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Twincat e
Twincat e
Twincat e
Beckhoff TwinCAT 1
Beckhoff New Automation Technology
Beckhoff TwinCAT 2
The Windows Control and Automation Technology
Beckhoff TwinCAT 3
Contents
PC-based automation
TwinCAT
Architecture
I/O
Control (PLC)
Motion (NC PTP)
Interpolated motion (NC I, CNC)
Connectivity
Beckhoff TwinCAT 4
PC-based automation: development
Komm.
Router
RT-Kernel
PLC 1
PLC 2
NC
..
I/O
CPU
NC
I/O
Mapping
Fieldbuses
Beckhoff TwinCAT 5
PLC processing times on different platforms
2000 Test 1
1616 Test 2
1500 1443
1500 Test 3
1000
500
93 39,5 14,12 9,84 5,66 5,62 5,2
0
C Hz
C Hz
z
B 00
B LC
C 00
C 00
C 10
C 00
85 10
2, 20
3, 30
H
M
1
P4 X10
P4 X10
90
G
.P
X3
X9
X9
X1
PI X1
0
C
2
nv
co
II
Beckhoff TwinCAT 6
System overview
PC-based automation
TwinCAT – integrated engineering and runtime for
TwinCAT
Architecture control
I/O motion and
Control technology
Motion
Interpolated
Motion TwinCAT – running on different hardware platforms
Connectivity PC – high performance
CX – medium performance
BX – between BC and CX
BC – low performance/low price
Beckhoff TwinCAT 7
Beckhoff control devices in 4 performances
performance
IPC
CX highest performance
medium
performance
BX
low performance
BC
lowest
performance
costs
Beckhoff TwinCAT 8
TwinCAT architecture: platform PC
PC-based automation
TwinCAT
TwinCAT
Architecture does not modify Windows
I/O needs no special hardware
Control turns standard Windows to a real-time OS
Motion
full access to Windows user interface via OCX, Dll
Interpolated
Motion remote access via TCP/IP
Connectivity
PC platform
standard hardware, best performance
use of PC resources
use of mainstream operating system (Windows)
easy integration into office networks
open fieldbus communication
Beckhoff TwinCAT 9
TwinCAT architecture: platform PC
TwinCAT System
Usermode
Diagnose PLC User User
SysMan
i.e. Scope Control HMI HMI
ADS ADS ADS OCX/Dll OPC
ADS ADS
TCP/IP
ADS Router
Windows
ADS
NT,
ADS
2000,
ADS
XP
ADS
Realtime Server
PLC NC other
Kernelmode
Server Server i.e. CAM
I/O I/O I/O I/O
Server
I/O Mapping
Fieldbus Card Drivers
Beckhoff TwinCAT 10
TwinCAT architecture: platform PC
TwinCAT real-time
cycle times down to 50 µs
latency time < 5 µs (P4)
adjustable ratio real-time to Windows
message when latency time is to high
TwinCAT NT TwinCAT RT
on on
Windows
Beckhoff TwinCAT 11
TwinCAT architecture: platform PC
Integration
of PLC
Motion Control Connectivity
eventlogging ADS
diagnosis OPC
Beckhoff TwinCAT 12
TwinCAT architecture: platform CX
PC-based automation
TwinCAT
TwinCAT
Architecture pure software solution
I/O uses Windows CE real-time
Control remote configuration, setup,
Motion
programming
Interpolated
Motion
Connectivity CX
embedded hardware
OS: Windows CE or Windows XP embedded
no rotating media, fanless
direct access to terminal I/O
more than one fieldbus
master and/or slave
Beckhoff TwinCAT 13
TwinCAT architecture: platform CX
Integration
of PLC Connectivity
Motion Control ADS
eventlogging OPC
diagnosis
Beckhoff TwinCAT 14
TwinCAT architecture: platform BX/BC
PC-based automation
TwinCAT
TwinCAT
Architecture downloads program
I/O online debugging
Control remote configuration, setup
Motion
programming
Interpolated
Motion remote access via fieldbus
Connectivity
BX/BC
embedded hardware
embedded operating system
direct access to terminal I/O
Beckhoff TwinCAT 15
TwinCAT and standards
PC-based automation
TwinCAT implements and uses established
TwinCAT
Architecture industrial standards for automation
