BECKHOFF-TC3-002-TwinCAT 3 (2012)

Overview
TwinCAT 3 New Automation Technology
Training fr Umsteiger
Presentation of the system
Overview of contents
Motivation why
TwinCAT 3
eXtended Automation
(XA) overview
Architecture (XAA)
Engineering (XAE)
Runtime (XAR)
Connectivity
TwinCAT 2 Migration
Functions
TwinCAT 3 | Overview
23.05.2012
Motivation why TwinCAT 3

Integration of PLC, Motion and HMI in one software on one CPU
Scalable hardware
Scalable software modules
Reduced interface complexity
Improved diagnosis
One project storage place for hardware and software
One debugging environment
PC-based control technology as open control concept
Program - abstraction as principle
Functions implemented in software
Independent of the hardware employed
Scalability in performance and costs due to the use of standard CPUs
Automation and IT world share the same advantages of PC technology:
Continuous increase in performance
Continuous reduction in costs
23.05.2012
eXtended Automation (XA) overview

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

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

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

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

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

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

modules in real-time
Visual Studio 2010 for

the configuration of the
complete system
Support for multi-core

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

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

Architecture (XAA)
Engineering (XAE)
TwinCAT 3 Standard
TwinCAT 3 Integrated
System Manager
PLC
Motion Control
C/C++ programming
Matlab/Simulink
Integration
C#/ .NET programming
Runtime (XAR)
23.05.2012
eXtended Automation
Engineering (XAE)
23.05.2012
10
eXtended Automation
Engineering (XAE)
eXtended Automation Engineering (XAE)
TwinCAT 3
One programming environment
One project folder
One debugging environment for IEC and C/C++ - code
Integration of the familiar TwinCAT System Manager
Programming in IEC 61131-3 3rd Edition (NEU:
NEU object-orientated extension)
Real-time programming in C/C++
Integration and sequence of the C/C++ - program in the IEC environment or
execution as independent real-time code
Link to Matlab/Simulink
TwinCAT 2 PLC projects can be converted into a TwinCAT 3 PLC project
The old TwinCAT System Manager file (*.tsm file) can be converted
Embedded in Microsoft Visual Studio 2010
23.05.2012
11
eXtended Automation
Engineering (XAE) - variants
TwinCAT 3 Standard
Based on the Microsoft
Visual Studio Shell
Integrated System
Manager
Integrated IEC-61131-3
3rd edition programming
(OOP)
Integrated Safety PLC
Integration in an existing
Microsoft Visual Studio 2010
Integrated System Manager
Integrated IEC-61131-3 3rd
edition programming (OOP)
Integrated Safety PLC
C/C++ programming
Matlab/Simulink
C# and .NET programming for
non-real-time applications
Optional: implementation of thirdparty software tools
23.05.2012
12
Engineering (XAE)
TwinCAT 3 Standard
For (standard) PLC

programmers and users
of existing, compiled
modules (e.g. C/C++,
Matlab/Simulink)
TwinCAT 3 Engineering Environment
System Manager
Configuration
I/O
PLC
MC
NC
CNC
Safety
others
Configuration,
parameterisation and
diagnosis
Debugging of the PLC
code
Programming
IEC 61131
Objectoriented
extensions
IEC Compiler
TwinCAT Transport Layer ADS
TwinCAT 3 Runtime
23.05.2012
13
Engineering (XAE)
For PLC and C/C++

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

System Manager
Configuration
I/O
PLC
C/C++
MC
NC
CNC
Safety
others
Third-party
programming
tool
Programming
Non
real-time
Real-time
C#.NET
IEC 61131
Objectoriented
extensions
IEC Compiler
Real-time
Workshop
C/C++
C/C++
Microsoft C Compiler
TwinCAT Transport Layer ADS
TwinCAT 3 Runtime
23.05.2012
14
Engineering (XAE)
TwinCAT 3 Integrated integrated working area
Workbench integration - integrated working area
TwinCAT 3 framework = Microsoft Visual Studio 2010
Use of the commonest development environment
Supported by Microsoft
Ultimate
Extendable via plug-ins (e.g. third party modules)

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

2010 Help (Microsoft Help system)
Premium
23.05.2012
15
Engineering (XAE)
Parallel programming of IEC 61131 and C++
C++ Code
IEC Code
23.05.2012
16
eXtended Automation (XA) - overview

Architecture (XAA)
Engineering (XAE)
TwinCAT 3 Standard
System Manager
PLC
Motion Control
C/C++ programming
Matlab/Simulink
Integration
Runtime (XAR)
23.05.2012
17
Engineering (XAE)
Integrated System Manager | Directory tree
System configuration
Motion control configuration
PLC configuration
Safety PLC configuration
C++ module configuration
I/O configuration
23.05.2012
18
Engineering (XAE)
Integrated System Manager | Mapping
Mapping of the process image
Open for all common fieldbuses
Support for all PC hardware interfaces
Simple diagnosis of the fieldbus data
Correlation between logical and physical fieldbus
A change of the bus system does not entail a
change of the PLC code!
TwinCAT process images
Virtual
process
images
Physical
process
images
Inputs
Inputs
Outputs
Fieldbus 1
Outputs
Inputs
Outputs
Inputs
Fieldbus 2
Outputs
Fieldbus 3
23.05.2012
19

Architecture (XAA)
Engineering (XAE)
TwinCAT 3 Standard
System Manager
PLC
Motion Control
C/C++ programming
Matlab/Simulink
Integration
Runtime (XAR)
23.05.2012
20
Engineering (XAE)
TwinCAT 3 PLC
Multiple numbers of PLC projects:
Number of possible tasks: 65,000 (compare here to TwinCAT 2: 4x4)
Number of possible PLC projects limited only by the memory capacity of the automation
device (instead of 4 runtime systems in TwinCAT 2)
Programming
Standard IEC 61131-3 languages (IL, ST, FBD, LD, SFC) +CFC
Use of the object-orientated extensions of IEC 61131-3, 3rd edition
Call and data exchange of code developed in C/C++ and Matlab/Simulink
Large number of import and export interfaces
No direct addressing (necessary)
Commissioning/maintenance
Source code upload/download
Online Change
Complete debugging (breakpoints, monitoring, sequence control etc.) of IEC and C/C++
code
23.05.2012
21
Engineering (XAE)
TwinCAT 3 PLC | Development environment
Common tree structure for hardware and software
Common output of diagnosis and error messages (PLC, C++, system etc.)
23.05.2012
22

Architecture (XAA)
Engineering (XAE)
TwinCAT 3 Standard
System Manager
PLC
Motion Control
C/C++ programming
Matlab/Simulink
Integration
Runtime (XAR)
23.05.2012
23
Engineering (XAE)
TwinCAT 3 Motion Control
Scalable solutions (from stepper motor to servo)
Higher flexibility in use and exchange of technology
Shortened development time faster delivery
Fast commissioning, diagnosis and maintenance
Abstraction level - identical access:
PLC/SCADA/HMI always access the same objects, irrespective of the type of
axis or fieldbus employed.
Conversion of mechanical to electronic systems:
Electronic cam plate
Electronic gearing
Electronic coupling
Electronic cam shaft
Flying saw
23.05.2012
24
+
PLC
SP
Pos Ctrl
-
Velo Preset
Limit
+
+
Scale & Limit
Pos Meas.
Drives
Layer
Fieldbus
Layer
Soft Motion
Layer
Soft SPS
Layer
Engineering (XAE)
TwinCAT 3 Motion Control | Abstraction level
23.05.2012
25
Engineering (XAE)
TwinCAT 3 Motion Control | From PTP to Robot Control
Covered functionality
NC PTP
NC I
CNC
Robotics
Point-to-Pointmovement
Interpolated motion
with 3 axes and
5 additional axes
Complete CNC
functionality
Interpolated motion
for robotic control
interpolated
movement for
up to 32 axes
per channel
various
transformations
support for a wide

rande of kinematic
systems
optional torque
pre-control
gearing
camming
superposition
flying saw
programming
according to DIN 66025
technological features
straightforward
utilisation through
function blocks from
the PLC
23.05.2012
26

