Beckhoff Training - Chapters (USA) 3 - 2018

New Automation Technology
TwinCAT 3
TwinCAT 3 | eXtended Automation Technology 1

PC-based Control
IPC I/O Motion Automation

TwinCAT 3
Contents
1. Introduction
2. eXtended Automation (XA)
3. OOP / UML
4. TcCOM
5. Documentation

TwinCAT 3
PC-based Control – Milestones
1988
S1000
PLC/NC on
PC (DOS)

TwinCAT 3
1988 1993
S1000 S2000
PLC/NC on PLC/NC/CNC
PC (DOS) on PC

TwinCAT 3
1988 1993 1996
S1000 S2000 TwinCAT

PLC/NC on PLC/NC/CNC IEC 61131
PC (DOS) on PC PLC real-time
under
Windows NT

TwinCAT 3
1988 1993 1996 2010
S1000 S2000 TwinCAT TwinCAT 3

PLC/NC on PLC/NC/CNC IEC 61131
PC (DOS) on PC PLC real-time
under
Windows NT

TwinCAT 3
Motivation
Beckhoff PC-based Control:

Setting New Standards in Automation
PC-Hardware
Feldbus
Base I/O TwinSAFE PLC Control Control Connectivity
(PID)
TwinCAT-
Software
Motion NC PTP NC I CNC Robotics Measurement

Technology

TwinCAT 3
Motivation
 integration of PLC, Motion and HMI into one software on one CPU:
 minimised hardware
 faster cycle times due to no hardware interfaces
 reduced interface complexity
 better diagnosis
 PC Control offers an “open” control system
 abstraction as a principle
 functions in software & independent from hardware
 scalable performance and cost by selection of standard CPUs
 powerful operating systems add IT functions to automation solutions
 automation and IT world share the same benefits:
 performance increase
 cost decrease

TwinCAT 3
Contents
1. Introduction
3. OOP / UML
4. TcCOM
5. Documentation

TwinCAT 3
eXtended Automation (XA)
 Architecture (XAA)
 Engineering (XAE)
 System Manager
 PLC
 Motion Control
 C/C++ programming
 Matlab® integration
 C#/.NET programming
 Runtime (XAR)

eXtended Automation
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
Architecture (XAA)
PC System
Windows 32/64 bit
TwinCAT 3 Engineering Environment based on Visual Studio®
System Manager Programming

- Configuration - IEC 61131-3
- objectoriented extensions eXtended
- C/C++
Automation Engineering (XAE)
TwinCAT Transport Layer - ADS
TwinCAT 3 Runtime
Real-time Kernel
TcCOM
TcCOM
TcCOM
TcCOM
PLC
PLC Safety
PLC NC
PLC CPLC
Module
eXtended
Automation Runtime (XAR)
TcCOM
TcCOM
TcCOM
TcCOM
CNC Simulink ® C++ PLC

PLC PLC PLC PLC
Module Module
TwinCAT Automation Device Driver - ADD
Fieldbus

eXtended Automation
Engineering (XAE)

eXtended Automation Engineering
Features
 TwinCAT 3 – extended, modular engineering tool

 one programming environment, one project file, one debug environment
 integrated TwinCAT System Manager
 programming according to IEC 61131-3 3rd edition
(including NEW object orientation extensions)
 usage of C and C++ for real-time programming
 link to Matlab®/Simulink®
 runs all TwinCAT 2 PLC projects without change or migration of TwinCAT 2
projects (conversion)
 based on Microsoft Visual Studio® 2010

Scalable functionality
TwinCAT 3 Standard TwinCAT 3 Engineering Environment
 using the Microsoft Visual Studio® shell System Manager

Configuration
Programming
– I/O
 for PLC programmers and users of – PLC
IEC 61131 Object-
– MC
existing modules – NC
oriented
extensions
– CNC
 configuring, setting up and diagnosis – Safety
– others
 debugging PLC IEC Compiler
TwinCAT Transport Layer – ADS
TwinCAT 3 Runtime

Scalable functionality
Third-party
TwinCAT 3 Integrated TwinCAT 3 Engineering Environment based on Visual Studio®
Matlab®/
Simulink programming
tool
System Manager Programming

 Integration into Microsoft Visual Configuration
– I/O
Non
real-time
Real-time
– PLC
Studio® 2010 – C/C++
C#.NET IEC 61131 Object- C/C++
Simulink
Coder
C/C++
– MC oriented
– NC extensions
 for PLC and C/C++ programmers – CNC

– Safety
– others IEC Compiler Microsoft C Compiler
 configuring, setting up and diagnosis
 module generation (C/C++ or
TwinCAT Transport Layer – ADS
Matlab®/Simulink®)
TwinCAT 3 Runtime
 debugging PLC, C/C++,
Matlab®/Simulink®
Caption:
code generation
debugging
upload of TC modules

Workbench integration
TwinCAT 3 framework = Microsoft Visual Studio® 2010

 usage of the most common programming environment
 maintained by a company
 extendable via plug-ins
 link to common source control software
 usage of C and C++ for programming automation devices
 usage of .NET languages for non-real-time applications
(e.g. HMI)
 improved help system

Free choice of the programming language
Simultaneous programming according to IEC 61131 and C++

TwinCAT I/O – Integrated System Manager
 programming, configuration and

diagnosis in one tool
 continuous engineering since 1996
 uniform task management
 parameterisation of TwinCAT modules
 creation and administration of
mappings between the process images
 simulation of I/Os and axis

System configuration
Motion control configuration
PLC configuration
Safety PLC configuration
C++ module configuration
I/O configuration

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.
TwinCAT process images
Virtual Inputs Outputs

process
images
Physical Inputs Outputs Inputs Outputs Inputs Outputs

process
images Fieldbus 1 Fieldbus 2 Fieldbus 3
TwinCAT 3 PLC
Multiple PLC projects:

 number of possible tasks: 65,000 (instead of 4 x 4 in TwinCAT 2)
 number of PLC projects: only limited by memory (instead of 4 in TwinCAT 2)
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
Commissioning/maintenance:
 source code up- and download
 online change
 full debugging functionality (breakpoints, monitoring, flow control,…)

TwinCAT 3 PLC
Shared tree structure for hard- and software

Programming language-dependent toolbox
Shared output window of all languages

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

Language features 2nd edition 3rd edition C++ Java C#
IEC 61131-3 IEC 61131-3
Multi-language support + + - - -
Mixed programming OO/proc. - + + - -
Classes ~ (FB) + + + +
Methods ~ (actions) + + + +
Interfaces - + - + +
Partial abstract classes - - + + +
Polymorphism - + +/- + +
Reference semantics - + (interfaces) - + +
Constructor/destructor - + + + +
Properties - + - - +
Visibility ~ (variables) ~ (variables) + + +
Dyn. memory (“new”) - - (in TwinCAT 3) + + +
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 Motion Control – Continuity
 scalable solutions (stepper,…, servo drive)

 several abstraction layers
 PLC/SCADA/HMI access always identical objects,
independent of axis type and fieldbus
 conversion from mechanical to electronical system
(electronic cam, electronic gear, electronic clutch, electronic
camshaft, “flying saw”)
Benefits:
 more flexibility in used technique (stepper, servo drive,…)
 more flexibility in changes to the products
 shorter time of delivery and development time
 shorter time for commissioning because of the lack of
mechanical parts
 decreasing costs

