beckhoff twincat3 e

BECKHOFF BECKHOFF New Automation Technology

Product announcement

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TwinCAT 3 | eXtended Automation (XA)

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New Automation TechnologyBECKHOFF We reserve the right to make technical changes.

TwinCAT 3 | eXtended Automation Technology (XAT)

Beckhoff created a global standard for automation with the launch of PC-based control technology in 1986. On the

software side, the TwinCAT (The Windows Control and Automation Technology) automation suite forms the core of

the control system. The TwinCAT software system turns almost any PC-based system into a real-time control with

multiple PLC, NC, CNC and/or robotics runtime systems. TwinCAT 3 is the systematic further development of TwinCAT 2,

with which the world of automation technology is being redefi ned.

– only one software for programming and confi guration– Visual Studio® integration– more freedom in selecting programming languages– support for the object-oriented extension of IEC 61131-3– use of C/C++ as the programming language for real-time applications– link to Matlab®/Simulink®

– open interfaces for expandability and adaptation to the tools landscape– fl exible runtime environment– active support of multi-core and 64-bit systems– migration of TwinCAT 2 projects

TwinCAT 3 highlights

Control (PID)

ControlPLCTwinSAFEI/OBase

Measurement Technology

RoboticsCNCNC INC PTPMotion

Connectivity

Beckhoff PC-based Control: New Standards in Automation

FieldbusPC Hardware

Ethernet TCP/IPTwinCAT Software

We reserve the right to make technical changes. New Automation TechnologyBECKHOFF

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TwinCAT 3 | eXtended Automation Architecture (XAA)

Product announcement estimated market release 4th quarter 2010

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TwinCAT Automation Device Driver – ADD

PC System

Windows 32/64 bit

TwinCAT 3 Engineering Environment based on Visual Studio®

Programming– IEC 61131-3– objectoriented extensions– C/C++

System Manager– Confi guration

TwinCAT Transport Layer – ADS

TwinCAT 3 Runtime

Real-time Kernel

Fieldbus

eXtended Automation Architecture– supports all main fi eldbuses– supports IEC 61131, C/C++, Matlab®/Simulink®

– supports Motion Control: from point-to-point to CNC– supports TwinSAFE confi guration– supports Scientifi c Automation: robotics, measurement technology, Condition Monitoring

eXtended Automation Engineering– one tool – Microsoft Visual Studio®

– integrated: IEC 61131 – worldwide standard in automation

– integrated: C/C++ – worldwide standard in IT– integrated: TwinCAT System Manager – well-known confi guration tool– link to Matlab®/Simulink®: worldwide standard in science – expandable with other tools: editors, compilers– TwinCAT 2 projects can be migrated.– TwinCAT 3 modules: standardised programming frames– using the .NET programming languages for non-real-time capable applications (e.g. HMI)

eXtended Automation Runtime– IEC 61131, C/C++, Matlab®/Simulink® objects in one runtime– integrated TwinSAFE runtime– extended real-time-functionality: min. 50 µs cycle time and low jitter– enhanced performance: support of multi-core CPUs– future-proof: supports 64-bit operating systems

eXtended Automation Technology –TwinCAT 3 extends the standard automation world

In addition to the possibilities of controller programming according to the 3rd edition of IEC 61131-3, the new TwinCAT 3 architecture allows the use of C and C++ as the programming language. This opens up completely new appli cation possi-bilities, as well as the expansion of or integration in existing systems. The link to Matlab®/Simulink® is just one example of this new openness.

TwinCAT 3 architecture of the development environment

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TwinCAT 3 | eXtended Automation Engineering (XAE)

C and C++ programming languages– standardised– widely used programming languages– very powerful programming languages– run under the same runtime as PLC programs– for the implementation of drivers

Link to Matlab®/Simulink®

– great variety of toolboxes– possibilities for use:

– building of control circuits – in simulation – in optimisation– automatic code generation– debug interface between Matlab®/Simulink®

and TwinCAT

Flexible use of programming languages

Extended debugging of C++ programs– debugging of C++ programs that run

in real-time– use of breakpoints– use of watch lists– use of call stacks

.NET programming languages– used for non-real-time-programming (e.g.: HMI)– source code management in the same project

Integration in Microsoft Visual Studio® makes it possible to program automation objects in parallel with the aid of the

3rd edition of IEC 61131-3 and the C or C++ languages. The objects (modules) generated can exchange data with each

other and call each other independently of the language they were written in. The TwinCAT System Manager has been

integrated into the development environment. This way, only one software is required to confi gure, parameterise,

program and to diagnose automation devices.

