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TwinCAT 3 | eXtended Automation Technology 26.05.2015 1

TwinCAT 3

New Automation Technology


Content

Motivation

eXtended Automation (XA)

Architecture (XAA)

Engineering (XAE)

System Manager

PLC

Motion Control

C/C++ programming

Matlab® integration

C#/.NET programming

Runtime (XAR)

Connectivity


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 MeasurementTechnology

NC I

Base

Motion


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


Content

Motivation

eXtended Automation (XA)

Architecture (XAA)

Engineering (XAE)

System Manager

PLC

Motion Control

C/C++ programming

Matlab® integration

C#/.NET programming

Runtime (XAR)

Connectivity


Architecture (XAA)

eXtended Automation Technology (XAT)

More than standard automation

eXtended Automation Engineering (XAE)

Visual Studio® for programming in IEC 61131-3, C/C++

Visual Studio® for configuring the complete system

(integrated TwinCAT System Manager)

eXtended Automation Runtime (XAR)

Executes modules in real-time

Supports multi-core CPUs

Supports 64-bit operating systems

eXtended Automation


eXtended

Automation Engineering (XAE)

TwinCAT 3 Engineering Environment based on Visual Studio®

TwinCAT Transport Layer - ADS

TwinCAT 3 Runtime

Real-time Kernel

TcC

OM

PLCPLC PLCSafety

TcC

OM

PLCNC

TcC

OM PLCC

Module

TcC

OM

PLCCNC

TcC

OM PLCC++

Module

TcC

OM

TcC

OM PLCPLC

TwinCAT Automation Device Driver - ADD

PC System

Fieldbus

System Manager

- Configuration

Programming

- IEC 61131-3

- objectoriented extensions

- C/C++

PLC

TcC

OM Simulink®

Module

Windows 32/64 bit

Architecture (XAA)

eXtended

Automation Runtime (XAR)

eXtended Automation


Engineering (XAE)

eXtended Automation


Engineering (XAE)

TwinCAT 3 Standard

for PLC programmers and users of

existing modules

configuring, setting up and diagnosis

debugging PLC

eXtended Automation

TwinCAT 3 Engineering Environment

System Manager

Configuration

– I/O

– PLC

– MC

– NC

– CNC

– Safety

– others

Programming

IEC 61131 Object-

oriented

extensions

IEC Compiler

TwinCAT 3 Runtime

TwinCAT Transport Layer – ADS


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-orientedextensions

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


Engineering (XAE)

Simultaneous programming according to IEC 61131 and C++

eXtended Automation


TwinCAT I/O – Integrated System Manager

programming, configuration and

diagnosis in one tool

continuous engineering

uniform task management

parameterisation of TwinCAT modules

creation and administration of

mappings between the process images

simulation of I/Os and axis

eXtended Automation



eXtended Automation

System configuration

Motion control configuration

PLC configuration

Safety PLC configuration

C++ module configuration

I/O configuration



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 InputsOutputs Outputs


TwinCAT 3 PLC

Multiple PLC projects:

number of possible tasks: 65,000

number of PLC projects: only limited by memory

Programming:

languages of the IEC 61131-3 (IL, ST, FBD, LD, SFC) + CFC

usage of the object-oriented extensions of the 3rd edition of the

IEC 61131

call and data exchange of modules written in C/C++ and Matlab®/Simulink®

multiple import and export interfaces

no direct addressing necessary

eXtended Automation


TwinCAT 3 PLC

Shared tree structure for hard- and software

eXtended Automation

Shared output window of all languages

Programming language-dependent toolbox


TwinCAT 3 PLC

Object-orientation by the IEC 61131-3 3rd edition

Benefits of the object-oriented extensions

increased readability of the code by encapsulation algorithms into methods

increased maintainability

modularisation, structuring of the code

increased reusability

abstract programming by using interfaces

increased extensibility and adaptability

construction of inheritance hierarchies

increased extensibility and adaptability

Consistent usage of the object-oriented extensions enables:

increased software quality

decreased time for programming and maintenance

eXtended Automation


eXtended Automation

What does it look like in TwinCAT 3?

declaration of a function block

call of a method

Usage of the object-oriented extensions:

is possible in all IEC languages

is independent from the used hardware

is not mandatory!


