Beckhoff Twincat 3 e 59 INT

TwinCAT 3 | eXtended Automation Technology 14.06.
2012 1
Soft PLC hvad ved vi i dag i forhold til for 5 r siden?
New Automation Technology
TwinCAT 3 | eXtended Automation Technology 14.06.2012 2
1986

S1000
PLC/NC on
PC

PC-based Control Milestones
PC Control
PC-compatible
machine
control

1988

1989

1995

1996

2003

2008

2010

Lightbus Bus
Terminal
Universal field-
bus module

TwinCAT
IEC 61131
PLC real-time
under
Windows NT
EtherCAT
Real-time
Ethernet
fieldbus
XFC
eXtreme Fast
Control
Technology
1993

S2000
PLC/NC/CNC
on PC
TwinCAT 3

Beckhoff PC-based Control:
Setting New Standards in Automation
Motivation
PC-Hardware
Feldbus
TwinCAT-
Software
I/O TwinSAFE PLC Control Control
(PID)
Connectivity
NC PTP CNC Robotics Measurement
Technology
NC I
Base
Motion
Engineering (XAE)
eXtended Automation
TwinCAT 3 Engineering Environment based on Visual Studio

System Manager
Configuration
I/O
PLC
C/C++
MC
NC
CNC
Safety
others
Programming

IEC 61131 Object-
oriented
extensions
IEC Compiler
TwinCAT 3 Runtime
TwinCAT Transport Layer ADS
Non
real-time
C#.NET
Real-time
C/C++
Matlab
/
Simulink
Real-time
Workshop
Microsoft C Compiler
Third-party
programming
tool
C/C++
Engineering (XAE)
TwinCAT 3 Integrated
for PLC and C/C++ programmers
configuring, setting up and diagnosis
module generation (C/C++ or
Matlab
/Simulink
)
debugging PLC, C/C++,
Matlab
/Simulink

eXtended Automation
eXtended
Automation Engineering (XAE)

TwinCAT 3 Engineering Environment based on Visual Studio

TwinCAT Transport Layer - ADS
TwinCAT 3 Runtime
Real-time Kernel
T
c
C
O
M

PLC
PLC
PLC
Safety
T
c
C
O
M

PLC
NC
T
c
C
O
M

PLC
C
Module
T
c
C
O
M

PLC
CNC
T
c
C
O
M

PLC
C++
Module
T
c
C
O
M

T
c
C
O
M

PLC
PLC
TwinCAT Automation Device Driver - ADD
PC System
Fieldbus
System Manager
- Configuration
Programming
- IEC 61131-3
- objectoriented extensions
- C/C++
PLC
T
c
C
O
M

Simulink

Module
Windows 32/64 bit
Architecture (XAA)
eXtended
Automation Runtime (XAR)
eXtended Automation
Engineering (XAE)
Simultaneous programming according to IEC 61131 and C++
eXtended Automation
TwinCAT 3 PLC
Shared tree structure for hard- and software
eXtended Automation
Shared output window of all languages
Programming language-dependent toolbox
TwinCAT 3 PLC
Object-orientation by the IEC 61131-3 3rd edition

Benefits of the object-oriented extensions
increased readability of the code by encapsulation algorithms into methods
increased maintainability
modularisation, structuring of the code
increased reusability
abstract programming by using interfaces
increased extensibility and adaptability
construction of inheritance hierarchies
increased extensibility and adaptability

Consistent usage of the object-oriented extensions enables:
increased software quality
decreased time for programming and maintenance
eXtended Automation
eXtended Automation
What does it look like in TwinCAT 3?
declaration of a function block

call of a method

Usage of the object-oriented extensions:
is possible in all IEC languages
is independent from the used hardware
is not mandatory!
TwinCAT I/O Integrated System Manager
eXtended Automation
System configuration
Motion control configuration
PLC configuration
Safety PLC configuration
C++ module configuration
I/O configuration
TwinCAT I/O Integrated System Manager
eXtended Automation
Mapping of process images
open for all common fieldbuses
support of all PC hardware interfaces
easy commissioning and diagnosis
assignment of logical and physical process
images
Changes of the bus system do not require a
change of the PLC code.
Fieldbus 1 Fieldbus 2 Fieldbus 3
TwinCAT process images
Physical
process
images
Virtual
process
images
Inputs Outputs
Inputs Outputs Inputs Inputs Outputs Outputs
C/C++ Programming Languages
eXtended Automation
Method CycleUpdate: is called cyclically Pointer to logical input/output image
Matlab
/Simulink
Integration
eXtended Automation
C#/.NET programming
eXtended Automation
PLC module
C++ module
Real-time Code
HMI/
Windows processes
Runtime (XAR)
Modular runtime
dynamic environment for the execution
and administration of TwinCAT 3
modules
administration of runtime modules (with
TwinCAT Object Manager)
defined interfaces (e.g. TwinCAT
Component Object Model TcCOM)
and v model
eXtended Automation
Fieldbus
TwinCAT Transport Layer - ADS
TwinCAT Object Manager
T
w
i
n
C
A
T

R
e
a
l
-
t
i
m
e

K
e
r
n
e
l

T
c
C
O
M

PLC
T
c
C
O
M

PLC
C++
Module
T
c
C
O
M

PLC
CNC
T
c
C
O
M

PLC
Safety
T
c
C
O
M

PLC
Simulink

Module
T
c
C
O
M

PLC
PLC
T
c
C
O
M

PLC
NC
T
c
C
O
M

C++
Module
TwinCAT Automation Device Driver - ADD
T
c
C
O
M

PLC
C
Module
T
c
C
O
M

PLC
Simulink

Module
TC Configuration Debugging
Task
Task
Task
Task
Task
Task
Task
Call
Call
Call
TwinCAT 3 Runtime
TwinCAT 3 Motion Control Abstraction Layer
eXtended Automation
S
o
f
t

S
P
S

L
a
y
e
r

+
+
+
-
S
o
f
t

M
o
t
i
o
n

L
a
y
e
r

F
i
e
l
d
b
u
s

L
a
y
e
r

D
r
i
v
e
s

L
a
y
e
r

Velo Preset
Pos Ctrl
Pos Meas.
PLC
SP
Limit
Scale & Limit
NC PTP CNC Robotics NC I
Point-to-Point-
movement
gearing
camming
superposition
flying saw
Interpolated motion
with 3 axes and
5 additional axes
programming
according to DIN 66025
technological features
straightforward
utilisation through
function blocks from
the PLC
Complete CNC
functionality
interpolated
movement for
up to 32 axes
per channel
various
transformations
Interpolated motion
for robotic control
support for a wide
rande of kinematic
systems
optional torque
pre-control
TwinCAT 3 Motion Control From PTP to Robot Control
eXtended Automation
Functionality
TwinCAT 3 Multicore support
eXtended Automation
In Different Areas
Connectivity
Soft PLC I gr, I dag og I morgen !!
New Automation Technology

Beckhoff Twincat 3 e 59 INT

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TwinCAT 3 | eXtended Automation Technology 14.06.

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