Architecture (XAA)
Engineering (XAE)
TwinCAT 3 Standard
System Manager
PLC
Motion Control
C/C++ programming
Matlab/Simulink
Integration
Runtime (XAR)
23.05.2012
27
Engineering (XAE)
C/C++ programming languages
Reusability of already existing C/C++ code
Common use of C/C++ and PLC code
Real-time applications available for all platforms (CE, 7)
Opening up of a completely new world for automation technology
Renowned and well-known programming language
Standardised (C: ISO/IEC 9899 TC3, C++: IEC 14882)
The creation of Automation Device Drivers (ADD) enables you to implement your
own drivers (e.g. for your own fieldbus system or the like)
Beckhoff SDK supports (similar to PLC libraries)
ADS
No t
et a
yMotion
vaila
File I/O ble!
23.05.2012
28
Engineering (XAE)
C/C++ programming languages | Integration
23.05.2012
29

Architecture (XAA)
Engineering (XAE)
TwinCAT 3 Standard
System Manager
PLC
Motion Control
C/C++ programming
Matlab/Simulink
Integration
Runtime (XAR)
23.05.2012
30
Engineering (XAE)
Matlab/Simulink
Well-known from science and measurement technology
Large variability of toolboxes (e.g. fuzzy etc.)
Generation, simulation and optimisation of controller structures
Debug interface between Simulink and TwinCAT
Code generation
Design: Simulink
Automatic generation of C code by the Simulink real-time workshop
Compilation with the Visual Studio C compiler
Parameterisation in the TwinCAT System Manager
Download and execution in the TwinCAT 3 runtime (XAR)
23.05.2012
31
Engineering (XAE)
Matlab/Simulink | Integration
23.05.2012
32

Architektur (XAA)
Engineering (XAE)
TwinCAT 3 Standard
System Manager
PLC
Motion Control
C/C++ programming
Matlab/Simulink
Integration
Runtime (XAR)
23.05.2012
33
Engineering (XAE)
C#/.NET programming
HMI/
Windows processes
PLC module
C++ module
Real-time Code
23.05.2012
34

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

TwinCAT modules
Multi-core support
23.05.2012
35
eXtended Automation
Runtime (XAR)
23.05.2012
36
eXtended Automation
Runtime (XAR) | Modular runtime systems
Debugging
PLC
C++
Module
Task
TcCOM
Task
TcCOM
TcCOM
Call
PLC
Simulink
Module
PLC
CNC
Task
Task
PLC
NC
Call
PLC
PLC
C++
Module
TcCOM
Task
TcCOM
Task
Call
PLC
C
Module
TcCOM
PLC
TcCOM
Task
TcCOM
TwinCAT Object Manager
TcCOM
Firmly defined interface (e.g. TwinCAT

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

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

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

PLC
Simulink
Module
PLC
Safety
TwinCAT 3 Runtime
TwinCAT Automation Device Driver - ADD
Fieldbus
23.05.2012
37
eXtended Automation
Runtime (XAR) | TwinCAT modules
Must
Description (methods, functions, names
etc.)
StateMachine (Init, PreOp, Op)
TcCom Interface
TwinCAT Module
Module Description
State Machine
ITComObject Interface
Can
Interfaces
Parameter
Interfaces
Pointers
Interfaces
Parameter
Data Areas
Contexts
Data Areas
Categories
ADS Port
Data Area
Pointers
23.05.2012
38
eXtended Automation
TwinCAT 3 Multi-core support
23.05.2012
39
Runtime (XAR)
TwinCAT 3 Multi-core support
Support for multi-core systems
Assignment of the individual projects to
different cores
PLC, NC, HMI etc. each assigned
to their own core
Scalable basic time for each core
Scalable CPU limit adjustable for each
core
Multi-core CPU
Core 0
Core 1
Core 2
Core 3
Core ...
Windows
Apps
PLC Control
User HMI
PLC Runtime 0
PLC Runtime 1
NC Runtime 1
Windows
Drivers
ADS
ADS
ADS
Task 0 Task 1
ADS
ADS
ADS Router Engine
L2 Shared Cache
ADS Router Message Queues
System Memory
23.05.2012
40
Runtime (XAR)
TwinCAT 3 Multi-core support | Assignment
Activation of the cores
Definition of the CPU limits

Definition of the basic time
Assignment of the task to the core/CPU
23.05.2012
41
Motivation why
TwinCAT 3
eXtended Automation
(XA) - overview
Architecture (XAA)
Engineering (XAE)
Runtime (XAR)
Connectivity
TwinCAT 2 Migration
Functions
23.05.2012
42
eXtended Automation
Connectivity
23.05.2012
43
eXtended Automation
Connectivity | ADS to Communication
(PLC) PC 1
(PLC) PC 2
TwinCAT
TwinCAT
TwinCAT
TwinCAT
Automation
Protocols
Industry
Protocols
IT
Protocols
Web
Server Ils
TwinCAT
Automation
Device
Specification
(ADS)
OPC UA,
Modbus
TCP, Modbus
RTU
3964R/RK512
IEC 61850,
IEC 61400-25,
IEC 60870-510x,
BACnet, FIAS,
Creston
WLAN,
Bluetooth,
TCP, UDP,
RAS,
FTP, VPN,
SNMP, SNTP,
SMS, SMTP
XML, AJAX,
ASP,
DPWS/WSD
Automation
Device
Specification
(ADS)
TwinCAT ADS Router
Acyclic
TCP, UDP, Serial,
Fieldbus
TwinCAT ADS
Router
Cyclic
EtherCAT Automation
Protocol (EAP),
Network variables
23.05.2012
44
Motivation why
TwinCAT 3
eXtended Automation
(XA) - overview
Architecture (XAA)
Engineering (XAE)
Runtime (XAR)
Connectivity
TwinCAT 2 Migration
Functions
23.05.2012
45
eXtended Automation
TwinCAT 2 Migration | Opening old projects
The opening of projects created with TwinCAT 2 results in:
1.) Conversion of old projects to the TwinCAT 3 format
Process can not be undone!
TwinCAT 3 projects can not be saved in the TwinCAT 2 project format!
Conversion of existing TwinCAT 2 projects to the TwinCAT 3 format means:
Extension of the project by new features
Increased reusability of the existing code in new project parts
Use of the same tools for all projects
Conversion of PLC Control and System Manager files
23.05.2012
47
Motivation why
TwinCAT 3
eXtended Automation
(XA) - overview
Architecture (XAA)
Engineering (XAE)
Runtime (XAR)
Connectivity
TwinCAT 2 Migration
Functions
23.05.2012
48
eXtended Automation
TwinCAT Functions
The previously familiar TwinCAT supplements also exist in TwinCAT 3
The designation changes to TwinCAT Functions: TFxxxx
TwinCAT 2 supplement licences

cannot be used in TwinCAT 3!
New (if necessary trial) licences
must be generated for this.
23.05.2012
49
TwinCAT 3 | New Automation Technology
Overview
Thank you very much for your
attention!
New Automation Technology
01.10.2012

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

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

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

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

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

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

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

NC
EtherCAT
23.05.2012

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

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

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

TwinCAT XAE displays TwinCAT

state on the target system
TwinCAT on the target computer

(CX / IPC)
PC taskbar
The target computer

must be in the RUN
state in order to logon
to the PLC
Real-time load in %
23.05.2012
Establishment of a connection
Practical part
Establishment of a
connection
23.05.2012
Requirement: TC3 is successfully installed on the programming computer and the
target computer
Hardware with PC (XAE)
Target system CX with BK1120 Bus Station
01.10.2012
10
Hardware
Example hardware
PC with TwinCAT3 XAE,
CX with EtherCAT
adaptor
TwinCAT3 XAE / XAR
on the same computer
(local)
BK1120 Bus Coupler
2* KL1XX2 2-CHANNEL
DIG IN
2* KL2XX4 4-CHANNEL
DIG OUT
1* KL2531 Stepper
Terminal
01.10.2012
11
Starting the VS2010 / 2010 shell

Taskbar TwinCAT
VS2010 symbol
01.10.2012
12
Enter higher-level headline
Starting the VS2010 / 2010 shell