TwinCAT 3 Motion Control – Abstraction Layer
Soft SPS
Layer
Soft Motion
+
PLC
Pos Ctrl Limit
Layer
- +
+
SP Velo Preset Scale & Limit
Pos Meas.
Fieldbus
Layer
Drives
Layer

TwinCAT 3 Motion Control – From PTP to Robot Control
Functionality
NC PTP NC I CNC Robotics
Point-to-Point- Interpolated motion Complete CNC Interpolated motion

movement with 3 axes and functionality for robotic control
5 additional axes
– gearing – interpolated – support for a wide
– camming – programming movement for rande of kinematic
– superposition according to DIN 66025 up to 32 axes systems
– flying saw – technological features per channel – optional torque
– straightforward – various pre-control
utilisation through transformations
function blocks from
the PLC

C/C++ Programming Languages
 reuse of existing C/C++ code

 cooperation of C/C++ and PLC code
 real-time applications for all platforms (CE, XP,…)
 opens new areas – not standard PLC users
 well-known programming language
 standardised (C: ISO/IEC 9899 TC3, C++: IEC 14882)
 generation of Automation Device Drivers (ADD) enables to
implement own drivers (e.g. fieldbus drivers)
 Beckhoff SDK provides the functionality (like PLC libraries) for
 ADS
 Motion
 File I/O

Application areas
 image processing
 robotics
 measurement technology
 …

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

VS2010 standard debugger:

 monitoring/modification of variables only with Breakpoint

VS2010 Beckhoff debugger:

 connection to C++ target (selection of target system)
by “Attach to process” or “Start new instance”

VS2010 Beckhoff debugger:

 monitoring/modification of
variables without Breakpoint
(analog to PLC without
Breakpoint)

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 CoderTM
 compilation with Visual Studio® C Compiler
 parameterisation in the TwinCAT System Manager
 download and execution in the TwinCAT 3 Runtime


.NET Programming Languages (e.g. C#)
 well-known programming languages

 standardised C# (ISO/IEC 23270)
 creates intermediate code (Common Intermediate Language – CIL)
benefits:
 efficient engineering with higher abstraction level
 widely accepted
 “Garbage collection” takes care on memory.
 could now be handled as part of one integrated solution
restrictions:
 Garbage collector is not suitable for real-time applications.

C#/.NET programming
HMI/
Windows processes
PLC module
C++ module
Real-time Code

eXtended Automation
Runtime (XAR)

eXtended Automation
Runtime (XAR)

eXtended Automation Runtime
Modular runtime
 dynamic environment for the execution TwinCAT Transport Layer - ADS

TC Configuration Debugging
and administration of TwinCAT 3 TwinCAT Object Manager
modules
TcCOM
TcCOM
Task PLC Call C++
 administration of runtime modules (with Module
TcCOM
Task
PLC
NC
TwinCAT Object Manager)
TcCOM
TcCOM
Task PLC
C++ Call PLC
C
 defined interfaces (e.g. TwinCAT Module Module
TcCOM
Component Object Model –TcCOM) PLC
Simulink ®
TwinCAT Real-time Kernel

Task
Module
and v model
TcCOM
TcCOM
Task PLC
CNC PLC
Simulink ®
Call Module
TcCOM
PLC
PLC
Task
TcCOM
Task PLC
Safety
TwinCAT 3 Runtime
TwinCAT Automation Device Driver - ADD
Fieldbus

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

Modular runtime interface for modules
 standardised TwinCAT Module
Module Description
 easy to use
State Machine
 included state machine
ITComObject Interface
Interfaces Parameter Interfaces

Pointers
Contexts
Data Areas Data Area
Categories Pointers
ADS Port

TwinCAT Module State Machine
INIT
Parameter
IP PI
PREOP
Parameter
PS SP
SAFEOP
SO OS
OP

Multicore support

Support of multi-core systems
 distribution of projects to cores (e.g.

Multi-core CPU
Core 0 Core 1 Core 2 Core 3 Core ...

PLC, NC, Motion Control and HMI run Windows PLC Control User HMI PLC Runtime 0 PLC Runtime 1 NC Runtime 1
on different cores) Apps

Task 0 Task 1
 scalable base time for each core Windows

Drivers
ADS ADS ADS ADS ADS
 scalable CPU usage for each core

ADS Router Engine
L2 Shared Cache
ADS Router Message Queues
System Memory

Support of multi-core systems
Enables cores for real-time usage Defines the CPU-usage limit

Defines the base time for a core
Assignment of a task to a CPU

Benchmark of TwinCAT 3 Multicore
Testcase hardware: Execution time for 1000 PLC commands (µs)

 Intel®Core i7 950
Core0 Core1 Core2 Core3
 4 physical core CPU at 3.07 GHz bool 0.887 0.894 0.898 0.895
 Nvidia 9800 graphic adapter byte 0.672 0.682 0.681 0.688
word 0.613 0.614 0.626 0.617
dword 0.575 0.583 0.583 0.583
Testcase software:
sint 3.463 3.472 3.473 3.474
 4 PLC runtime systems int 3.473 3.484 3.482 3.482
 each PLC runtime mapped to one CPU core dint 3.487 3.497 3.491 3.496
real 1.813 1.822 1.818 1.820
 all PLC runtimes execute identical
lreal 4.761 4.769 4.770 4.769
benchmark software
Result:
 TwinCAT Multicore technology increases PLC power, linear
related to the number of CPU cores
 PC Control enables future CPU development for automation
applications
TwinCAT 3
Contents
1. Introduction
3. OOP / UML
4. TcCOM
5. Documentation

TwinCAT 3
UML – Unified Modeling Language

Language features 2nd edition 3rd edition C++ Java C#
IEC 61131-3 IEC 61131-3
Multi-language support + + - - -
Mixed programming OO/proc. - + + - -
Classes ~ (FB) + + + +
Methods ~ (actions) + + + +
Interfaces - + - + +
Partial abstract classes - - + + +
Polymorphism - + +/- + +
Reference semantics - + (interfaces) - + +
Constructor/destructor - + + + +
Properties - + - - +
Visibility ~ (variables) ~ (variables) + + +
Dyn. memory (“new”) - - (in TwinCAT 3) + + +
TwinCAT 3
Contents
1. Introduction
3. OOP / UML
4. TcCOM
5. Documentation

