system Windows NT/2000/XP/Vista, Windows 7
PC (x86-compatible)
Min. TwinCAT level TwinCAT NC PTP
Further information www.beckhoff.com/TC-DriveCom

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

TwinCAT OPC Server

The TwinCAT OPC Server is a standardised data exchange interface. It supports the DataAccess (DA) and XML-DA specifications. DataAccess (DA)
is based on the Microsoft COM technology and provides data for the client. The OPC XML-DA specification enables data exchange through XML
via HTTP. The TwinCAT OPC Server XML-DA is implemented as plugin for the Microsoft IIS (Internet Information Server) and provides TwinCAT
variables for web-based visualisations or implementation under C++, .NET, or JavaScript. Configuration of the server is carried out in a configura-
tion tool or via XML.

Technical data TwinCAT OPC Server TwinCAT OPC Server CE

TwinCAT

Target system Windows NT/2000/XP/Vista, Windows 7 Windows CE,

PC (x86-compatible) CE devices
820 Min. TwinCAT level TwinCAT I/O
Further information www.beckhoff.com/TC-OPC

Ordering information
TwinCAT OPC Server licence for using the TwinCAT OPC Server for accessing variables, according to OPC-DA/OPC-XML-DA specification
TwinCAT OPC Server CE licence for using the TwinCAT OPC Server for accessing variables, according to OPC-DA/OPC-XML-DA specification
for Windows CE platforms

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 Communication Communication
TwinCAT Supplements

TwinCAT OPC UA Server

The TwinCAT OPC UA Server
provides the functionality of
the OPC Unified Architecture
(UA) specification. In addition to
data access techniques UA also
specifies the data coding and the
transport protocols. This enables
platform-independence and
therefore integration of the UA
interface into small embedded
devices. Secured mechanisms
for authentication and data
encryption are directly included
for the exchange of complex
data. The system enables secured
data communication between
two end points (e.g. visualisation
and control) in a heterogeneous
network. The product includes an
OPC UA server and an OPC UA
client. The UA server offers data nication out of the PLC by using
exchange of TwinCAT variables function blocks to communicate
and also calling of ADS methods. to other UA servers. As a result,
It offers the data in accordance third-party products can easily
with the specification of the be integrated.
common working group of the
PLCopen and the OPC Founda-
tion which realised interoper-
ability access at a semantic level.
The UA client enables commu-

Technical data TwinCAT OPC UA Server TwinCAT OPC UA Server CE

Target system Windows NT/2000/XP/Vista, Windows 7 Windows CE,
PC (x86-compatible) CE devices
Min. TwinCAT level TwinCAT I/O
Further information www.beckhoff.com/TC-OPC-UA

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

TwinCAT ADS Communication Library

The TwinCAT ADS Communication
Library organises data exchange
between TwinCAT and Windows
programs and includes the search
for variables, the access by vari-
able name, timing synchronisa-
tion with the operating system,
adaptation of different data
types, generation of data blocks
and lists and the guarantee of
data consistency for access with
the synchronous/asynchronous
and cyclical/on-change access
methods.
The TwinCAT interface for
programming languages (Visual
Basic, Visual C, Delphi, Java ...)
does not just offer links to I/O
data, but also full access to the
methods of the PLC/NC run-
time server (start, stop, etc.).
Data connection with TwinCAT
servers takes place via the mes- tion: DLL, OCX, VB Script, J Script,
sage system. This way, Windows .NET assembly, Java, web service.
program data can be exchanged The TwinCAT ADS monitor acts as
with all registered TwinCAT serv- a debugging and diagnostic tool.
ers around the world. ADS data All ADS components are available
exchange can be managed trans- free-of-charge.
parently via different physical
transport routes: TCP, UDP, field-
bus, EtherCAT, serial, SOAP. ADS
components are available for the
following areas of implementa-
TwinCAT

Technical data TwinCAT ADS Communication Library

Target system Windows 9x/NT/2000/XP/Vista, Windows 7, Windows CE
PC (x86-compatible), CE devices (x86-compatible, ARM) 821
Min. TwinCAT level TwinCAT I/O
Further information www.beckhoff.com/TC-ADS

Ordering information
TwinCAT ADS free licence for using the ADS communication components
Communication Library

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 TwinCAT Supplements Communication

TwinCAT SMS/SMTP Server

The supplementary TwinCAT SMS/SMTP Server consists of two parts. The SMS server allows the PLC to send SMS messages to mobile telephones.
The library with the corresponding PLC modules can be run on PCs and the BCxxxx Bus Terminal Controllers. The second part is the TwinCAT
SMTP server, which allows the sending of e-mails directly from the PLC. Even file attachments, priority settings and HTML texts can be imple-
mented with the SMTP function blocks.