New Project
XAE Project
01.10.2012
13
Setting the target system
01.10.2012
14
To search, first select Local Target System
01.10.2012
15
searches
for TC
controllers
IPC/ CX
Connection
to both
devices
(enter PC
target
system)
01.10.2012
16
Logon information: user name and password for computer.
Training CX 1020
CX training:
Administrator
1
01.10.2012
17
Connection
valid
01.10.2012
18
01.10.2012
19
Status of connection establishment

TwinCAT on the target computer

(CX / IPC)
PC taskbar
01.10.2012
20
State of the TwinCAT symbol

The TwinCAT system on the XAE

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

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

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

simultaneously represents a control computer
(XAR)
01.10.2012
21
Scan and Freerun

Practical part
Hardware test
Scanning
Freerun Mode
22
23.05.2012
Scan Hardware
Check Config
Mode, activate
Config Mode if
necessary
Scan
01.10.2012
23
Scan Hardware
Scan Hardware
01.10.2012
24
Freerun
In Freerun Mode,
I/O can be tested
without PLC program
01.10.2012
25
PLC Program
Practical part
Create PLC program
Generate global variables

Linkage with the hardware
26
23.05.2012
Add PLC project

Create PLC project
01.10.2012
27
Global Variable List

PLC project from
template
Generate global variable
list
01.10.2012
28

Name
01.10.2012
29

Create global variables
01.10.2012
30
Linking
Link
01.10.2012
31
Linking
Link
01.10.2012
32
Linking
Further links
01.10.2012
33
Activate
Activating the
configuration
Wait for Run Mode
01.10.2012
34
Activate
If TwinCAT XAR is not
registered, a 7-day
licence can be created
01.10.2012
35
Login
Logon to PLC project
Login
Start
PLC
PLC
Online
PLC RUN
01.10.2012
36
Online
XAE offline + PLC not in Run Mode

XAE online + PLC not in Run Mode
XAE offline + PLC in Run Mode
XAE online + PLC in Run Mode
TwinCAT in Run Mode
Monitoring
Global variables online
Write
Value
s
01.10.2012
38
Extending the program

Logout
Create FB
01.10.2012
39

Create FB
01.10.2012
40

Edit FB
Toolbox: VIEW>TOOLBOX
01.10.2012
41

Edit FB
Adapt connection with
Set output connection
01.10.2012
42

Edit FB
Adapt connection with
Set output connection
01.10.2012
43

Call block in Main (ST)
with input assistant and
Auto Declare
01.10.2012
44

with input assistant
and Auto Declare
01.10.2012
45

with input assistant
and Auto Declare
Configure input and
output
01.10.2012
46
Autostart
Practical part
Settings for automatic start of

the XAR
Activate boot project

Enable boot project start
Set TwinCAT autostart for
RUN
47
23.05.2012
Autostart
Boot project
Enable autostart
Creating a boot project
01.10.2012
48
Autostart
TwinCAT autostart
01.10.2012
49
Autostart
User name and
password for the
control computer
01.10.2012
50
TR3020 | Training for new users | Overview
Identifier
Indentifier serves to assign individual names to variables, data types,
functions, etc.
The identifier starts with a letter or underscore
followed by numbers, letters and underscore
No distinction is made between upper and lower case
The following are not permitted
special characters (!, , , $, etc.)
spaces
consecutive underscores
umlauts
TwinCAT Training: Programmer
01.10.2012
Keywords
Keywords are identifiers specified by IEC61131-3. They are thus fixed
components of the syntax and therefore may not be used for other
purposes.
Examples
Standard operators AND, OR, NOT
Standard types BOOL, INT, REAL...
Types TYPE, STRUCT
Block types FUNCTION, FUNCTION_BLOCK, PROGRAM
01.10.2012
Keywords and comments

The comments are delimited by character strings with (* or *) at the beginning
and at the end. Comments may be placed wherever spaces are also permitted.
Exception: within string literals.
(*digitale Eingnge*)
bStart AT %IX0.0 :BOOL;(*Anlagenstart*)
(*analoge Eingnge*)
TemK1 AT %IW10 (*Byte 10-11*) :WORD;
Comments to the end of the line
bStart AT %IX0.0 :BOOL; // Anlagenstart
01.10.2012
Elementary data types

Type
Lower
Upper
BOOL
FALSE
TRUE
Size
Prefix
x
b
BYTE
8 BIT
by
Bitstring
WORD
16 BIT
Bitstring
DWORD
32 BIT
dw
Bitstring
01.10.2012
Detail slides
Overflows
Example: EL3102
Example: KL2531
01.10.2012
Data types 1: Elementary data types

Type
Lower
Upper
Size
Prefix
TIME_OF_DAY
TOD#0:0:0
TOD#23:59:
59
32 Bit
tod
DATE
D#1970:01:01
D#2106 ???
32 Bit
date
DATE_AND_TIME
DT#1970:01:01:00:00:00
DT#2106
???
32 Bit
dt
TIME
T#0s
T#49d17h2m 32BIT
47s295ms
tim
Detail slides
DT example - reading the system time
DT example - working with standard operators
01.10.2012

Type
Lower
Upper
Size
Prefix
REAL
4 Byte
LREAL
8 Byte
lr
01.10.2012
Data types: STRING

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

Example
declaration
Assignment
Result SIZEOF
Result LEN
sVar : STRING;
sVar:=ABC;
81
sVar1 :STRING(1);
sVar := X;
sVar: STRING(255);
sVar:=ABC;
256
01.10.2012
Data types: STRING

Constants
$<2 Hex values>
ASCII Code
$0D
CR
$R
$r
CR
$L
$l
Line Feed
$N
$n
New Line
$T
$t
Tab
Detail slides
Example: FIND
Example: string functions LEN, REPLACE
String conversion with Union
01.10.2012
10
Data types: WSTRING

Type
Description
Example
Description
Pre
fix
WSTRING
String in Unicode
format
Level 0,Block
0x0400-0x4FFF
Cyrillic
ws
Training, seminar
Level 0
Block 0x00000x007F
Basic Latin
01.10.2012
11
Data types: Examples of literals

Variable Type
Examples
BOOL
TRUE
2#1
16#1
FALSE
2#0
16#0
WORD,
DWORD
2#1010111111111110
16#AFFE
45054
INT
2#1000000000000001
16#8001
-32768
TIME
t#1h
t#60m
t#3600000ms
t#0.5d
t#12h
t#43200000ms
day
hours
min
sec
ms
ms
REAL
t#30m18s90ms
t#0.505025h
0.3333
3.333e-1
t#1818090ms
01.10.2012
12
Data types 1: Variable declaration el. data types

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

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

assignment of the identifiers can be found on
the slide entitled Identifiers and Prefixes
01.10.2012
13
Data types 1: Located variables

It is possible when declaring a variable to link the name with an
address that must be explicitly specified. For the allocation of inputs
and outputs of the hardware the incomplete location is to be carried
out with I* and Q*
Identifier
AT
%I
Data type;
%Q*
01.10.2012
14
Data types 1: Located variables

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

(located)
In TwinCAT 3 incompletely located variables can be used for inputs and
outputs
Applications for %M variables can be solved simply with Unions and
direct masking
Detail slides
Detail - Replace %MB by UNION
01.10.2012
15
Data types 1: Address division

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

equivalent
IW0
Ain AT%IW0 : INT;

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

Posi AT%IB20 : UDINT;
equivalent
Posi AT%ID20 : UDINT;
01.10.2012
16
Data types 1: Variable classes, scope

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

known in each block
within a project.
Keywords
VAR_GLOBAL ..
END_VAR
VAR_CONFIG ..
END_VAR
END_VAR
VAR_OUTPUT ..
END_VAR
01.10.2012
17
Data types 1: I/O directly in an FB instance

In an FB the inputs and outputs to the periphery are to be created
directly as local variables
Implementation
01.10.2012
18
Data types 1: Access via the located variables

The variable locVar locally declared in Program B can be directly
accessed from Program A via address %MB2.
Project machine
PROGRAM A
PROGRAM B
VAR
VAR
locVar AT%MB2:WORD;
END_VAR
END_VAR
LD %MB2
01.10.2012
19
Data types 1: Overlaps in the scope

