Beckhoff TwinCAT 1

CX9000 – Comms & Hardware Setup

Beckhoff TwinCAT 2

Training Hardware - 1

Ethernet Port

Battery Compartment and DIP switches

Ethernet Port

Power LED `s and Power For CPU and Terminals.

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Training Hardware - 1

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Training Hardware - 1

Ordering information E-Bus K-Bus DVI,  2 x USBno

TwinCATTwinCAT-

PLC-RuntimeTwinCAT-

NC-Runtime

CX9010-0000 x - - x - -

CX9010-0001 x - - - x -

CX9010-0002 x - - - x x

CX9010-0100 x - x x - -

CX9010-0101 x - x - x -

CX9010-0102 x - x - x x

CX9010-1000 - x - x - -

CX9010-1001 - x - - x -

CX9010-1002 - x - - x x

CX9010-1100 - x x x - -

CX9010-1101 - x x - x -

CX9010-1102 - x x - x x

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Setting up CX9000

Open an empty system manager file.

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Setting up CX9000

Choose a target systemWhen you have opened the system manager. Click on the System configuration and then click on the Choose target button. Which you can find on the right hand side.

Then click on the Search (Ethernet)… button.

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Setting up CX9000

Add Route dialogClick the broadcast search button.

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Setting up CX9000

Add Route DialogAt default the CX9000 is addressed via DHCP therefore under the address info make sure the Host name is selected and not the IP Address. If you cannot find the CX this way make sure that your network settings are DHCP as well and that a cross over Ethernet cable is used.

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Setting up CX9000

Add Route DialogClick on the desired CX and click Add route. AS you can see the CX`s name is CX_01DA18. If you look at the CX`s MAC ID the last 6 digits are the last six digits of the CX. Therefore the last six digits of this CX`s Mac ID is 01-DA-18.

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Setting up CX9000

Logon InformationDefault User name is Administrator.

Default Password is kept blank

For CX10** and other embedded PC`s and Industrial PC`s the default Username is administrator. The Password is 1.

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Setting up CX9000

Add Route DialogOnce you have accepted the Username and Password you should get a “X” under the Connected. This means Twincat and the system manager now has a route to connect to the device.

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Setting up CX9000

Choose Target SystemLook for the CX that you have just connected to and click on it. It will highlight like on the left. You can then click “OK”

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Setting up CX9000

Now ConnectedAs you can now see at the top of the System manager the name of the device connected is showing. Also on the bottom right side is the status of Twincat on the CX and the CX connected in red.

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Setting up CX9000

Change CX AddressNow you will have an extra tab called “CX Settings”. Click on this and then you will be able to give the CX an address of your choice.

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Setting up CX9000

Change CX AddressChange the IP Address to 172.16.17.90.

Change the Subnet mask to 255.255.0.0

Click apply.

Default address for BC9000 couplers is 172.16.17.(*Dip switch*)

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Setting up CX9000

System ManagerReboot system

Target system is rebooting. Click “OK”

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Setting up CX9000

Internet Protocol PropertiesChange your Networks IP address. You can use any range from 1 – 255. Better to Disconnect your network cable when changing IP addresses.

I have addressed it 172.16.17.1

Click ok.

You will now be able to ping the CX using this range.

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Setting up CX9000

Choose Target SystemNow back to the Choose Target System. Since we have changed the address we must now link the CX again with the new Address.

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Setting up CX9000

Add Route DialogAs you can see the connected “X” has gone again. The address has changed.

Click the IP Address option next to the Host Name and Add Route.

Once again. The Username and Password is asked.

Click ok and you will now see the system is connected again with the new IP range

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Setting up CX9000

CX Is Run ModeThe system manager again says the CX is in Run Mode.

You CX Should look like this at the moment.

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Setting up CX9000

Restarting system in Config ModeConfig mode allows you to monitor and scan the bus.

Click the Blue button at the top of the system manager.

Click the “OK” button.

Now your CX is in config mode.

And should look like this.

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Setting up CX9000

Scanning DevicesRight click on I/O Devices and click “Scan Devices”.

Click OK

Disable items not needed.