TwinCAT 3
TcCOM – TwinCAT Component Object Model

Modular runtime interface for modules
 standardised TwinCAT Module
Module Description
 easy to use
State Machine
 included state machine
ITComObject Interface
Interfaces Parameter Interfaces

Pointers
Contexts
Data Areas Data Area
Categories Pointers
ADS Port

TwinCAT Module State Machine
INIT
Parameter
IP PI
PREOP
Parameter
PS SP
SAFEOP
SO OS
OP

C++


TwinCAT 3
Contents
1. Introduction
3. OOP / UML
4. TcCOM
5. Documentation

TwinCAT 3
Documentation
 Online –
 http://twincat3.infosys.beckhoff.com/
 MS Help

TwinCAT 3
Documentation
 MS Help

TwinCAT 3
Documentation
 MS Help

TwinCAT 3
Documentation
 MS Help

TwinCAT 3
Documentation
 MS Help – Online Incremental Updates

Beckhoff | New Automation Technology
TwinCAT 3
For further information see

Product DVD
or:
www.beckhoff.com/TwinCAT3

Beckhoff Training
Beckhoff
TwinCAT Installation
 Downloading from the web

 XAE vs XAR
Beckhoff
Downloading TwinCAT 3
 www.Beckhoff.com
 Select ‘Download’
Beckhoff
 In the Software section, select ‘TwinCAT 3’

Beckhoff
 Select ‘TE1xxx | Engineering’

Beckhoff
 Select ‘TwinCAT 3.1 eXtended Automation Engineering’

Beckhoff
 Click ‘Start Download’

Beckhoff
 Click ‘Create new account’

Beckhoff
 Fill in the registration form

 Click ‘Register’
Beckhoff
Beckhoff
Beckhoff
 Enter your ‘Login’ information

 Click ‘Login’
Beckhoff
 Click the name of the file you wish to Download

 Save the File
Beckhoff
 The name of the Install file will include the Version and Build number
Beckhoff
Installing TwinCAT 3
 Right-Click on the file and select ‘Run as Administrator’

Beckhoff
 Click ‘Yes’
Beckhoff
 The installation process will now start

Beckhoff
 Click ‘Next’
Beckhoff
 Accept the License Agreement

Beckhoff
 Enter a Name and Organization

 This information will appear later in the software
Beckhoff
 Select ‘Custom’
Beckhoff
 XAR – eXtended Automation Run-Time

 Used for CXs and other Run-Time only devices
 XAE – eXtended Automation Engineering
 Used for Development
Beckhoff
 Select the items you wish to install

 By Default everything is selected to be installed to the local hard drive
Beckhoff
 By default TwinCAT will install the Shell for Visual Studio 2010
 Select your environment and click ‘Next’
Beckhoff
 Configuration of the install is complete

 Click ‘Next’ to install TwinCAT 3
Beckhoff
 Installation in progress
Beckhoff
 Click ‘Finish’
Beckhoff
 You must restart your computer after the install

Beckhoff
 The TwinCAT 3 icon is now displayed in the Windows Task Bar

How to – Install TwinCAT3 documentation
1. About the TwinCAT3 documentation
The following article describes how to install the TwinCAT3 documentation. Cause TwinCAT3 is
using the Visual Studio 2010 shell as a workbench, its helpfile is based on the new Microsoft Help
System (MHS) replacing the existing HTML/CHM helpfiles. MHS is an end-to-end help system for
content which is either served from an online source or installed locally. This system enables users
to view help-content via their favorite web browser or with a software called “Microsoft Help
Viewer”.
Installation of TwinCAT3 documentation is a two-step procedure:
a. Once only: Install the basic TwinCAT3 package (see Chapter 3)

b. On demand: Let TwinCAT3 check if updates could be downloaded automatically (see chapter 4)
2. System requirements
Before installation of TwinCAT3 Documentation check the following system requirements:
 Install TwinCAT3 XAE (Engineering) or Visual Studio 2010

 Important:
In both cases, you need to install SP1 for Visual Studio 2010 - otherwise the help file will not be
shown properly.
http://www.microsoft.com/download/en/details.aspx?id=23691
 An Internet connection is required if the documentation’s content should be updated

automatically. (see Chapter 0)
3. Installation
Please note that the installation has separate setup files for x64 and x86 systems.
URL:
http://download.beckhoff.com/download/Software/TwinCAT/TwinCAT3/InfoSystem/
X86: TC3-InfoSys-x86-en.exe
X64: TC3-InfoSys-x64-en.exe
Beckhoff Automation GmbH, Eiserstraße 5, 33415 Verl Tel: 05246 / 963-0, Fax 05246/ 963-198
Execute the corresponding Setup file with Administrator rights by performing the following steps:
 Right-click the Setup-file and select “Run as Administrator”.

 After the setup has been initialized, follow the installation instructions.
 Answer the question regarding the Help Library Manager with „Yes“
When the setup is finished, you can open the TwinCAT3 documentation directly from within
TwinCAT XAE.
 Start TwinCAT XAE or Visual Studio 2010

 Inside a TwinCAT3 project just click “F1” for help
As alternative open the menu „Help“ and select „View Help“, which will open the Microsoft Help
Viewer.
 Navigate to “Beckhoff Information System” to view the documentation
4. Updating documentation
You can update the documentation’s content directly from within TwinCAT XAE. Please perform the
following steps to update the documentation:
 Start TwinCAT XAE or Visual Studio 2010

 Open the menu „Help“ and select „Manage Help Settings”
 Click on “Check for updates online”
 The system will automatically check for updates and will notify you if an update is available.
Please make sure that your IT infrastructure (Firewall, Proxy-Server, etc.) allows the system to
connect to http://twincat3.infosys.beckhoff.com.
 If an update is available, click on the corresponding button to update the documentation’s
content and confirm with “Yes” to trust our files.
TwinCAT News
Agenda
TwinCAT 3
 Deliverables
 Naming
 Pricing
 Ordering
 Licensing
 Availability
1/7/2013 1
TwinCAT3: Product information (sales)
Deliverables Products: Overview
Deliverables
1/7/2013 2
Deliverables Products: Overview
TwinCAT3 product categories
 „TE“ TwinCAT3 XAE : Engineering
 „TC“ TwinCAT3 XAR : Runtime level
 „TF“ TwinCAT3 Function (previous „Supplement“)
1/7/2013 3
Deliverables Products: Engineering
Categories TwinCAT 3 deliverables
 Setup “TwinCAT3-Full”
 Full installation for fresh engineering PC

 Provides Microsoft Visual Studio Shell
But also integrates into existing VS201x shell
 Integrated System Manager / IEC 61131-3
 Integrated Safety PLC editor
 Integrated C/C++ and Matlab modules
Note: full VS201x required for programming / debugging
 Setup “TwinCAT3-XAE”
 Provides Rune-time only components