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

an overlap in the scope.
In this case the locally
declared variable Var1 is
loaded into the accumulator.
The global variable can also
be accessed with
Namespaces.
LD Var1
LD Gvl1.Var1
01.10.2012
20
Data types 1: PERSISTENT attribute

Special properties of variables can be defined using attributes.
Example:
The variable(s) are saved when the PLC is shut down and loaded back on
restarting.
01.10.2012
21
Data types 1: Initialisation and CONSTANT

Initial values, the variables are to be preset with a certain value when
starting/resetting the PLC.
VAR
AccelerationTime : TIME := T#3s200ms;
END_VAR
Read-only:
VAR_GLOBAL CONSTANT
pi:REAL:=3.141592654;
END_VAR
VAR CONSTANT
pi:REAL:=3.141592654;
Global
Also locally
possible
END_VAR
01.10.2012
22
Data Types 2: Derived data types

The user can create his own data types on the basis of the elementary
data types or data types that have already been created. The newlycreated data types are visible in the entire project.
The declaration starts with TYPE and ends with END_TYPE.
Parent type
Name
Data type
New value
Derivation
Name
Data type
Initial value
Area
Inherit
ance
Initial value
Area
01.10.2012
23
Data Types 2: References (alias types)

The purpose of the selfdefined data type Reference is
to generate an alternative
name for a variable, constant
or function block.
Create your references as
objects in the object organiser
on the Data Types tab.
They start with the keyword
TYPE and end with
END_TYPE.
Syntax:
TYPE
<Bezeichner>:<Zuweisungsausdruck>;
END_TYPE
Type
Declaration
01.10.2012
24

Example: A global string variable is transferred to various blocks. If
changes are made to the Global Variables, the declarations must also
be changed in every block
01.10.2012
25

If a type has been created for the string, further changes are made
only to the type
01.10.2012
26

only to the type
01.10.2012
27

only to the type
01.10.2012
28
Data Types 2: Enumerated type (Enum)

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

Example: Woche.Dn Richtung.Dn
01.10.2012
29

Example: signal light without Enum:
Declaration
Use
Online
01.10.2012
30

Example: signal light with Enum:
Type
Use
Declaration
Online
01.10.2012
31
Data Types 2: Structure declaration

Example: KL5101 Encoder Terminal Structures are self-defined data types.
They are an important aid to better
administration of the process data. In
addition, the structures are suitable
for encapsulated data transfer to
function blocks. Structures can be
used like individual element variables.
01.10.2012
32
Data Types 2: Structures instancing
ST_KL5101In_1 AT%I* : KL5101_IN

ST_KL5101Out_1 AT%Q* : KL5101_OUT
01.10.2012
33
Data Types 2: Arrays

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

location
VAR
Feld_1 AT%MB100:ARRAY[1..10] OF BYTE;
END_VAR
Access to the sub-elements of a data field
Feld_1[2] := 120; (* Expliziter Zugriff*)
Feld_2[i,j] := EXPT(i,j); (*Indizierter Zugriff*)
01.10.2012
34
Data Types 2: Limit transgressions

A dangerous state can arise if an area outside the data field is
accessed in the PLC program.
VAR
Feld_1 :ARRAY[1..10] OF BYTE;
Feld_2 :ARRAY[1..10, 2..5] OF UINT;
END_VAR
i:= 9
Feld_1[i+2] := 120;
Feld_1[9];
Feld_2[1,2];
120
01.10.2012
35
Data Types 2: CheckBounds (FUN)

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

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

Error case
i
Min
Max
Limited
value
CheckBounds := U;
ELSE
OK case
CheckBounds := I;
END_IF
01.10.2012
36
Data Types 2: Adding CheckBounds 1 (FUN)

Adding Checkbounds:
01.10.2012
37
Data Types 2: Adding CheckBounds 2 (FUN)
01.10.2012
38
Data Types 2: Method of operation of CheckBounds (FUN)

Example: user error
source code
Checkbounds is compiled-in
in XAR
10
Do not write,
it is called
automatically
(not visible in
the code)
10
9
Can be checked with call build:
01.10.2012
39
Note about further checker functions

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

CheckDivByte
CheckDivWord
CheckDivDWord
CheckDivReal
Check value ranges

CheckRangeSigned
CheckRangeUnsigned
(see appendix)
01.10.2012
40
Data Types 2: Combination: structures and arrays

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

01.10.2012
41
Data Types 2: Combination: structures and arrays

Access to Drillpos 55:
Access:
MoveXAx (*FB Instanz*)
(
Execute:=
TRUE,
Position:=
Positions[55].XPos ,
Velocity:=
Positions[55].FeedrateX
Acceleration:=
Positions[55].AccelerationX,
Deceleration:=
Positions[55].DeccelerationX,
Jerk:=
Positions[55].JerkX,
Direction:=
.........,
Axis:=
.............,
);
01.10.2012
42
Block types
In IEC61131-3 there are three types of block covered by the generic
term POU (PROGRAM ORGANISATION UNIT):
Program
Function Block
Function
01.10.2012
43
Block types: program PRG

Program PRG
Called by a task (one program can call another)
Calls: FBs, functions, (programs)
Local variable: static, i.e. the local data are available again in the next cycle.
Inputs: usually 0, but VAR_INPUT possible
Outputs: usually 0, but VAR_OUTPUT possible
Transfer by reference VAR_IN_OUT likewise possible
Monitoring: Local data are immediately visible in the online mode of the PLC
control
Use: Main programs, Main, Manual, Automatic, etc.
01.10.2012
44
Block types: function block FB

Function block FB
Called by programs or other FBs
Calls: FBs, functions,
Local variable: static, i.e. the local data are available again in the next cycle.
Can be instanced in case of multiple calls (multipliable). Each FB call can have
its own local data.
Inputs: 0,1,2,3VAR_INPUT
Outputs 0,1,2,3.. VAR_OUTPUT
Transfer by reference 0,1,2,3.. VAR_IN_OUT
Monitoring: In the online mode of the PLC control the instance of the call
concerned must first be specified. The local data are then visible for each call.
Use: multiple-used modules, each of which requires its own data area. Step
chains...
01.10.2012
45
Block types: Function: FC

Function: FC
Called by programs, function blocks and other functions
Calls: Functions
Local variable: temporary, i.e. the local data are available only for the
processing time of the function. Afterwards this data area is used by
other functions.
Inputs:
1,2,3........ VAR_INPUT
Outputs:
precisely 1!, but structure variable possible. The name of
the output is at the same time the name of the function.
Transfer by reference
1,2,3........ VAR_IN_OUT ,
Monitoring: In the online mode of the PLC control only ??? are visible
for the local variables, since this data area is used by all functions in the
cycle and monitoring (debug) takes place only at the cycle limits.
Remedy: program development with breakpoints
Use: algorithms where the result is available after a run. Scaling,
comparison, etc.
01.10.2012
46
ST Structured Text: Operators

Operation
put in parentheses
Function call
Exponentiation
Negate
Build. complements
Multiply
Divide
Modulo
Add
Subtract
Compare
Equal to
Not Equal to
BOOL AND
BOOL XOR
BOOL OR
Symbol
Binding strength
(expression)
Strongest binding
Function name (parameter list)
EXPT
NOT
*
Same binding strength,
processing from left to right
/
(10/2*5 = 25 )
MOD
+
Same binding strength
<,>,<=,>=
=
<>
AND
XOR
Weakest binding
OR
01.10.2012
47
ST Structured Text: Instructions