Technical data TwinCAT SMS/SMTP Server TwinCAT SMS/SMTP Server CE

Target system
Min. TwinCAT level
Further information
Windows NT/2000/XP/Vista, Windows 7 Windows CE,
PC (x86-compatible), Beckhoff Fieldbus Controller CE devices
(BCxxxx, BXxxxx, IL230x-Cxxx) (only PLC library)
TwinCAT I/O/TwinCAT PLC
www.beckhoff.com/TC-SMS-SMTP

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

TwinCAT TCP/IP Server

The TwinCAT TCP/IP Server enables the implementation and realisation of one or several TCP/IP server/clients within the TwinCAT PLC. The blocks
of the PLC library for establishing and winding down the communication and for the actual data exchange (sending and receiving) enable simple
interaction with the server.

Technical data TwinCAT TCP/IP Server TwinCAT TCP/IP Server CE

Target system Windows NT/2000/XP/Vista, Windows 7 Windows CE,
PC (x86-compatible) CE devices
Min. TwinCAT level TwinCAT PLC
Further information www.beckhoff.com/TC-TCP-IP

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

TwinCAT Virtual Serial COM Driver

The TwinCAT Virtual Serial COM Driver software library connects one or more EL60xx EtherCAT Terminals or EP6002 EtherCAT Box modules
as normal serial interfaces (“COMx”) in Windows CE or Windows XP. Configuration takes place in the TwinCAT System Manager, wherein it is
defined for each EL60xx/EP6002 whether or not and on which computer a serial interface should be created for it. Access to the device connected
to the terminal takes place via Windows API for serial interfaces. This way, even existing Windows applications can be used to read data via an
EL60xx/EP6002 from devices with serial interfaces, such as bar code scanners.
TwinCAT

Technical data TwinCAT Virtual Serial COM Driver

Target system Windows XP/Vista, Windows 7, Windows XP, Windows CE
822 PC (x86-compatible)
Min. TwinCAT level TwinCAT I/O
Further information www.beckhoff.com/TC-Serial-COM

Ordering information
TwinCAT Virtual Serial licence for using the TwinCAT Virtual Serial COM Driver for Windows XP and Windows CE platforms
COM Driver

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 Communication TwinCAT Supplements

TwinCAT FTP Client

The TwinCAT FTP Client enables the TwinCAT PLC to access several FTP servers in a simple manner. There are various function blocks available for
the PLC. Following the establishment of a connection (optionally with authentication), files can be loaded to/from the server. Additional function
blocks allow files or directories to be searched for, created, deleted and renamed.

Technical data TwinCAT FTP Client

Target system Windows NT/2000/XP/Vista, Windows 7, Windows CE
PC (x86-compatible), Beckhoff Windows CE devices
Min. TwinCAT level TwinCAT PLC
Further information www.beckhoff.com/TC-FTP

Ordering information
TwinCAT FTP Client licence for using the PLC library for easy access from the TwinCAT PLC to several FTP servers

TwinCAT PLC RFID Reader Communication

The TwinCAT PLC RFID Reader Communication PLC library offers the possibility to access different RFID readers via the serial interfaces. The new
TwinCAT RFID reader library offers a general, abstract interface that can be used for all readers. The configuration can easily be adapted to a spe-
cific reader.

Technical data TwinCAT PLC RFID Reader Communication

Target system Windows XP/Vista, Windows 7, Windows XP, Windows CE
PC (x86-compatible)
Min. TwinCAT level TwinCAT PLC
Further information www.beckhoff.com/TC-PLC-RFID-Reader

Ordering information
TwinCAT PLC licence for using a PLC library for the connection of RFID readers to the TwinCAT PLC
RFID Reader Communication

TwinCAT PLC S5/S7 Communication

TwinCAT PLC S5/S7 Communication enables straightforward connection of TwinCAT with an S5 or S7 controller. Data blocks, flags, inputs, outputs,
counters and timers can be accessed from the TwinCAT PLC via function blocks. The communication takes place using TCP/IP.
TwinCAT

Technical data TwinCAT PLC S5/S7 Communication

Target system Windows NT/2000/XP/Vista, Windows 7, Windows CE 823
Min. TwinCAT level TwinCAT PLC
Further information www.beckhoff.com/TC-PLC-S5-S7