 No engineering environment
Engineering will be done remotely
1/7/2013 4
Deliverables Products: Engineering Setup
TwinCAT 3 XAE installation
Visual Studio 2010 available No Visual Studio available
 TwinCAT 3 “Integrated” into VS2010  TwinCAT 3 “Standard”

 Integration into the Microsoft Visual Studio contains royalty free VS2010-Shell
TwinCAT as new template like C# / C++  Provides Microsoft Visual Studio Shell
 Integrated System Manager / IEC 61131-3  Integrated System Manager / IEC 61131-3
 Integrated Safety PLC  Integrated Safety PLC
 C and C++ programming / debugging  Integrated C/C++ and Matlab modules
 Link to Matlab Simulink (no programming / debugging)
 C# /.NET programming for (none real time)
applications in the same environment
07.01.2013 5
Deliverables Products: Trial versions
Trial versions:
TwinCAT3:
 7-Day trial can always be re-activated by customer

 some products have limited functionalities during trial
 CAM Design (no storage)
 IEC61850: only two nodes for connectivity
07.01.2013 6
TwinCAT3: Naming
Naming
1/7/2013 7
TwinCAT3: Naming Engineering
TwinCAT 3 XAE (Engineering)  Product: TE 1000-0000
 Content:
 Plug-In Systemmanager
 Plug-In PLC-Editor
 Royalty-free VS2010 shell
just container – nothing to implement C/C++/C#
 Price:
 Royalty-free, full-featured base package
 7 day time-limited runtime
repeatable by customer without Beckhoff activity
 Note:
 Engineering tools are not free in general
Fees i.e. required for:
 CAM Design Tool, ECAD Import /
SimulationManager / Scope++ / Valve Diagram
 CAM Design Tool can not save results in royalty

free version (functional limitations)
1/7/2013 8
TwinCAT3: Naming Run-time
TwinCAT 3 XAR (Run-time levels) : „Best of both worlds“
TwinCAT2: Keep well-known level from TwinCAT2 like levels IO / PLC / NC-PTP / NCI / CNC
TwinCAT3: add bundled runtime PLC/C++ or PLC/C++/Matlab

 modular single items for new extensions
 C++ can be combined with all functions
 previous royalty-free TwinCAT2 level „CP“ is renamed to „ADS“ – also royalty-free
1/7/2013 9
TwinCAT3: Naming Functions
Functions  TwinCAT3 „Functions“

Functional extension of
TF 4100 Controller Toolbox  TC3-XAE (engineering)
 TC3-XAR (run-time)
TF 4xxx
TF 4110 Temperature Controller

...  Categories (derived from analog terminals)
 „EL/KL1xxx“System
 „EL/KL3xxx“Measurement
TF 5000 NCPTP  „EL/KL4xxx“Control
 „EL/KL5xxx“Motion
TF 5xxx
TF 5050 NC Camming  „EL/KL6xxx“Connectivity

TF 5060 NC-Fifo axis
 Sample:
 TF-1140-0xxx Management Server
...
 TF-3600-0xxx Condition Monitoring

 TF-4100-0xxx Controller Toolbox
TF 6000 ADS  TF-5000-0xxx NC-PTP10
 TF-5010-0xxx NC-PTP25
TF 6xxx
TF 6100 OPC UA  TF-5020-0xxx NC-PTP25+

 TF-5100-0xxx NC I (incl. PTP)
TF 6310 TCPIP
 TF-5200-0xxx CNC
 TF-6100-0xxx OPC UA
...
1/7/2013 10
TwinCAT3: Naming
General scheme of naming
TX abbb-cdpp-vvvv
T TwinCAT
X Base System
C=TwinCAT3 Run-time
F= Function
E=Engineering
a Class (e.g. System / Measurement / Control / Motion / Connectivity)

bbb Unique product key
-
cd Reserved
pp Platform (mix of OS and CPU)
-
vvvv Build number
will allow customers to order specific „historical“ product version
TwinCAT and Function products
1/7/2013 11
TwinCAT3: Pricing
Pricing
1/7/2013 12
TwinCAT3: Pricing - Platforms
TwinCAT3 module pricing depends on the performance of the IPC platform

Categories of platforms: (mix of O/S and CPU)
1/7/2013 13
TwinCAT3: Price according to product and platform
Pricelist is a simple matrix „Productname / Platform“
 Price depends on platform
Sample CX1020 is platform 50

CX50x0 is platform 40
1/7/2013 14
TwinCAT3: Licensing
Licensing
1/7/2013 15
TwinCAT3: Licensing – Handling: where to find
TwinCAT3:
 License handling inside System Manager area
07.01.2013 16
TwinCAT3: Licensing - Trial
TwinCAT3: Trial license
 Customer can ALWAYS generate a „7 Days Trial License“ to continue job

 Also engineering PC does not need run time license – trial is fine
Enter valid
security
code will
enable „OK“
07.01.2013 17
TwinCAT3: Licensing
... Trial is done – customer is convinced....
How to get commercial license ?
07.01.2013 18
TwinCAT3: Licensing
TwinCAT3: SystemID / Registration unique for each IPC
1. Customer orders Beckhoff hardware with preinstalled TwinCAT

 TwinCAT already licensed inside HW
 nothing to take care of here – identical to TwinCAT2
or
1. Customer orders software product „TC1250 TC3 PLC/NC-PTP10“
07.01.2013 19
TwinCAT3: Licensing
TwinCAT3: SystemID / Registration unique for each IPC
1. Customer orders product „TC1250 TC3 PLC/NC-PTP10“ at HQ US

2. HQ US orders at HQ Verl
3. HQ Verl provides order confirmation e.g. VE0815 AND LICENSE ID
4. HQ US provides US order confirmation
AND certificat with „TwinCAT3 License ID“ to customer
Commercial part is done – also actions of HQ-US is done

Ordered products are available in HQ Verl database to be requested
Technical part ready to be startet
5. Customer installs TwinCAT3 on e.g. third party IPC machine

6. Customer sends License Req File of IPC and „License ID“ to email account
7. Beckhoff email account provides License Response File
Communication:
 By email only (no longer by phone / by fax)
07.01.2013 20
TwinCAT3: Licensing – certificate with „TC3 License ID“
TwinCAT3: „Beckhoff License ID“

will be provided to customer as result of commercial order
act as placeholder in HQ Verl database
07.01.2013 21
TwinCAT3: Licensing
TwinCAT3:
 SystemID unique for each IPC

 TwinCAT generates SystemID on it‘s own (Beckhoff PC and third party)
 TwinCAT generates HW Platform number
07.01.2013 22
TwinCAT3: Licensing
TwinCAT3:
 Select additionally components to be registered
07.01.2013 23
TwinCAT3: Licensing
TwinCAT3:
 Overview of licenses in this project
07.01.2013 24
TwinCAT3: Licensing
TwinCAT3:
 Overview on licenses and their expiration
07.01.2013 25
TwinCAT3: Licensing
TwinCAT3:
 Generate License Request file Mandatory (red)