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

following pages
CASE
FOR
WHILE
REPEAT
EXIT
Empty instruction
01.10.2012
48
ST: IF instruction
Is needed to branch in a program, depending on conditions. With the
IF instructions its not possible to jump back in the PLC cycle.
GOTO is also not available
Keywords:
IF
THEN
ELSIF
ELSE
END_IF
01.10.2012
49
ST: IF instruction
IF Condition THEN
Instruction block;
END_IF
No
Condition
Yes
Instruction block
01.10.2012
50
ST: IF instruction
IF a>b THEN
Instruction block A;
ELSE
Instruction block B;
END_IF
Condition
No
Yes
Instruction block A
Instruction block B
01.10.2012
51
ST: IF instruction
IF Condition1 THEN
ELSE
IF Condition2 THEN
Condition 1
ELSE
No
Yes
IF Condition3 THEN
Condition 2
Instruction block C;
ELSE
Yes
Instruction block D;
END_IF
END_IF
END_IF
Instruction
Instruction
block A
block B
No
Condition 3
No
Yes
Instruction
block C
Instruction
block D
01.10.2012
52
ST: IF instruction
IF Condition1 THEN
ELSIF Condition2 THEN
ELSIF Condition3 THEN
Instruction block C;
ELSE
Instruction block D;
END_IF
Condition 1
No
Yes
Condition 2
No
Yes
Condition 3
No
Yes
Instruction
block A
Instruction
block B
Instruction
block C
Instruction
block D
01.10.2012
53
ST: IF instruction
What can the BOOLEAN EXPRESSION be?
Conditions:
BOOLEAN variable
Comparison
Function calls
Querying of FB instances
NO FB call!
IF bVar THEN
.
IF a>b THEN
.
IF LEFT(STR:= strVar, SIZE:=7) =
'TwinCAT' THEN
.
IF Ton1.Q THEN
.
IF Ton1(IN:=bVar, PT:=T#1s ) THEN
01.10.2012
54
ST CASE Instruction
CASE Selection criterion OF
1:
Selection criterion = 2
or 4 or 6
Instruction 1
2, 4, 6: Instruction 2
7..10: Instruction 3
Selection
criterion = 1
Selection criterion = 7
or 8 or 9 or 10?
No
Yes
..
No
ELSE
Yes
Default
instructions
No
Yes
END_CASE;
Two identical values
may not be available
for selection in the list.
Instruction 1
Instruction 2
Instruction 3
Default
instructions
01.10.2012
55
ST: CASE instruction: possibility for a step chain /

state machine
Instructions for the step
(Actions)
CASE State OF
0:
Q0:=TRUE;
IF Transition THEN state := 1; END_IF
1:
Q1:=TRUE;
2:
Step-further condition
(Transition)
Q2:=TRUE;
3:
Q3:=TRUE;
END_CASE
01.10.2012
56
ST: CASE instruction Integer Selector Value

with constants
CASE State OF
0:
Instructions;(*State=0*)
IF THEN
Instructions
if state = 0
1:
Instructions
if state = 1
2:
Instructions
if state = 2
3:
Instructions
if state = 3
END_CASE
01.10.2012
57

with Enum types
Enum-Typ:
TYPE Schritte :
(INIT:=0, START, AUTOMATIK, ENDE);
END_TYPE
CASE State OF
INIT:
START:
AUTOMATIK:
ENDE:
END_CASE
01.10.2012
58
ST: CASE instruction: suggestion for a step chain /

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

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

IF Transition THEN state := ENDE; END_IF
ENDE:
Q3:=TRUE;
IF Transition THEN state := INIT; END_IF
END_CASE
01.10.2012
59

with constants
CASE State OF
VAR CONSTANT
Step1 : INT:=
0;
Step1:
Step2 : INT:=
1;
Step2:
Step3 : INT:=
2;
Step3..Step4:
Instructions;(*State=2 oder 3*)
Step4 : INT:=
3;
END_CASE
END_VAR
VAR
State:INT;
END_VAR
01.10.2012
60
ST: Repeat instructions

The process sequence often requires the multiple processing of
precisely the same program sequences, where their number is known
only at runtime.
Disadvantage of loops:
In the case of wrong programming, an infinite number of repetitions
takes place.
If a continuous loop is executed, this does not impair the start of the
time slices (real-time). Tasks with a higher priority will still be executed
on time. Tasks with a lower priority will no longer be executed.
Forced switchover
to Win NT
1
e.g.: 1ms
2
2ms
3
3ms
Begin of a new
time slice
4
4ms
1
5ms
01.10.2012
61
ST: Loops (overview)

All loops can be terminated with the help of the EXIT instruction,
regardless of the abort condition.
Expression
Processing
n cycle fix
FOR
SINT/INT/DINT
Instructions
Yes
follow condition
WHILE
BOOL
Instructions
No
follow condition
REPEAT
BOOL
Condition
follows
instructions
No
01.10.2012
62
ST: FOR loop

At the beginning of the loop the
Cycle n
control variable i is set to the
starting value (see example).
The control variable is
decremented or incremented in
each loop, depending on the step
size (value after the keyword BY).
If i exceeds the end value
(after TO), the loop is no longer
processed.
FOR i:=1 TO 12 BY 2 DO
Start i:=StartValue
Yes
i
>EndValue
No
Instruction block
i: = i + step size
Feld[i]:=i*2;(*Anweisung*)
END_FOR
Cycle n
01.10.2012
63
ST: WHILE loop

The instruction block of a WHILE loop
is executed continuously until the
Boolean expression returns TRUE.
The abort condition can contain
variables that can be changed in the
instruction block.
If the Boolean expression is FALSE at
the beginning, then the instruction
block of the WHILE loop is not
processed.
i:=0;
WHILE i<100 DO
i:=i+1;
END_WHILE
Cycle n
Yes
Boolean
expression
No
Instruction block
i: = i + step size
Cycle n
01.10.2012
64
ST: REPEAT loop

Cycle n
The instruction block of a REPEAT

loop is executed as long as the
Boolean expression is satisfied.
The instruction block is processed at
least once.
Instruction block
i:= i + step size
i:=0;
REPEAT
i:=i+1;
UNTIL i>100
No
Boolean
expression
Yes
END_REPEAT
Cycle n
01.10.2012
65
ST: FB calls in ST
VAR
TON1:TON;
END_VAR
TON1 (IN:= NOT TON1.Q , PT:=T#1s );
Q0:= TON1.Q;
TON1(IN:= NOT TON1.Q, PT:=T#1s , Q=>Q0 );
01.10.2012
66
ST: FB calls in ST (alternative)

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

TON1. PT:=T#1s;
TON1();
Q0:= TON1.Q;
01.10.2012
67
ST: FC calls in ST
Result:=Scale (x:=Eingang, xug:=0.0, xog:=32767.0, yug:=0.0,yog:=100.0);
(* Gleichwertig:*)
Result:=Scale (Eingang, 0.0, 32767.0, 0.0, 100.0);
(* Gleichwertig:*)
Result:=Scale (
xog:=
x:=
Eingang,
xug:=
0.0,
32767.0,
yug:=
0.0,
yog:=
100.0
);
In case of functions, all inputs must be occupied
01.10.2012
68
ST: FC calls in ST
Result := Scale (x:=Eingang, xug:=0.0, xog:=32767.0, yug:=0.0,yog:=100.0);
Result
CALL
Input parameters
(* Gleichwertig:*)
Result:=Scale
(
x:=
Eingang,
xug:=
0.0,
xog:=
32767.0,
yug:=
0.0,
yog:=
100.0
);
01.10.2012
69
Advanced IEC features | Keywords

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

Object.Methodname()
Special methods:
FB_Init, FB_Exit, FB_Reinit
TwinCAT 3 | Training | Object-orientated
programming in IEC
70
03.05.2012
Short information: OOP with example
01.10.2012
71
Advanced IEC features | Keywords

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

Object.Methodname()
Special methods:
FB_Init, FB_Exit, FB_Reinit
01.10.2012
72
Advanced IEC features | Application

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

Possible in all IEC languages
Independent of the hardware employed
Not absolutely necessary
01.10.2012
73
Advanced IEC features | SUPER and THIS

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

01.10.2012
74

SUPER is available in every FB and represents a pointer to the basic FB instance.
THIS uses the local instance (e.g. a method).
01.10.2012
75

