Post on 20-Apr-2018
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
TwinCAT 3 | eXtended Automation Technology 14.06.2012 2
1986
S1000
PLC/NC on
PC
PC-based Control Milestones
PC Control
PC-compatible
machine
control
1988
1989
1995
1996
2003
2008
2010
Lightbus Bus
Terminal
Universal field-
bus module
TwinCAT
IEC 61131
PLC real-time
under
Windows NT
EtherCAT
Real-time
Ethernet
fieldbus
XFC
eXtreme Fast
Control
Technology
1993
S2000
PLC/NC/CNC
on PC
TwinCAT 3
TwinCAT 3 | eXtended Automation Technology 14.06.2012 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
TwinCAT 3 | eXtended Automation Technology 14.06.2012 5
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
TwinCAT 3 | eXtended Automation Technology 14.06.2012 6
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
TwinCAT 3 | eXtended Automation Technology 14.06.2012 7
Engineering (XAE)
Simultaneous programming according to IEC 61131 and C++
eXtended Automation
TwinCAT 3 | eXtended Automation Technology 14.06.2012 8
TwinCAT 3 PLC
Shared tree structure for hard- and software
eXtended Automation
Shared output window of all languages
Programming language-dependent toolbox
TwinCAT 3 | eXtended Automation Technology 14.06.2012 9
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
TwinCAT 3 | eXtended Automation Technology 14.06.2012 10
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 3 | eXtended Automation Technology 14.06.2012 11
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 3 | eXtended Automation Technology 14.06.2012 12
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
TwinCAT 3 | eXtended Automation Technology 14.06.2012 13
C/C++ Programming Languages
eXtended Automation
Method CycleUpdate: – is called cyclically Pointer to logical input/output image
TwinCAT 3 | eXtended Automation Technology 14.06.2012 14
Matlab®/Simulink® Integration
eXtended Automation
TwinCAT 3 | eXtended Automation Technology 14.06.2012 15
C#/.NET programming
eXtended Automation
PLC module
C++ module
Real-time Code
HMI/
Windows processes
TwinCAT 3 | eXtended Automation Technology 14.06.2012 16
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 | eXtended Automation Technology 14.06.2012 17
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
TwinCAT 3 | eXtended Automation Technology 14.06.2012 18
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 | eXtended Automation Technology 14.06.2012 19
TwinCAT 3 – Multicore support
eXtended Automation