Visual Studio® integration can be accomplished in two different ways. TwinCAT Standard only uses the basic framework of Visual Studio® with all its benefi ts in terms of handling, connection to source code control software, etc., while TwinCAT Integrated, as the name implies, integrates itself into Visual Studio®. In this version, the C/C++, C#, VB.NET programming languages and link to Matlab®/Simulink® are available.

TwinCAT Standard TwinCAT Integrated


TwinCAT 3 Runtime

TwinCAT 3 Engineering Environment

System ManagerConfi guration– I/O– PLC– MC– NC– CNC– Safety– others

Programming

IEC 61131 Object-orientedextensions

IEC Compiler


TwinCAT 3 Runtime

TwinCAT 3 Engineering Environment based on Visual Studio®

System ManagerConfi guration– I/O– PLC– C/C++– MC– NC– CNC– Safety– others

Matlab®/Simulink®

Third-partyprogramming tool

C/C++Real-timeWorkshop

Programming

IEC 61131 Object-orientedextensions

C/C++C#/.NET

Real-timeNon-real-time

IEC Compiler Microsoft C Compiler


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TwinCAT 3 | eXtended Automation Language Support

Integration of Visual Studio®

Automation devices and application programming in one environment– use of the most famous and best

supported development suite– future-proof– editing of PLC programs and complex

visualisations in one environment– multi-language support– modern look and feel

– context-sensitive online help– automatic syntax checking– IntelliSense– syntax highlighting– use of the well-known

source code control tools

Open architecture– extendable by plug-ins

TwinCAT System Manager integrated into Visual Studio®Parallel use of the C++ and FBD programming languages

ST editor

CFC editor

Visual C/C++ editor

C#

Visual Basic

.NET

C++

Silverlight

Real-time Non-real-time

System Manager

LD editor

FBD editor

SFC editor

IL editor

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The integration of Matlab®/Simulink® enables execution of TwinCAT modules that were generated as models in the

Simulink® simulation environment. The chosen interfacing type displays the parameters and variables in the graphic

interface of TwinCAT 3 and enables viewing and modifi cation in the real-time environment at runtime.

TwinCAT 3 | eXtended Automation Language Support

Integration with the simulation software Matlab®/Simulink®

– standard tool in scientifi c and measuring applications– wide range of toolboxes (e.g. Fuzzy Logic Toolbox)– development, simulation and optimisation of complex control loops– automatic code generation via Realtime Workshop– debug interface between TwinCAT 3 and Simulink®

– parameterisation of the generated module in TwinCAT 3– download and execution of the module in TwinCAT 3 runtime– multiple module instantiation possible– Modules can be used without Matlab®/Simulink®.

Parameter view of the generated module in TwinCAT

Example for temperature controller in Matlab®/Simulink®

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With eXtended Motion Control, TwinCAT automation software offers an integrated and scalable solution

for Motion Control applications including simple point-to-point movements, CNC and robot control.

TwinCAT 3 | eXtended Motion Control

Interpolated motion for robotic control

Advantages of the integration of robotic control in TwinCAT– confi guration, parameterisation, diagnostics and programming in TwinCAT– optimum synergy between PLC, Motion Control and robot control system– high performance and precision through direct interfaces

Kinematic calculation process– forward transformation– inverse transformation– calculation of the dynamic model

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 range of kinematic systems– optional torque pre-control

RoboticsCNCNC INC PTP

Functionality

Point-to-point movement

– gearing– camming– superposition– fl ying saw

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TwinCAT 3 | eXtended Automation Runtime (XAR)

Modular design, openness, extendibility

Open runtime interface– separation of complete functionality

into modules– use of services from system modules (e.g. real-time)– defi ned interfaces

– extension of the runtime by own modules (e.g. bus drivers)

– Scalability: modules can contain simple functions; complex algorithms and real-time tasks.

Standardised modules enable open and fl exible design of the TwinCAT 3 runtime. It makes an environment

avail able in which the TwinCAT 3 modules can run. Whether the modules are PLC, NC, CNC, RC (Robotic Control)

or C code-based modules (e.g. created with Matlab®/Simulink®) is irrelevant.