PUBLIC all methods can be accessed
PRIVATE can be used only in the FB. Not from outside as FB.Method()
PROTECTED cannot be overwritten in the derived FB
INTERNAL Methods Properties in a library cannot be overwritten
03.05.2012
01.10.2012
76
Example task
Example: a clock generator FB is to be created
that should be able to do the following:
generate a flashing cycle
generate a PWM signal (e.g. heating)
Parameter
fixed flashing time for flashing cycle
clock output for flashing signal
MaxCycles defines number of PLC cycles 100% duty cycle for PWM
generator
DCPercent; duty cycle in %
Enable: BOOL, enable for PWM signal
Vendor, name of the manufacturer as a string
01.10.2012
77
Standard procedure
All parameters are transferred with VAR_INPUT VAR_OUTPUT
The sub-functions are programmed in the FB and run through with the complete FB
to flashing
cycle
to PWM
generator
to flashing
cycle
to PWM
generator
01.10.2012
78
Standard procedure
This block is to be extended later
clock ratio of the flashing cycle is to be modified
the PWM generator is given a target profile generator (e.g. temperature profile)
Co
py
ex and
ten
d
01.10.2012
79
Alternative
With the new options
Methods
Features
Inheritance
Overwrite
01.10.2012
80
Example
A clock generator FB is to be created
Methods:
m_ClockGenerator generates the flashing cycle
M_Pwm generates a PWM signal (e.g. heating)
Features
p_CycleTime specifies flashing time for flashing cycle
p_MaxCycles defines number of PLC cycles 100% duty cycle
for PWM generator
p_Vendor
queries a string
01.10.2012
81
Example
FB_ClockGenerator
m_ClockGenerator()
m_Pwm()
p_Vendor
p_CycleTime
01.10.2012
82
The basic clock generator block is to be further developed. Name

FB_ClockGenerator_EX. All methods and properties are initially to be adopted from
the basic block.
Modifications:
the ClockGenerator method is to be given a different on/off ratio
the Vendor property is to be overwritten. (Different text)
A further method is to be created in m_PwmProfile. This method generates a
certain profile for the duty cycle (ramp) of the pwm generator (example:
temperature profile). This value is to go onto the pwm generator of the basic
class.
For execution, see training examples
01.10.2012
83
Example
FB_ClockGenerator
m_ClockGenerator()
m_PwmProfile()
p_Vendor
p_CycleTime
FB_ClockGeneratorEX
m_ClockGenerator() overwrite
m_PwmProfile() (new)
p_Vendor (overwrite)
01.10.2012
84
Extension
Block
see training examples
01.10.2012
85
Appendix: Standard IEC operators and FBs
The function blocks and functions are made available by integrating the
Standard.LIB. This is automatically integrated into the PLC project when
the project is created.
Standard blocks
Function Blocks
Timer
Functions
String Functions
Counter
Memory
Trigger
01.10.2012
86
Appendix: Logical operators
FBD /CFC
ST
Comments
BOOL
AND
WORD
AND
DWORD
AND
01.10.2012
87
Appendix: Numerical operators

FBD /CFC
ST
Comments
Arithmetic Operators
Overloading possible,
beware of overflow with
integers.
- * /
Determines integral
remainder of a division
(in this case 4)
01.10.2012
88
Appendix: Selection operators, SEL

Operator
Comments
FBD /CFC
Selection inputs can be

overloaded
SEL
ST
StrVarMode := SEL(Mode1, , Mode1Selected );
Example:
If Mode1 = TRUE, StrVarmode
contains Mode1Selected,
otherwise an empty string
01.10.2012
89
Appendix: Selection operators, MUX
FBD /CFC
Selection with
integer variable,
inputs can be
overloaded
ST:
Online:
01.10.2012
90
Appendix: Conversions
Operator
ST
Comments
Time values are resolved
in ms rt1:REAL
iT1:INT
bVar1:BOOL
Rounding up takes place:
0.4 output goes FALSE
>=0.5 output goes TRUE
01.10.2012
91
Appendix: Conversions
FBD /CFC
ST
Comments
Result 20000.0
Implicit conversion also
possible
Conversion to INT with
rounding up/down
Conversion to INT without
rounding up/down
Beware of overflows
(Result is negative)
01.10.2012
92
Appendix: Edge blocks R_TRIG F_TRIG

FBD /CFC
CLK
R_TRIG
Q
CLK
F_TRIG
Q
ST
CLK
BOOL
Trigger input
R_TRIG: Rising Edge
BOOL
Signal output (for 1 PLC cycle on)
F_TRIG: Falling Edge
01.10.2012
93
Appendix: Memory modules SR RS

FBD /CFC
SET1
SR
RESET1
Q1
SET1
RS
ST
RESET1
Q1
SET1
BOOL
Set
SR: priority is set
RESET1 BOOL
Reset
RS: priority is reset
Q1
Output
BOOL
01.10.2012
94
Appendix: Switch-on delay TON

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

available after delay and
Elapsed Time, current time value

01.10.2012
95
Appendix: Switch-off delay TOF

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

IN, new edge extends signal

01.10.2012
96
Appendix: Pulse timer TP

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

not accepted

01.10.2012
97
Appendix: UP counter CTU

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

CU, output is set when
the counter value has
reached the value of
PV.
01.10.2012
98
Appendix: DOWN counter CTD

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

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

01.10.2012
99
Appendix: UP/DOWN counter CTUD

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

01.10.2012
100
Appendix: String function CONCACT

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

to the first string
01.10.2012
101
Appendix: String function FIND

FBD
ResultOnline
ST
STR1
STRING
String from which characters

are to be deleted
STR2
STRING
String to be found
01.10.2012
102
Detail : Overflows
Beware of overflows with numerical operations
0000h
INT 0
FFFFh
INT -1
8000h
7FFFh
INT -32768
INT 32767
PLC memory
INT value
01.10.2012
103
Data types: Example: EL3102

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

EL310x
10 V
5V
0V
-5 V
-10 V
Value
Decimal
32767
16383
0
-16383
-32768
Hexadecimal
0x7FFF
0x3FFF
0x0000
0xC001
0x8000
Status word from (EL3102-0000-0016) with older models only SW.0 - SW.7 1 byte
Bit
SW.15
SW.14
Name
TxPDO
Toggle
Bit
Name
SW.13
SW.12
SW.11
SW.10
SW.9
SW.8
TxPDO State Sync error
SW.7
SW.6
SW.5
SW.4
SW.3
SW.2
SW.1
SW.0
ERROR
Limit 2
Overrange
Underrange
Limit 1
With older
models
01.10.2012
104
Data types: Example: KL2531

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

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

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

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

KL2531
Summary
Description
Typ
Velocity 16-bit with sign
INT
Ctrl 8-bit bitstring
BYTE
ExtCtrl 16-bit bitstring
WORD
Position 16-bit, no sign
UINT
Status 8-bit bitstring
BYTE
ExtStatus 16-bit bitstring
WORD
01.10.2012
106
Data types: Example for reading the DT system time

The system time can be read with the
FB FB_LocalSystemTime
(TCUtilities.Lib)
01.10.2012
107
Data types: Example for DT

IEC standard operations can be applied to
D# and DT#
01.10.2012
108
Example: String function FIND
Pos 1
Pos
10
Pos
11
10
01.10.2012
109
Example: string functions LEN, REPLACE

Example: a string sVal is to be filled up to 5 characters. Output is right-aligned.
(Display CX or similar)
Pos 1
Pos 5
sVal
sResult
.1
-5
-5
12345
12345
01.10.2012
110
Example: String conversion with Union

A string is placed in the same address in the memory with an ARRAY OF BYTE
(Union)
A
B
C
D
E
$R
$N
01.10.2012
111
Detail - Replace %MB by UNION

Place target variable in same addresses in order to perform an ASCII - CHAR
transformation
Possible
Better, since user
does not have to
manage addresses
01.10.2012
112
System
Query the set PLC cycle time
Creation of a variable of the type PlcTaskSystemInfo;
Query the system variable _TaskInfo []
Task no.
Component .CycleTime returns the set cycle time. Scaling:

10,000 is 1 ms
01.10.2012
113
New Automation Technology
Connectivity
01.10.2012
ADS (General)
Definition
ADS = Automation Device Specification

- Modular ADS devices
e.g. PLC (each runtime system), NC, etc.
- Data exchange with message router
NEU
ADS General
Definition: ADS = Automation Device Specification
modular ADS devices
e.g. PLC (each runtime system), NC, etc.
message exchange by ADS via the message router
Beckhoff Training: TwinCAT ADS
01.10.2012
ADS: General device concept

ADS server
unambiguously
identifiable by:
AdsAmsServerPort
Router
unambiguously
identifiable by:
AdsAmsServerNetID
01.10.2012
Identification of ADS devices