Beckhoff
License ID
to find order in
database pool
Optional (green)
Customer
information
Will be included
into License
Response File
07.01.2013 26
TwinCAT3: Licensing
TwinCAT3:
 Generate License Request file
1. Step:
Generate
License Req File
1
07.01.2013 27
TwinCAT3: Licensing
TwinCAT3:
 Step 2: Save „License Request file“

Can be copied to USB stick and send later to license server
07.01.2013 28
TwinCAT3: Licensing
TwinCAT3:
 Step 2a Optional : Send License Request file to Beckhoff
07.01.2013 29
TwinCAT3: Licensing
TwinCAT3:
 Step 2a (Optional) : Send License Request file to tclicense@beckhoff.com

 Email contains license request file with all required
information – additionally the products are listed in email
body
07.01.2013 30
TwinCAT3: Licensing
TwinCAT3:
 Step 3: Activate License Response file
Activate
License Response
File...
07.01.2013 31
TwinCAT3: Licensing
TwinCAT3:
 Step 3: Activate License Response file
Activate
License Response
File...
...results in valid
licenses
07.01.2013 32
TwinCAT3: Licensing
TwinCAT3:
 Multiple license files can be activated (not only one file):
 Machine builder order „TC1200-00xx TC3 PLC“

 send license request file to license server
 activate license response file
Machine is delivered to End user
 End user of machine add connectivity

e.g. „TC6100 TC3 OPC-UA“ for MES/ERP connectivity
 send license request file for „TC6100 TC3 OPC-UA“
 activate license response file
07.01.2013 33
TwinCAT3: Licensing
Licensing for target deivices can be done easly remotely
Connection to
remote device will
automatic add license
Remote licenses Local licenses
dialog for remote device
07.01.2013 34
TwinCAT3: Licensing
TwinCAT3:
Licensing of remote devices
07.01.2013 35
TwinCAT3: Ordering
Current thinking:
TwinCAT3 licensing on CX-series
 No special order number with included TwinCAT3 level
 Instead order basic CX-devices with addon TwinCAT3 order numbers

Production line will install and pre-license the TwinCAT3 products
Order number for „clean image“ (basic CX-device without any TwinCAT)
 Like CX1020-0x20 : ....

 Like CX1030-0x20 : ....
 Like CX5010-xx20 : ....
 Like CX5020-xx20 : ....
 Add TwinCAT3 order numbers
07.01.2013 36
TwinCAT 3
Beckhoff TwinCAT 3
Starting a new project
 Select the TwinCAT Icon in the Windows System Tray
Beckhoff TwinCAT 3
 Then select ‘TwinCAT XAE’
Beckhoff TwinCAT 3
 If using TwinCAT 3 Standard this will

open the Visual Studio Shell.
 If using TwinCAT 3 Extended, this will
open Visual Studio.
Beckhoff TwinCAT 3
 From the ‘File’ menu, select ‘New’, and then ‘Project’
Beckhoff TwinCAT 3
 In the ‘New Project’

window, the left column
contains templates that can
be used for starting your
project. If using TwinCAT
Standard, the only Installed
Project will be ‘TwinCAT
Project’. TwinCAT XAE
Project is selected in the
middle by default.
Beckhoff TwinCAT 3
 The name and location of the project can be changed at

the bottom.
 Press ‘OK’ to create the new project.
Beckhoff TwinCAT 3
 The ‘Solution Explorer’ contains the tree view of your

Project. This is similar to the tree in the System Manager of
TwinCAT 2.
Beckhoff TwinCAT 3
TwinCAT 3
Beckhoff TwinCAT 3
Multiple CPU Cores
TWINCAT 3
Beckhoff TwinCAT 3
Multiple CPU Cores
 In the ‘Solution Explorer, under ‘System’, select ‘Real-Time’
Beckhoff TwinCAT 3
Multiple CPU Cores
 Use the ‘Read from Target’ button to read the number of

CPU cores on the target Computer
 The number of cores should match the Windows Task

Manager
Note: TwinCAT only counts real cores
Beckhoff TwinCAT 3
Multiple CPU Cores
 Check the ‘RT-CPU’ box to enable TwinCAT to use a specific

core.
Beckhoff TwinCAT 3
Multiple CPU Cores
 It is also possible to set the base time for task that will run
on this core.
 The CPU Limit when sharing the core with Windows is 80%
Beckhoff TwinCAT 3
Multiple CPU Cores
 In the ‘RT-CPU’ column use the drop down list to assign a

specific task to a specific core.
 These can be PLC, Motion, or C++ tasks.
Beckhoff TwinCAT 3
CPU Core Isolation
MULTIPLE CPU CORES
Beckhoff TwinCAT 3
Multiple CPU Cores
 Core Isolation allows for a CPU core to be hidden from

windows. This will allow TwinCAT to use 100% of the
isolated core.
 Click the ‘Set on Target’ button, adjust the Available CPUs
and click ‘Set’. A reboot is required.
Beckhoff TwinCAT 3
TwinCAT 3
Beckhoff TwinCAT 3
Visual Studio Shell
TWINCAT 3
Beckhoff TwinCAT 3
Visual Studio Shell
 Customizing the Integrated Development Environment

(IDE)
 The Visual Studio Shell provides a customizable interface
that allows the user to configure the environment to what
suites their needs best and can be modified as the needs
change
Beckhoff TwinCAT 3
Visual Studio Shell
 To reset the windows back to default, go to the ‘Window’

menu and select ‘Reset Window Layout’
Beckhoff TwinCAT 3
Visual Studio Shell
 Here, the environment has been adjusted for maximum use

of the screen for viewing code
Beckhoff TwinCAT 3
Visual Studio Shell
 Here, the environment has been adjusted for viewing two

programs at the same time
Beckhoff TwinCAT 3
Visual Studio Shell
 Here, the FBD toolbar is displayed on the left, which allows

for ‘Drag and Drop’ of the elements into the code window
Beckhoff TwinCAT 3
Visual Studio Shell
 Here, the FBD toolbar is floating and could be placed on a

second monitor
Beckhoff TwinCAT 3
Visual Studio Shell
 Here, on a large widescreen monitor several panes are

displayed at the same time
Beckhoff TwinCAT 3
Visual Studio Shell
 Click on the title of a pane and then drag the mouse

 Depending on which pane you grab you can place the pane anywhere
you like
 Here, the ‘Solution
Explorer’ was
grabbed by the top,
which will carry all
panes in this group
together
 It is also possible to grab the ‘Solution Explorer’ from the bottom and
separate it from the group
Beckhoff TwinCAT 3
Visual Studio Shell
 The panes on the left, right, and bottom are ‘Dockable’ and
can be ‘Pinned’ in place
 Here the ‘Toolbox’ is Docked and Hidden (middle)
 When the mouse crosses over the Title that pane is shown
(right)
 To ‘Pin’ the pane click on the ‘Push Pin’ symbol (left)
Beckhoff TwinCAT 3
Visual Studio Shell
Beckhoff TwinCAT 3
Visual Studio Shell – Tool Bars
 Tool Bars provide shortcuts to many common commands