I/O operating system: Windows NT4.0, 2000, XP, CE
Control programming: IEC 61131
Motion
Motion Control: PLCopen Motion Control function
Interpolated
Motion blocks
Connectivity vertical integration: OPC
connectivity: fieldbuses
Benefit to customer
quick orientation: same look and feel
less training costs
less maintenance costs
reuse of software modules
Summary
shorter time to market, decreased costs
Beckhoff TwinCAT 16
TwinCAT architecture
PC-based automation
TwinCAT I/O system
TwinCAT
Architecture open for all major fieldbuses
I/O support of PC hardware interfaces
Control easy setup and diagnosis
Motion
mapping from logical to physical I/O
Interpolated
Motion
Connectivity
Mapping
I O I O I O
fieldbus 1 fieldbus 2 fieldbus 3
Beckhoff TwinCAT 17
TwinCAT control
PC-based automation
Modular structure
TwinCAT
Architecture max. 4 PLCs on a PC
I/O
Control Timing
Motion
max. 4 tasks in one PLC
Interpolated
Motion
Connectivity Easy setup and maintenance
online program change
full debugging features:
breakpoint, monitoring,
powerflow
scope
Beckhoff TwinCAT 18
TwinCAT motion
PC-based automation
Shift from mechanical to electronical system
TwinCAT
Architecture mechanical cam → electronic cam
I/O mechanical gear → electronic gear
Control mechanical clutch → electronic clutch
Motion
mechanical cam shaft → electronic cam shaft
Interpolated
Motion “flying saw”
Connectivity
Benefit
greater flexibility
increased machine output
reduced setup time – no mechanical modification
decreased stock – no different mechanical parts
Summary
shorten delivery/development time, decreased costs
TwinCAT supplies all of this in one tool/runtime
Beckhoff TwinCAT 19
TwinCAT motion: NC PTP
PC-based automation
easy setup and maintenance
TwinCAT
Architecture open for all axis types
I/O servos
Control stepper
Motion
DC motors
Interpolated
Motion switching axes
Connectivity hydraulic axes
several encoder
digital encoders: Sercos, SSI
analog: +/-10 V
several controller:
P, PI, PID
additional functions:
digital cam switch,
flying saw, superposition
Beckhoff TwinCAT 20
TwinCAT motion: NC PTP
PC-based automation
TwinCAT
Architecture
Point-to-point movement
I/O
Control
Motion Gearing
Interpolated
Motion
Connectivity
Digital cam switch
Camming
Superposition
Flying saw
Beckhoff TwinCAT 21
TwinCAT interpolated motion: NC I
PC-based automation
Interaction with PTP-movements
TwinCAT
Architecture interpolated movements for 3 axes plus
I/O 5 auxiliary axes
Control programming in DIN 66025 code
Motion
technological features
Interpolated
Motion easy access to PTP axes
Connectivity easy to use FB interface
Beckhoff TwinCAT 22
TwinCAT interpolated motion: CNC
N00 #KIN ID [1]
PC-based automation
Interaction with PTP-movements N10 #RTCP ON
N20 G01 G18 X0 Y0 Z0 B90 F500
TwinCAT
Architecture interpolated movements for up to 32 N30 X-4
N40 G02 X-20 I-40 B-90 F2000
I/O axes in one channel N50 .................
........................
Control programming in DIN 66025 code
Motion
different transformations
Interpolated
Motion
Connectivity
Path of
rotation point
of rotatory axis
Z
Path of
tool centre
point
X
0
Beckhoff TwinCAT 23
TwinCAT Connectivity
PC-based automation
Easy to use communication standard:
TwinCAT
Architecture ADS (Automation Device Specification)
I/O Access to ADS with standard Windows mechanism:
Control ActiveX control, DII, .Net, ASP, OPC
Motion
Interpolated
Motion
Connectivity
ADS over TCP/IP
ADS over serial
connection
Beckhoff TwinCAT 24
TwinCAT communication
Internet
Beckhoff TwinCAT 26