Each (TwinCAT) PC in the network is clearly identifiable via a TCP/IP address,
e.g. 172.1.2.16
The NetID is the identifier of the message router on a TwinCAT system (PC, CX, BX, BC),
e.g. 172.1.2.16.1.1
The port number is the identifier of a TwinCAT device.
(PLC runtime 1, 2, 3, 4, NC, IO, cam controller)
01.10.2012
Identification of ADS devices

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

NC
PLC 2
PLC 1
I
IO Mapper
01.10.2012
TwinCAT message router

Example:
an ADS client sends an ADS message to an ADS server.
the TwinCAT message router (transport layer 4) carries out:
the receipt of the clients request
forwarding the message to another router if appropriate
provision of the messages to the ADS server
01.10.2012
TwinCAT message router

Existing message router:
on each TwinCAT PC
on each CX1000, CX1020 Embedded PC
on each BX Bus Terminal Controller
on each BC XXXX Bus Terminal Controller
Possible communication paths:
Network (TCP/IP)
A PLC runtime system sends data to another PLC on another
TwinCAT PC, Embedded PC, etc. in the network.
Fieldbus (Lightbus / PROFIBUS)
A PLC runtime system sends data to another PLC
on a Bus Terminal Controller in the fieldbus.
01.10.2012
Client-server relationship
1.) Confirmed services
2.) Unconfirmed services
ADS Client
ADS Server
Request
(Anforderung)
Indication
(Aufforderung)
Confirmation
(Besttigung)
Response
(Antwort)
01.10.2012
Client-server between two PLC devices

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

data available
Request
Indication
(FB call)
Confirmation
Response
(Busy on the FB)
01.10.2012
10
Access methods, identification of the target data

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

.TON1.ET GVL1.Input1 (global instance of an FB)
Local: VAR , VAR_INPUT, VAR_OUTPUT with instance path
Example: MAIN.TON1.ET
01.10.2012
11
Access methods, sequence

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

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

(until the client logs off from the server again)
01.10.2012
12
Description of access with index group and index offset

Services are described by the parameters INDXGRP and IDXOFFS
In the case of the PLC function blocks ADSWRITE, ADSREAD, etc. these are
VAR_INPUT parameters
The same input parameters are used for the ADSDLL method calls
01.10.2012
13

Detail for access to PLC data (selection)
PLC SOURCE /
target variable
IDXGRP
IDXOFFS
%MB
0x4020
MB address
Example
IDXGRP 0x4020
IDXOFFS 100
%MX
%IB
0x4021
0xF020
MB address * 8 +
bit address
IDXGRP 0x4021
IB address
IDXGRP 0xF020
IDXOFFS 81
IDXOFFS 0
%IX
%QB
0xF021
0xF030
IB address * 8 +
bit address
IDXGRP 0xF021
QB address
IDXGRP 0xF030
IDXOFFS 41
ISXOFF 100
%QX
0XF031
QB address * 8 +
bit address
IDXGRP 0xF011
IDXOFFS 167
01.10.2012
14

Access by name takes place via a variable handle
See PLC example and VS example for details
Action
IDXGRP
IDXOFFS
Example
Create
Handle
0xF003
READ/ WRITE COMMAND
Read / Write
by
handle
0xF005
Handle
Read or Write : Data
Delete
Handle
0xF006
Write Data: Handle
WRITE: VarName
Read: Handle
01.10.2012
15
PLC examples
Examples with 2 PLC runtimes
01.10.2012
16
Access by address
Example: PLC 1 sends to PLC2 2; access by address
PLC 1
PLC 2 PORT 811
01.10.2012
17
Access by address
Variable access
PLC 1
PORT PLC2
NETID local
INDEXGROUP 0x4020 ->%MB

INDEXOFFSET 100 address %MB100
01.10.2012
18
Access by address
Notes
01.10.2012
19
Access by name / handle PLC-PLC

Example: PLC 1 sends to PLC2 access by name handle
Request handle on variable name
Write by handle
Delete handle
PLC 1
PLC 2 PORT 811
01.10.2012
20

Request handle IDXGRP 16#F003
PLC 1
NetiD local
PORT PLC2
Create Handle
01.10.2012
21

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

INDEXOFFSET Handle
01.10.2012
22

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

INDEXOFFSET Handle
01.10.2012
23

Notes
01.10.2012
24
Example: access by IDXGRP IDXOFFS

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

%MX in the PLC:
INDEXGROUP
0x4021
INDEXOFFSET byte address (%MB) * 8 + bit address
INDEXGROUP 0x4021
INDEXOFFSET 10*8 +1 = 81
INDEXGROUP 0x4020
INDEXOFFSET 12
01.10.2012
25
PLC
C# Application
VAR_GLOBAL
BIT0 AT%MX10.0 :BOOL;
iVar0 AT%MB12 :INT;
diVar0 AT%MB14 :DINT;
END_VAR
01.10.2012
26

Integration of Add AdsDll
1
01.10.2012
27
TcAdsClient tcClient = new TcAdsClient();

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

IDXOFFS MB ADDRESS *8
+ BIT ADDRESS
Type of variable
Result
01.10.2012
28
%MB ACCES
lblMW12.Text = TcClient.ReadAny
(0x4020,
12,
typeof(short)).ToString();
IDXGRP for %MB ACCESS

IDXOFFS MB ADDRESS of
the PLC variable (AT%MB12)
Type of variable
Result
01.10.2012
29
TcClient.Dispose();
Enables the resources
Details: Create PLC program, create Visual C# 2008 according to the

course notes
01.10.2012
30

Notes
01.10.2012
31
Example: access by name
Basic procedure:
Insert TcClient
Insert Namespace
Instance object variable for TcClient
Create handle variables
Request handle on PLC variable(s)
Write & read by handle
Delete handle(s)
Release resources (dispose)
01.10.2012
32

Write the variables to the PLC and read back
PLC
C# Application
VAR_GLOBAL
BIT0 :BOOL;
BIT1 :BOOL;
BIT2 :BOOL;
BIT3 :BOOL;
iVar0 :INT;
diVar0 :DINT;
END_VAR
01.10.2012
33

Instance TcClient
private int hBit0;
Handle on the PLC variable
hBit0 = TcClient.CreateVariableHandle(".BIT0");
Request handle
Name of the PLC variable. Do
not forget the dot with global
variables
(. BIT0)
01.10.2012
34

chkBit0.Checked = (bool)TcClient.ReadAny(hBit0, typeof(bool));
Return type is object
Type of variable
Handle on the variable
Result sets check box
TcClient.WriteAny(hiVar0, (short)tbariVar0.Value);
Value to the PLC
PLC INT is in C# Short
Handle
01.10.2012
35

TcClient.DeleteVariableHandle(hBit0);
Delete handle
TcClient.Dispose();
Release resources
Details: Open the templates (PLC/C#) distributed in the course and follow
the instructions
01.10.2012
36

Notes
01.10.2012
37
Example: access by notification

Methods:
TcClient.AddDeviceNotificationEx(.);
AdsNotificationEx += new AdsNotificationExEventHandler()
TcClient.DeleteDeviceNotification();
General procedure:
Register notification on each variable (handle)
Create event handler
Evaluate received data in the Notification Event
Delete notifications
Release resources
01.10.2012
38

Example
PLC
VAR_GLOBAL
AxisName:STRING(19);
Ready:
Error:
actVelocity:
actPosition: LREAL;
setVelocity:
setPosition: LREAL;
Lagdistance: LREAL;
END_VAR
C# Application
BOOL;
BOOL;
LREAL;
LREAL;
01.10.2012
39
Instance TcClient
TcClient.AdsNotificationEx += new
AdsNotificationExEventHandler(TcClient_AdsNotificationEx);
Event
Name of the event function
01.10.2012
40

void TcClient_AdsNotificationEx(object sender, AdsNotificationExEventArgs e)
{
if (e.NotificationHandle == hnReady )
{
e contains:
}
Datavalue
}
Notification handle
userobject
Is run through when the PLC
timestamp
has sent data
TcClient.DeleteDeviceNotification(hnReady );
delete notifications
ends reading
the instructions
01.10.2012
41