 Visual Studio provides several Tool Bars that can be used
within TwinCAT
 In addition to these Beckhoff has created a few more that
provide shortcuts to specific commands within TwinCAT
Beckhoff TwinCAT 3
 The Visual Studio Shell used by TwinCAT 3 contains some of

the Tool Bars from Visual Studio but not all of them.
Beckhoff TwinCAT 3
 Right-Clicking in the Gray area of the existing toolbars will

display the ‘Toolbar Selection Menu’
 Toolbars with a check next to them are currently displayed
 Selecting a toolbar will toggle its display state
Beckhoff TwinCAT 3
 The four dots (circled below) are a handle that can be used
to move the toolbar by clicking and dragging
Beckhoff TwinCAT 3
 The down arrow can be used to customize a specific

toolbar
Beckhoff TwinCAT 3
 Build
 Build Selection
(Shift+F6): Compiles the
current Project
 Build Solution (F6):
Compiles all Projects
within the Solution
Cancel (Ctrl+Break): Cancels
the current compile
Beckhoff TwinCAT 3
 Debug
 Start (F5)
 Break All (Ctrl+Alt+Break)
 Stop Debugging (Shift+F5)
 Restart (Ctrl+Shift+F5)
 Show Next Statement
(Alt+Num*)
 Step Into (F11)
 Step Over (F10)
 Step Out (Shift+F11)
 Hexadecimal Display
 Show Threads in Source
 Breakpoints (Ctrl+Alt+B)
Beckhoff TwinCAT 3
 TwinCAT PLC
 Active PLC Project – PLC Runtimes can be selected here
 Login
 Force Values
 Start  Unforce Values
 Stop  Write Values
 Logout  Reset Cold
 Step Into  Reset Origin
 Step Over
 Step Out
 Flow Control
 Single Cycle
Beckhoff TwinCAT 3
 TwinCAT XAE Base
 Activate Configuration
 Restart TwinCAT System
 Restart TwinCAT (Config Mode)
 Reload Devices
 Scan
 Toggle Free Run State
 Show Online Data
 Show Sub Items
 Choose Target System - Remote Targets can be selected form here
Beckhoff TwinCAT 3
 Customize
 From here existing Tool
bars can be modified or
New Tool Bars can be
created
 This allows for the
programmer to tailor the
programming
environment to their
exact needs
Beckhoff TwinCAT 3
Visual Studio Shell – Custom Short Cut Keys
 Visual Studio allows for the user to create their own custom
Short Cut Keys
 Most of the common TwinCAT 2 short cut keys already exist
in TwinCAT 3 however Ctrl+F7 to ‘Write Values’ does not
Beckhoff TwinCAT 3
 From the ‘Tools’ menu,

select ‘Options’
Beckhoff TwinCAT 3
 Expand the ‘Environment’ tree item and select ‘Keyboard’
Beckhoff TwinCAT 3
 In the ‘Show commands containing:’ box type in ‘write’

 The box below it will show the filtered results, Left-Click on
the command to select it
Beckhoff TwinCAT 3
 Left-Click in the ‘Press shortcut keys:’ box

 Now Hold the ‘Ctrl’ key and press ‘F7’
Beckhoff TwinCAT 3
 If using TwinCAT Extended with Visual Studio Professional, the
‘Shortcut currently used by:’ window will notify the user that this
keyboard shortcut is already mapped to the ‘Build.Compile’
command
 If using TwinCAT Standard without Visual Studio then this keyboard
shortcut is not currently being used
 Ultimately it is up to the user to decide which shortcuts will perform
what commands
 When the Assign button is clicked the shortcut keys will be mapped
to the command
 If the short cut keys were already used by another command the
previous command will be removed
Beckhoff TwinCAT 3
Beckhoff TwinCAT 3
 Use the Reset button to set all keyboard shortcuts back to default.
Beckhoff TwinCAT 3
TwinCAT 3
Beckhoff TwinCAT 3
Scanning Hardware
TWINCAT 3
Beckhoff TwinCAT 3
Adding Hardware
 From the ‘TwinCAT’ menu, select ‘Restart TwinCAT (Config

Mode)’
Beckhoff TwinCAT 3
Adding Hardware
 Confirm the command by clicking ‘OK’
Beckhoff TwinCAT 3
Adding Hardware
 In the ‘Solution Explorer’,

under ‘I/O’
 Right-click on ‘Devices’
 Select ‘Scan’
Beckhoff TwinCAT 3
Adding Hardware
 Confirm with ‘OK’
Beckhoff TwinCAT 3
Adding Hardware
 Found devices are listed, and can be added to the I/O

Configuration
 Select the ‘EtherCAT’ Master and then press ‘OK’
Beckhoff TwinCAT 3
Adding Hardware
 Press ‘Yes’ to ‘Scan for Boxes’

 Boxes will included I/O, Drives and other devices attached
to the Field bus controller
Beckhoff TwinCAT 3
Adding Hardware
 If a Beckhoff Servo controller is found, you will be asked if

you would like to scan for the motors attached to these
devices.
Note: Resolvers do not carry nameplate data, and therefore

can not be scanned in.
Beckhoff TwinCAT 3
Adding Hardware
 If an EtherCAT drive is found, you will be asked if you would

like to add the NC-Configuration, append the axes and link
them.
Beckhoff TwinCAT 3
Adding Hardware
 Press ‘Yes’ to ‘Activate Free Run’, this will allow for the
testing/updating of hardware without using a PLC program.
Note: Free Run is only allowed while in Config Mode
Beckhoff TwinCAT 3
Adding Hardware
 The hardware that was

found is now listed under
‘Devices’
Beckhoff TwinCAT 3
Beckhoff Training
Beckhoff
Testing IO
 Start a new project

 Place TwinCAT in Config Mode
 Scan Hardware
 Activate Free Run
 Verify Communication
 Test I/O
Beckhoff
Testing IO
 Click on the TwinCAT Icon and select TwinCAT XAE

Beckhoff
Testing IO
 From the File menu, select New -> Project

Beckhoff
Testing IO
 Select TwinCAT XAE Project

 Provide a Name, and Click ‘OK’
Beckhoff
Testing IO
 From the TwinCAT Menu, Select ‘Restart TwinCAT (Config Mode)’

Beckhoff
Testing IO
 Confirm the prompt by click ‘OK’

Beckhoff
Testing IO
 Click the triangle to expand ‘I/O’

 Right-Click on ‘Devices’ and select ‘Scan’
Beckhoff
Testing IO
 3rd party devices may not be found, click OK to acknowledge the HINT
 Note: Configuration files from 3rd party vendors should be place in the appropriate
fieldbus folder under C:\ TwinCAT \ IO \
Beckhoff
Testing IO
 Click Yes to scan for boxes. TwinCAT will now attempt to search for IO devices and
drives on all fieldbus networks.
Beckhoff
Testing IO
 TwinCAT will find all devices inside the PC that can be used as a fieldbus
controller. Select all fieldbus controllers you wish to use and click OK
 Note: If you are expecting an EtherCAT device that is not listed, but instead have a
RT-Ethernet device, then check the cabling from the PC to the first EtherCAT
device on the network
Beckhoff
Testing IO
 Click ‘No’ – we will not be using the motors in this lab.