Ordering information
TwinCAT PLC S5/S7 licence for using the TwinCAT PLC S5/S7 Communication
Communication

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 TwinCAT PLC Controller Toolbox
The TwinCAT PLC Controller
Toolbox offers a range of control
technology blocks:
– simple basic controllers – filter blocks – ramp and signal generator
(P, I, D) – control value generators blocks
– complex controllers (PI, PID, (limiters, PWM)
switching controllers)

Technical data TwinCAT PLC Controller Toolbox

Target system Windows NT/2000/XP/Vista, Windows 7, Windows CE
Beckhoff Fieldbus Controller (BCxxxx, BXxxxx, IL230x-Cxxx)
Min. TwinCAT level TwinCAT PLC
Further information www.beckhoff.com/TC-PLC-Controller-Toolbox

Ordering information
TwinCAT PLC The TwinCAT Controller Toolbox library contains blocks for basic controllers (P, I, D), complex controllers (PI, PID),
Controller Toolbox pulse width modulation, ramps, signal generators, filters.

TwinCAT PLC Temperature Controller

The TwinCAT PLC Temperature
Controller implements a temper-
ature controller function block
for monitoring and control of
varying temperature ranges with
the following characteristics:
TwinCAT
– easy commissioning through
automatic adjustment of the
controller (self-tuning)
– automatic and manual oper-
ation with shock-free set up
– control value analog or
pulse-width modulated signal
– tolerance monitoring,
absolute value monitoring
– scalable reaction to sensor
error and heating power
faults
– limitation of set and
control values
– optional ramping of
the set value
– set value start-up function
– An industrial PID controller
is at the heart of the tem-
perature controller.

Technical data TwinCAT PLC Temperature Controller

824 Target system Windows NT/2000/XP/Vista, Windows 7, Windows CE
Min. TwinCAT level TwinCAT PLC
Further information www.beckhoff.com/TC-PLC-Temperature-Controller

Ordering information
TwinCAT PLC IEC 61131-3 software library for TwinCAT PLC for temperature control
Temperature Controller

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TwinCAT PLC Building Automation
The TwinCAT PLC Building Automation software library allows the implementation of all functions which are important for room automation.
Among these are lighting, constant light control, light dimmer, facade control, scaling functions, filter blocks, timer functions and peak load
limiter for energy optimisation.

Technical data TwinCAT PLC Building Automation

Target system Windows NT/2000/XP/Vista, Windows 7, Windows CE
Beckhoff Fieldbus Controller (BCxxxx, BXxxxx, IL230x-Cxxx)
Min. TwinCAT level TwinCAT PLC
Further information www.beckhoff.com/TC-PLC-Building-Automation

Ordering information
TwinCAT PLC IEC 61131-3 software library for TwinCAT PLC for execution of basic functions in the building automation area
Building Automation (basic library)

TwinCAT PLC Building Automation DALI

The TwinCAT PLC Building Automation DALI software library contains blocks for configuration and programming of the KL6811 DALI Bus Terminal
as well as for almost all standard DALI commands (IEC 62386). Among these are the command sets for emergency lighting (Part 202) and the
discharge lamps (Part 203). Also included are ready-made application blocks for the addressing and configuration of DALI ballasts.
TwinCAT

Technical data TwinCAT PLC Building Automation DALI

Target system Windows NT/2000/XP/Vista, Windows 7, Windows CE
Beckhoff Fieldbus Controller (BCxxxx, BXxxxx, IL230x-Cxxx) 825
Min. TwinCAT level TwinCAT PLC
Further information www.beckhoff.com/TC-PLC-BA-DALI

Ordering information
TwinCAT PLC free licence for using a PLC library for TwinCAT PLC for communication with the KL6811 DALI master Bus Terminal
Building Automation DALI

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 TwinCAT Supplements Building Automation

TwinCAT Building Automation Framework

The TwinCAT Building Automation Framework includes a configuration program and a PLC library. The PLC library is built-up in such a way that
a ready-made application program is available with the necessary room automation functions. This includes lighting, shading, double and triple
point control for the climate control, timer function, scene administration, weather stations and energy consumption recording. All actuators and
sensors are registered in the TwinCAT Building Automation Manager, grouped together and linked with the Bus Terminals. The logical ordering of
sensors to actuators is also done in the TwinCAT Building Automation Manager. From this information the configuration program generates and
activates the I/O links for all controllers entered in the system and writes all necessary parameters in the controller.