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

01.10.2012
42

Notes
01.10.2012
43
Writing / reading a 1-dimensional array

Methods:
TcClient.CreateVariableHandle(.);
TcClient.ReadAny()
TcClient.WriteAny();
TcClient.DeleteVariableHandle();
Procedure:
Connect to device PLC
Create variable handle
Read / write variable by handle
Delete variable handle
01.10.2012
44

Example:
PLC
VAR_GLOBAL
VisuPositions: ARRAY [0..19]
OF LREAL;
C# Application
double[] PlcArray;
END_VAR
01.10.2012
45

PlcArray = (double[])TcClient.ReadAny
(
handle
hPlcArray,
typeof(double[]),
Variable Type
new int[] { 20 }
Array length, number of
);
elements
C# target variable
TcClient.DeleteVariableHandle(hPlcArray);
Delete handle
the instructions
01.10.2012
46

Notes
01.10.2012
47
Reading a 1-dimensional array with notifications

Methods:
notificationHandle =TcClient.AddDeviceNotificationEx()
TcClient.DeleteDeviceNotification(notificationHandle);
TcClient.AdsNotificationEx += new AdsNotificationExEventHandler();
Procedure:
Connect to device
Add notification handler
Add device notification, device sens automaticly
Data im callback auswerten
Delete device notification
01.10.2012
48

Reading a PLC array with notifications
PLC
VAR_GLOBAL
VisuPositions: ARRAY [0..19]
OF LREAL;
C# Application
double[] PlcArray;
END_VAR
01.10.2012
49

Instance of the
TcAdsClient
TcClient.AdsNotificationEx += new
AdsNotificationExEventHandler(TcClient_AdsNotificationEx);
Event
Name of the event
01.10.2012
50

TcClient.Connect(851)
Connect to plc
hnPlcArray=TcClient.AddDeviceNotificationEx(
PLC variable
Create notification handle ".VisuPositions",
AdsTransMode.OnChange,
Actualisation by
100,0,
Time for checking for
change of array
dataGridView1,
changes
User object
typeof(double[] ),
Data type
new int[] {20});
Arguments, number
of array elements
01.10.2012
51

void TcClient_AdsNotificationEx(object sender, AdsNotificationExEventArgs e)
{
if (e.NotificationHandle == hnPlcArray)
{
e contains:
}
}
Datavalue
Notification handle
Is run through when data is
userobject
received
timestamp
TcClient.DeleteDeviceNotification(hnPlcArray);
Delete notifications
the instructions
01.10.2012
52

Notes
01.10.2012
53
Read structure synchronously from the NC with IDXGRP

IDXOFFS
Method:
tcClientObject.Read(Indexgroup, Indexoffset, AdsStream);
AdsStream : Buffer for read data. Namespace: TwinCAT.Ads.Adstream
Class for evaluating the data stream:
BinaryReader. Namespace: System.IO
Or AdsBinaryReader Namespace TwinCAT.Ads simplified handling for strings
and PLC data and time types
Procedure:
Create Adsstream
Create BinaryReader or AdsBinaryReader
Read Methode aufrufen (Read, ReadAny)
Evaluate data stream and copy into target structure
01.10.2012
54

IDXOFFS
Example
NC
NC ADS Documentation :
IDXGRP 0x4000 + AxisID
IDXOFFSET 0
Details : TCMC.LIB
C# Application
ListView
01.10.2012
55

IDXOFFS
TcAdsClient tcClientNc = new TcAdsClient();
Instance
AdsStream AdsStrNcParaset= new AdsStream(512) ;
Ads stream for receive data
Length in bytes
tcClientNc.Read(Indexgroup + AxisId, Indexoffset, AdsStrNcParaset);
Read command
IDXGRP /IDXOFFS -> TcInfosys
Target stream
01.10.2012
56

IDXOFFS
Getting the index group and index offset from the Beckhoff information system
TcInfosystem
01.10.2012
57

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

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58

IDXOFFS
BinaryReader BinRead = new BinaryReader(AdsStrNcParaset,Encoding.ASCII );
Class for decoding the
receive stream
Constructor contains receive stream
Required if strings are contained
BinRead.ReadInt32()
Example for 32-bit INT
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IDXOFFS
Or: AdsBinaryReader:
AdsBinaryReader AdsBinRead = new AdsBinaryReader(AdsStrNcParaset);
Ads Class to evaluate stream
Constructor with AdsStrem
AdsBinRead.ReadInt32()
Example for 32-bit INT
the instructions
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IDXOFFS
Notes
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61
Reading structures with notifications

Methods:
TcClient.DeleteDeviceNotification(notificationHandle);
notificationHandle =TcClient.AddDeviceNotification()
TcClient.AdsNotificationEx += new AdsNotificationExEventHandler();
Procedure:
Connect to device
Add notification handler with datastream
Add device notification,
Evaluation of the data in callback
Delete device notification
Note:
StructLayout and MarshalAs can alternatively be used with the standard
framework. The method AddDeviceNotificationEx can be used there.
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Example
PLC
TYPE strAxisstate :
STRUCT
C# Application
private struct Axisstruct
{
AxisName:STRING(19);
public string AxisName;
Ready: BOOL;
public bool Ready;
Error: BOOL;
actVelocity: LREAL;
public bool Error;
actPosition: LREAL;
public double actVelocity;
setVelocity: LREAL;
public double actPosition;
setPosition: LREAL;
public double setVelocity;
Lagdistance:LREAL;
public double setPosition;
END_STRUCT
public double Lagdistance;
END_TYPE
}
VAR_GLOBAL
Axistate1 :strAxisstate ;
private Axisstruct Axistruct1;
END_VAR
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TcAdsClient TcClient = new TcAdsClient();
Instance for ads client
TcClient.AdsNotification += new AdsNotificationEventHandler
(TcClient_AdsNotification);
Add event
AdsStream StreamAxisstruct1 = new AdsStream(62);

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

Notes
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67

BECKHOFF-TC3-002-TwinCAT 3 (2012)

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BECKHOFF-TC3-002-TwinCAT 3 (2012)

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Overview

TwinCAT 3 New Automation Technology

Presentation of the system

TwinCAT 3 New Automation Technology

Motivation why TwinCAT 3

eXtended Automation (XA) overview

eXtended Automation (XA)

Modular runtime system

TwinCAT 3 development environment

eXtended Automation (XA)

Visual Studio 2010 for

Execution of the created

Visual Studio 2010 for

Support for multi-core

TwinCAT Transport Layer - ADS

TwinCAT Automation Device Driver - ADD

eXtended Automation (XA) overview

For (standard) PLC

TwinCAT 3 Engineering Environment

TwinCAT Transport Layer ADS

For PLC and C/C++

TwinCAT 3 Engineering Environment based on Visual Studio

TwinCAT Transport Layer ADS

Extendable via plug-ins (e.g. third party modules)

Improved help system on the basis of Microsoft Visual Studio

eXtended Automation (XA) - overview

Motion control configuration

eXtended Automation (XA) - overview

eXtended Automation (XA) - overview

support for a wide

eXtended Automation (XA) - overview

eXtended Automation (XA) - overview

eXtended Automation (XA) - overview

eXtended Automation (XA) - overview

Modular runtime system

TwinCAT Object Manager

Firmly defined interface (e.g. TwinCAT

Management of the modules with the

TwinCAT Transport Layer - ADS

Dynamic environment for the execution

TwinCAT Automation Device Driver - ADD

ADS Router Engine

ADS Router Message Queues

Definition of the CPU limits

Assignment of the task to the core/CPU

TwinCAT ADS Router

TwinCAT 2 supplement licences

TwinCAT 3 | New Automation Technology

New Automation Technology

eXtended Automation (XA) - overview

eXtended Automation (XA)

Modular runtime system

TwinCAT 3 development environment

eXtended Automation (XA)

TwinCAT 3 development environment

eXtended Automation (XA)

Modular runtime system

eXtended Automation (XA)

TwinCAT 3 runtime on CX /IPC

TwinCAT Transport Layer - ADS

eXtended Automation (XA)

TwinCAT 3 runtime on CX /IPC

TwinCAT Transport Layer - ADS

TwinCAT Transport Layer - ADS

scanning of hardware / IO test in Freerun

eXtended Automation (XA)

TwinCAT XAE displays TwinCAT