Beckhoff
Testing IO
 Click ‘No’ – we will not be using the servos in this lab.

Beckhoff
Testing IO
 Click Yes to Activate Free Run

 This will update the I/O values and display them in the I/O section of the Project
Beckhoff
Testing IO
 The I/O section now displays the fieldbus controllers

and the I/O devices on the network
Beckhoff
Testing IO
 Double click on the EtherCAT controller then, the select the Online tab
 Verify all devices are in OP
Note: The EL7201 Servo

Terminals will not be in OP
unless TwinCAT is in Run
Mode
Beckhoff
Testing IO
 Expand the EK1200

 Select the EL1008
 Use the Online column to
verify the Inputs are
working correctly
Beckhoff
Testing IO
 Expand the EL1008, then expand a specific channel

 Select Input then the Online tab
 The graph will display the value of the input
Beckhoff
Testing IO

 The output column displays the value of the outputs
Beckhoff
Testing IO
 Right click on an output and select Online Write ‘1’

Beckhoff
Testing IO
 The output now displays the status as a 1 and the output is energized
Beckhoff
Testing IO
 Expand the EL2008, then expand a specific channel

 Select Output then the Online tab
 The graph will display the value of the output, use the Write button to change the
value
Beckhoff
Testing IO
 In the ‘Set Value Dialog’ window you can use the ‘1’ button next to ‘Bool:’ or type a
‘1’ in the ‘Dec:’ box and click ‘OK’
Beckhoff
Testing IO
 Select the EL3002 to check the analog input

 The value is displayed in as an Integer
 0-10 Vdc is scaled to 0-32767 INT
Beckhoff
Testing IO
 Expand the EL3002 then expand AI Standard Channel 1 and select Value
 Select the Online tab and the value can be monitored
Beckhoff
Testing IO

 The value is displayed in as an Integer
 0-10 Vdc is scaled to 0-32767 INT
Beckhoff
Testing IO
 Right click on the Analog Output and select ‘Online Write…’

Beckhoff
Testing IO
 Enter a value for the analog output

 The Dec value will range from 0 to 32767
 Hex from 0x0 to 0x7FFF
 The +/- 10 range uses the scaled value
 After entering a value click OK
Beckhoff
Testing IO
 The value is displayed in the Online Column

Beckhoff
Testing IO
 Expand the EL4032

 Expand AO Outputs Channel 1, select the Analog Output, then the Online tab
 The graph will display the value of the output, use the Write button to change the
value
TwinCAT 3
Beckhoff TwinCAT 3
Activating the Configuration
TWINCAT 3
Beckhoff TwinCAT 3
 In TwinCAT the ‘Configuration’ refers to everything in the

Solution Explorer under the Project heading.
 The ‘Configuration’ includes not only the PLC, but also the
I/O, and the Motion Controller
Beckhoff TwinCAT 3
 In order to Run the PLC, you must first ‘Activate the

Configuration’
 From the ‘TwinCAT’ Menu, select ‘Activate Configuration’
Beckhoff TwinCAT 3
 If any Licenses are missing, click ‘Yes’ to generate a trial

license
Beckhoff TwinCAT 3
 Enter the ‘Security Code’, and press ‘OK’
Beckhoff TwinCAT 3
 The bottom of the License window now displays an

expiration date for the trial license
Beckhoff TwinCAT 3
 Click ‘OK’ to confirm  Click ‘OK’ to Start TwinCAT

in Run Mode
Beckhoff TwinCAT 3
 During this process you will see any Messages, Warnings, or

Errors, logged at the bottom of the screen
Beckhoff TwinCAT 3
 The TwinCAT Icon should now be green, indicating that the

TwinCAT system is running.
Beckhoff TwinCAT 3
TwinCAT 3
Beckhoff TwinCAT 3
Adding the PLC Control
TWINCAT 3
Beckhoff TwinCAT 3
 In the ‘Solution Explorer’, right-click on ‘PLC’ and select

‘Add New Item’
Beckhoff TwinCAT 3
 The ‘Add New Item’ window will allow you to select a

‘Template’
 ‘Standard PLC Template’ is selected by Default
 Press ‘Add’ to continue
Note: The Empty PLC Project

is for creating user libraries
Beckhoff TwinCAT 3
 In the ‘Solution
Explorer’ you can see
that the PLC Project
has been added with
the minimum
amount of objects
required for the PLC
to operate.
Beckhoff TwinCAT 3
 The PLC can contain

multiple Run-Times
‘Machine1’
 Each Run-Time can
contain multiple
tasks
Beckhoff TwinCAT 3
 The folder system is

only a way to
organize the other
components of the
project.
 The folders do not
effect the operation
in any way.
Beckhoff TwinCAT 3
 The ‘References’
folder holds the
libraries to be used
by the Run-Time.
 The libraries seen
here are included by
default.
Beckhoff TwinCAT 3
 The DUTs folder is

intended to be used
to hold Data Unit
Types (also known as
User Defined
Variables).
 It is possible to create
subfolders for
separating Enums,
Structures, etc.
Beckhoff TwinCAT 3
 The GVLs folder is for

Global Variable Lists.
 Subfolders could be
created for IO, HMI,
Servos, physical
sections of the
machine…
Beckhoff TwinCAT 3
 The POUs folder

contains the actual
code.
 Sub folders for
Functions and
Function Blocks could
be created here, or
they could be placed
at the same level as
the POUs folder.
Beckhoff TwinCAT 3
 The VISUs folder is

for Visualizations.
Beckhoff TwinCAT 3
 The PlcTask is a short

cut to the PlcTask
under the ‘SYSTEM’
‘Tasks’.
 Here the Cycle Ticks
can be changed.
Beckhoff TwinCAT 3
 The PlcTask calls the

MAIN POU.
 Although it is
possible to call
multiple POUs
directly from a Task,
it is recommend to
call only one. Then
call the other POUs
from MAIN.
Beckhoff TwinCAT 3
 Machine1 Instance
will hold the variable
of the PLC that are
given %I and %Q
addresses.
 The variables will be
linked to and from
here to other
locations in the
Solution Explorer.
Beckhoff TwinCAT 3
TwinCAT 3
Beckhoff TwinCAT 3
Adding Code
TWINCAT 3
Beckhoff TwinCAT 3
Adding Code
 In the ‘Solution
Explorer’ under the
‘PLC’ double-click on
‘Main’ to open it.
Beckhoff TwinCAT 3
Adding Code
 In the ‘Declaration’ section of ‘MAIN’ place 3 variables

between ‘VAR’ and ‘END_VAR’
Beckhoff TwinCAT 3
Adding Code
 In the ‘Code’ window of ‘MAIN’ place the following line of

code on line 1
 a := b + c
Note: The error in the code is intentional.