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Setting up CX9000

Scanning of IOClick “Yes” to scan for all boxes.

Click “Yes” do create corresponding device for the Ethercat PRofibus Master.

Do not activate free run. Free run is used when you want to force outputs when in config mode.

Your Scan tree should look similar to this

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Setting up CX9000

Save Your FileSave your System manager file and give it a name you think is suitable to your application.

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Setting up CX9000

System ManagerNow your system manager should look like this.

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Setting up CX9000

TwincatOpen a new Twincat file.

For the CX 9000 range CX (ARM) must be selected. For CX10**, Industrial PC`s and your local system select the PC or CX (x86). For a BC coupler over ethernet select BC via AMS. BC via serial select BC serial.

IL=Instruction List

LD=Ladder

FBD=Function Block Diagram

SFC=Sequential Function Chart

ST= Structured Text

CFC=Continuous Function Chart

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Setting up CX9000

Twincat ProgrammingI have started my programming using Structured Text. On the left are your programs, Function Blocks and Functions. Below that is your Resources tab (Global variables, Task configuration etc), Visualization tab Data Types tab and Program tab.

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Variable Declaration - 1

Variable Name:

Has Memory Allocation

%I = Input

%Q = Output

%M = Memory

Variable Type

Simple Declaration

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Variable Declaration - 2

Variable Name

AT % Q

I

M

B

X

W

D

20

1.0

:

BOOL

;

BYTE

INT

REAL

TIME

STRING

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Variable Declaration - 3

•Select Correct Variable for job

•Declare Correctly

•Use Correctly

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Setting up CX9000

Twincat Programming – Global VariablesGo to your Resources tab below and open your Global variables.

Add these variables.

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Setting up CX9000

Twincat Programming – Choose a Run Time SystemChoose the run time system that is your CX. This will now connect the Twincat program to the CX so that when you download, the program will be downloaded into the CX.

If you look at your bottom left hand corner you will see a target and if the system is Running. This does not mean that the system is in Run mode however.

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Setting up CX9000

Twincat Programming - Save

Save your program in a specific location. This is important and remember where you have saved it as the system manager reads a *.tpy file in the folder where the plc program has been saved.

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Setting up CX9000

Connecting Twincat Program to System managerGo back to the system manager. Click on PLC – Configuration.

Right click and Click on “Append PLC Project…”

Search for you File *.tpy file which is saved in the directory that you saved your program. If you move your program and rebuild it this file will not be updated. You will have to search for the new *.tpy file created in the directory where you moved the program.

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Setting up CX9000

Program Connected To System ManagerNow the program is connected. As you can see the program can be rescanned. This is for when extra variables have been added to your program. You can set this to automatic by clicking “Options” and tick “Check PLC project changes”.

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Setting up CX9000

Rebuild Twincat ProgramEvery time you Rebuild your Twincat program this message will now come up in your system manager. If this does not happen then either.

The program that you rebuilt is not linked correctly to the system manager.

The name or directory that the system manager is looking for is not correct

The option to check PLC changes is not ticked.

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Setting up CX9000

Linking IO From Program to System ManagerClick on the Linked to… button.

Link all the IO that you have by clicking on it and then clicking the “OK” button.

Now you will be seeing an arrow next to the Input. This indicates that this input is being used by an I/O.

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Setting up CX9000Generate Mappings

Now to Accept everything we have done and to download the hardware configuration to the CX.

Disable all the items we don’t need at this moment by clicking on the object not needed and then clicking the disabled checkbox.

Then begin by clicking on Generate mappings,

Check Configuration, Activate Configuration and Set/Reset to Run Mode.

Check ConfigurationActivate Configuration

Set To Run Mode

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Setting up CX9000

Twincat DownloadNow to downlaod the program for the first time.

Run mode has not been activated yet. Push F5 Key or go to online tab and click “Run”.

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Setting up CX9000

Program Downloaded.Now you can continue testing whatever you need. However every time the CX shuts down the CX will start with a blank memory. So to make the CX start with your program on startup every time make sure you create a Boot project.

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Setting up CX9000

Done

ALL DONE