NC PTP CNC RoboticsNC 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 Motion Control – Abstraction Layer

eXtended AutomationS

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


C/C++ Programming Languages

eXtended Automation

Method CycleUpdate: – is called cyclically Pointer to logical input/output image



eXtended Automation

VS2010 standard debugger:

monitoring/modification of variables only with Breakpoint



VS2010 Beckhoff debugger:

monitoring/modification of

variables without Breakpoint

(analog to PLC without

Breakpoint)

eXtended Automation



Matlab®/Simulink® Integration

well-known in the scientific and measurement environment

great variety of toolboxes (e.g. Fuzzy)

creation, simulation and optimisation of control circuits

debug interface between Simulink® and TwinCAT

Code generation

design in Simulink®

automatic generation of C code by the Simulink® Real-time

Workshop

compilation with Visual Studio® C Compiler

parameterisation in the TwinCAT System Manager

download and execution in the TwinCAT 3 Runtime

eXtended Automation


Matlab®/Simulink® Integration

eXtended Automation


C#/.NET programming

eXtended Automation

PLC module

C++ module

Real-time Code

HMI/

Windows processes


Runtime (XAR)

eXtended Automation


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

PLCC++

Module

TcC

OM

PLCCNC

TcC

OM

PLCSafety

TcC

OM

PLCSimulink®

Module

TcC

OM

PLCPLC

TcC

OM

PLCNC

TcC

OM

C++

Module

TwinCAT Automation Device Driver - ADD

TcC

OM

PLCC

Module

TcC

OM

PLCSimulink®

Module

TC Configuration Debugging

Task

Task

Task

Task

Task

Task

Task

Call

Call

Call

TwinCAT 3 Runtime


Runtime (XAR)

eXtended Automation


Runtime (XAR)

Modular runtime interface

separation of encapsulated functionality into modules

extension of the base system by own drivers (Automation Device

Drivers – ADD) e.g. fieldbus drivers

scalability: modules can contain simple functions, complex

algorithms and real-time tasks or complete projects

reusability of modules

cooperation of modules written in

IEC 61131-3

C/C++

Matlab®-generated modules

eXtended Automation


TwinCAT 3 – Multicore support

eXtended Automation


Runtime (XAR)

Support of multi-core systems

distribution of projects to cores (e.g.

PLC, NC, Motion Control and HMI run

on different cores)

scalable base time for each core

scalable CPU usage for each core

eXtended Automation

Core 0

ADS

Multi-core CPU

Windows

Apps

PLC Control

Windows

Drivers

ADS

User HMI

Core 1

ADS

Core 2

PLC Runtime 0

Task 0 Task 1

ADS

PLC Runtime 1

Core 3

ADS

NC Runtime 1

Core ...

ADS Router Engine

System Memory

ADS Router Message Queues

L2 Shared Cache


Runtime (XAR)

eXtended Automation

Enables cores for real-time usage

Defines the base time for a core

Defines the CPU-usage limit

Assignment of a task to a CPU


C6670-0000 | Control cabinet industrial server

2 removable frames for hard disks

Graphic board, 1 DVI-I- and 1 DVI-D-

connector

Many core machine control

Complex applications with up to 36

cores

Extensive video analysis

6 PCIe slots for additional camera

interface cards

available


C6670-0000 | Control cabinet industrial server


In Different Areas

Connectivity


TwinCATTwinCATTwinCAT

PLC 2

TwinCAT

Automation

Device

Specification

(ADS)

Automation

Protocols

OPC UA,

Modbus

TCP,

Modbus RTU

3964R/RK512

Industry

Protocols

IEC 61850,

IEC 61400-25,

IEC 60870-5-

10x,

BACnet, FIAS,

Creston

IT

Protocols

WLAN,

Bluetooth,

TCP, UDP,

RAS,

FTP, VPN,

SNMP,

SNTP,

SMS, SMTP

Web

Server Ils

XML, AJAX,

ASP,

DPWS/WSD

TwinCAT

Automation

Device

Specification

(ADS)

Different Solutions, all Based on ADS

PLC 1

Connectivity

TwinCAT ADS RouterAcyclic

TCP, UDP, Serial,

Fieldbus

TwinCAT ADS

Router

CyclicEtherCAT Automation Protocol (EAP), Network variables


only one software for programming and configuration

Visual Studio® integration

more freedom in the choice of programming language

support for the object-oriented extension of IEC 61131-3

use of C/C++ as the programming language

link to Matlab®/Simulink®

open interfaces for expandability and adaptation to existing tool landscape

faster and more flexible runtime environment

active support of multi-core and 64-bit systems

TwinCAT 3 Highlights

Supplements

new automation technology - sesam worldsesam-world.com/_pdf/sesam-113/09-beckhoff.pdf · what does...

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