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TwinCAT 3 | eXtended Automation Technology 14.06.2012 1

Soft PLC – hvad ved vi i dag i forhold til for 5 år siden?

New Automation Technology


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

TcC

OM

PLC PLC PLC Safety

TcC

OM

PLC NC

TcC

OM

PLC C

Module

TcC

OM

PLC CNC

TcC

OM

PLC C++

Module

TcC

OM

TcC

OM

PLC PLC

TwinCAT Automation Device Driver - ADD

PC System

Fieldbus

System Manager

- Configuration

Programming

- IEC 61131-3

- objectoriented extensions

- C/C++

PLC

TcC

OM

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

Tw

inC

AT

Real-tim

e

Kern

el

TcC

OM

PLC

TcC

OM

PLC C++

Module

TcC

OM

PLC CNC

TcC

OM

PLC Safety

TcC

OM

PLC Simulink®

Module

TcC

OM

PLC PLC

TcC

OM

PLC NC

TcC

OM

C++

Module

TwinCAT Automation Device Driver - ADD

TcC

OM

PLC C

Module

TcC

OM

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

oft

SP

S

La

ye

r

+

+ +

-

So

ft M

oti

on

La

ye

r

Fie

ldb

us

La

ye

r

Dri

ve

s

La

ye

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 går, I dag og I morgen !!

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