Modular TwinCAT 3 runtime

TwinCAT Object Manager

Fieldbus

TwinCAT 3 Runtime

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TwinCAT 3 | eXtended Automation Runtime (XAR)

Fast communication, reusability

– Functionality of the modules is scalable.– direct and therefore very fast communication between modules– Modules are sealed.– Modules can be developed, serviced and tested independent of each other.– high reusability

TwinCAT 3 modules consist of a range of formally defi ned attributes and interfaces. They enable general application of

the modules with each other and externally. The predefi ned interfaces enable cyclic calling of the internal module logic,

for example. Each module implements a state machine that controls the initialisation, parameterisation and linking of

the respective module.

In addition to user modules, a number of system modules are already avail-able which provide basic runtime functionality (e.g. TwinCAT real-time). These modules have fi xed object IDs and are therefore acces-sible from each module.

Selection and parameterisation of a Matlab®/Simulink®

module

Structure of a TwinCAT 3 module

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TwinCAT Module

Module Description

ParameterInterfaces Interfaces

Pointers

State Machine

ITComObject Interface

Data Areas

Categories

ADS Port

Contexts Data Area

Pointers

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TwinCAT 3 | eXtended Automation Performance

Distribution of functional units to different processor cores

Dialog for the distribution of tasks to processor cores

Current developments in computer technology, which offer CPUs with more and more cores, enable the distribution

of tasks across different cores. The TwinCAT 3 runtime environment follows this concept. It can be used to distribute

functional units such as HMI, PLC runtime or MC to dedicated cores. For each of the cores used by the runtime environ-

ment the maximum load as well as the base time and therefore the possible cycle times can be set separately.

Due to the use of multi-core systems, functional units (e.g. PLC and NC runtimes, HMI) are distributed to individual processor cores.

Multi-core and multi-tasking support

Support of multi-core systems– distribution from applications

to cores (e.g. PLC, NC and HMI can run on different cores)

Support of 64-bit operating systems– usage of more resources (memory)

Multi-core CPU

Core 0

WindowsApps

WindowsDrivers

L2 Shared Cache

System Memory

ADS Router Message Queues

Core 1 Core 2 Core 3 Core …

User HMI PLC Runtime 0 PLC Runtime 1 NC Runtime 1

Task 0 Task 1

PLC Control

ADSADSADSADSADS

ADS Router Engine

Support of multi-tasking– preemptive multi-tasking– parallel processing of tasks


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Advantages of the migration to TwinCAT 3

– utilisation of extended options– application of tried and tested code in new projects– application of an integrated software tool in all projects

TwinCAT 3 | Migration of TwinCAT 2 projects

To ensure seamless transition between TwinCAT 2.11 and TwinCAT 3, different migration routes are provided.

With TwinCAT 3, the TwinCAT 2.11 PLC runtime and TwinCAT 2.11 PLC Control are always supplied as well.

TwinCAT 2.11 PLC projects and TwinCAT 3 modules can therefore be executed in parallel. Naturally, it is also

possible to convert TwinCAT 2.11 projects to TwinCAT 3.

Scenarios for the migration of TwinCAT 2.11 projects:

1. Execution of TwinCAT 2.11 PLC projects as modules in the TwinCAT 3 runtime

– linking of TwinCAT 2.11 PLC projects with TwinCAT 3 modules at the I/O level

2. Conversion of existing projects to TwinCAT 3

– integrated application of TwinCAT 3 functionality

Parallel processing of TwinCAT 2.11 and TwinCAT 3 on a single PC platform

TwinCAT 2.11 PLC modules can be executed in the TwinCAT 3 runtime.

Multi-core PC System

TwinCAT 3 –

eXtended Automation Engineering

Microsoft Windows Operating System

TwinCAT 2.11 PLC

Engineering

TwinCAT Transport Layer – ADS-Router

TwinCAT 3 –

eXtended Automation RuntimeTwinCAT 2.11 PLC

Runtime

Fieldbus Drivers

HeadquartersBeckhoff Automation GmbHEiserstraße 533415 VerlGermanyPhone: + 49 (0) 52 46 / 9 63 - [email protected]

DK3

332-

0410

www.beckhoff.com/TwinCAT3Beckhoff®, TwinCAT®, EtherCAT®, Safety over EtherCAT®, TwinSAFE® and XFC® are registered trademarks of and licensed by Beckhoff Automation GmbH. Other designations used in this publication may be trademarks whose use by third parties for their own purposes could violate the rights of the owners.

© Beckhoff Automation GmbH 04/2010

The information provided in this brochure contains merely general descriptions or characteristics of performance which in case of actual application do not always apply as described or which may change as a result of further development of the products. An obligation to provide the respective characteristics shall only exist if expressively agreed in the terms of contract.

Product announcement estimated market release 4th quarter 2010

beckhoff twincat3 e

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