Technical data TwinCAT Building Automation Framework

Target system Windows NT/2000/XP/Vista, Windows 7, Windows CE
Min. TwinCAT level TwinCAT PLC
Further information www.beckhoff.com/TC-BA-Framework

Ordering information
TwinCAT Building Automation licence for using the framework for development and commissioning of building automation applications
Framework

TwinCAT PLC HVAC

TwinCAT PLC HVAC is an extensive TwinCAT PLC library with function blocks for complex control or control technology tasks in the areas of auto-
mation of heating, ventilation, climate and sanitary installations. The application of this PLC library significantly simplifies the engineering.

Technical data TwinCAT PLC HVAC

Target system Windows NT/2000/XP/Vista, Windows 7, Windows CE
PC (x86-compatible), Beckhoff Windows CE devices
Min. TwinCAT level TwinCAT PLC
Further information www.beckhoff.com/TC-PLC-HVAC

Ordering information
TwinCAT PLC HVAC licence for using the PLC library for TwinCAT PLC for automation of heating, ventilation, air-conditioning and
sanitary installations

TwinCAT PLC M-Bus

The M-Bus (metering bus) is a fieldbus for logging consumption or measurement data (e.g. in water meters, electricity meters, gas meters,
heat/cold meters etc.). The M-Bus is a European standard and is described in EN 1434. There are over 70 PLC blocks available in the TwinCAT
PLC M-Bus which can communicate with devices from companies such as Berg, GWF, Landis+Gyr, Relay, NZR, ABB and many others. The M-Bus
master (TwinCAT PLC with level converter) controls the communication on the bus by requesting data from the slaves (measuring devices).
The M-Bus level converter is connected with the TwinCAT controller by RS232 or RS485.
TwinCAT

Technical data TwinCAT PLC M-Bus

826 Target system Windows NT/2000/XP/Vista, Windows 7, Windows CE
PC (x86-compatible), Beckhoff Windows CE devices, Beckhoff Fieldbus Controller (BCxxxx, BXxxxx, IL230x-Cxxx)
Min. TwinCAT level TwinCAT PLC
Further information www.beckhoff.com/TC-PLC-M-Bus

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

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 Building Automation TwinCAT Supplements

TwinCAT Crestron Server

Crestron is one of the leading manufacturers of AV control systems. The TwinCAT Crestron server enables communication between a TwinCAT
PLC and a Crestron control. Both systems are connected by Ethernet. SIMPL user macros are available for programming the Crestron controller.
The required function blocks are included in the TwinCAT PLC library. Read and write access to the other device is available from the Crestron
controller and the TwinCAT PLC.

Technical data TwinCAT Crestron Server

Target system Windows Embedded Standard (WES), Windows XP and Windows 7, Windows CE
PC (x86-compatible)
Min. TwinCAT level TwinCAT PLC
Further information www.beckhoff.com/TC-Crestron-Server

Ordering information
TwinCAT Crestron Server licence for using the Crestron Server

TwinCAT BACnet/IP
BACnet (Building Automation Control Network) is a standardised, manufacturer-independent communication protocol for building automation.
Areas of application include HVAC, lighting control, safety and fire alarm technology. Implementation of this protocol is carried out as server as
well as client and can be run on all Beckhoff industrial PCs and embedded PCs. All services of a BBC (BACnet Building Controller) are supported
such as for example, common data use (DS), alarm and event processing (AE), time-tabling (SCHED), trend recording (T) as well as device and
network management (DM).

Technical data TwinCAT BACnet/IP

Target system Windows NT/2000/XP/Vista, Windows 7, Windows CE
Min. TwinCAT level TwinCAT PLC
Further information www.beckhoff.com/TC-BACnet

Ordering information
TwinCAT BACnet/IP licence for using the BACnet/IP servers and clients

TwinCAT FIAS Server

The FIAS (Fidelio Interface and Application Specification) interface is a world-leader in hotel management software. The TwinCAT FIAS server is a
software package for communication between TwinCAT PLC and a system with a FIAS standard interface. The communication takes place using
TCP/IP. The connection of hotel management software and automation system helps to optimise the energy consumption: e.g. the climate control
is automatically adjusted for an unoccupied room; if there is strong sunlight the shading is automatically activated.
TwinCAT

Technical data TwinCAT FIAS Server 827

Target system Windows NT/2000/XP/Vista, Windows 7, Windows CE
Min. TwinCAT level TwinCAT PLC
Further information www.beckhoff.com/TC-FIAS

Ordering information
TwinCAT FIAS Server licence for using the FIAS Server

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