Beckhoff TwinCAT 3
Adding Code
 From the ‘Build’ menu, select ‘Build Solution’
Note: Build only checks changes. Rebuild checks the entire

PLC project for errors.
Beckhoff TwinCAT 3
Adding Code
 The ‘Error List’ at the bottom should show ‘1 Error’

 The ‘Yellow’ background of ‘Error’, ‘Warnings’, and
‘Messages’ indicates which items are currently being
displayed.
 Click on ‘Messages’ to deselect it
Beckhoff TwinCAT 3
Adding Code
 Now only the ‘Errors’ are displayed. Double-click on the

‘Error’ and the cursor will be placed on that line of code.
Note: This error location appears to be misleading. The issue

is that the compiler reached the end of the POU without
finding the ; at the end of line 1, the end of the POU is Line 3.
Beckhoff TwinCAT 3
Adding Code
 Place a semicolon at the end of the line of code
Beckhoff TwinCAT 3
Adding Code
 Again, from the ‘Build’ menu, select ‘Build Solution’
Beckhoff TwinCAT 3
Adding Code
 Because there were no Errors, the bottom panel stayed on

the ‘Output’ window
 The ‘Output’ window contains logging information about
the ‘Build’ that was performed
Beckhoff TwinCAT 3
Beckhoff Training
Beckhoff
Variables
 Variable Types
 Declarations
 Variable Scope
 Initial Values
 Constants
Beckhoff
What is a Variable?
Beckhoff
Variables
 A Variable is a name given to a location in memory that stores a value

 A Variable has up to 5 properties
1. Name
2. Size (Defined by the Type)
3. Value
4. Memory Location
5. PLC Address
Beckhoff
Variables
 In accordance with IEC 61131-3 a variable name must adhere to the following rules
1. The variable must begin with a Letter or an Underscore
2. The variable can be followed by Letters, Underscores, or Numbers
 No distinction is made between Uppercase and Lowercase Letters
The following are not permitted

 Special characters can not be used (!@#$%^&*)
 Blanks or Spaces are not allowed
 Repeated or Sequential Underscores are not allowed Converyor__1
Beckhoff
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...
Custom Types TYPE, STRUCT
Block types FUNCTION, FUNCTION_BLOCK, PROGRAM
Beckhoff
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.
(*Digital Input*)
bStart AT %IX0.0 :BOOL;(*Machine Start*)
(*Analog Input*)
TempK1 AT %IW10 (*Byte 10-11*) :WORD;
bStart AT %IX0.0 :BOOL; // Machine Start
(* bStop at %IX0.0 : BOOL; (*Machine Stop*) *)
Beckhoff
Comments
 If comments are placed on the line above or after the variable, then the comment
will appear in the tooltip when hoovering the mouse over the variable name.
Beckhoff
Variable Size
What type of data will the variable hold and

how big is the data?
Beckhoff
Elementary data types
Type Lower Upper Size (Bits) Prefix

BOOL FALSE TRUE 1 x
b
BYTE 8 by Bitstring
WORD 16 w Bitstring
DWORD 32 dw Bitstring
Beckhoff
Type Lower Upper Size Prefix

(Bits)
SINT -127 127 8 si
USINT 0 255 8 usi
INT -32 768 32 767 16 i
UINT 0 65 535 16 ui
DINT -134 217 728 134 217 727 32 di
UDINT 0 4 294 967 295 32 udi
LINT -263 263 -1 64 li
ULINT 0 264 -1 64 uli
Beckhoff

(Bits)
TIME_OF_DAY TOD#0:0:0 TOD#23:59:59 32 tod
DATE D#1970-01-01 D#2106-2-7 32 date

D#YYYY-MM-DD
DT#1970-01-01-00:00:00 DT#2106-2-7-6:28:15
DATE_AND_TIME 32 dt
TIME T#0s T#49d17h2m47s 32 tim

295ms
Beckhoff

REAL -1.18*10-38 3.4*1038 32 Bits r
4 Byte
LREAL -2.22*10-308 1.798*10308 64 Bits lr
8 Byte
Beckhoff
String data type
Type Description Example Size Prefix
STRING String in ASCII ‘1234ABCDE‘ 80 +1 s
code. Standard
length 80 ‘ABCDE$R$L‘
characters.
‘ABCDE$0D$0A‘
Maximum length
255. Strings are
null-terminated
String length specifications

Example Assignment Result SIZEOF Result LEN
declaration
sVar : STRING; sVar:=‘ABC‘; 81 3
sVar1 :STRING(1); sVar := ‘X‘; 2 1
sVar: STRING(255); sVar:=‘ABC‘; 256 3
Beckhoff
String data type
Constants
$<2 Hex values> ASCII Code
$0D CR
$R $r CR
$L $l Line Feed
$N $n New Line
$T $t Tab
Beckhoff
String data type
Type Description Example Description Pre

fix
WSTRING String in Unicode “Обучение“ Level 0,Block ws
format 0x0400-0x4FFF
Cyrillic
“培训、讲座、研讨
会“
“Training, seminar” Level 0
Block 0x0000-
0x007F
Basic Latin
Beckhoff
Examples of Literals
Variable Type Examples

BOOL TRUE 2#1 16#1 1
FALSE 2#0 16#0 0
WORD, 2#1010111111111110 16#AFFE 45054
DWORD
INT 2#1000000000000001 16#8001 -32768
TIME t#1h t#60m t#3600000ms
d day
h hours t#0.5d t#12h t#43200000ms
m min
s sec t#30m18s90ms t#0.505025h t#1818090ms
ms ms
REAL 0.3333 3.333e-1

Beckhoff
Declaring a Variable
 All variables must be defined between VAR and END_VAR

 A variable possesses a name behind which a value (number, string, date, etc.) is
stored. Variables are characterised by the fact that their contents can be changed
at runtime.
Identifier Data type Initial value

The physical-logical storage
location of this variable is
bAlarm:BOOL:=TRUE; unknown to the user
(unlocated)
Beckhoff
 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*
Beckhoff
 Hard coded addresses
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
Beckhoff
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;

IW0 equivalent
Ain AT%IW0 : INT;
IX22.7 IX22.6 IX22.5 IX22.4 IX22.3 IX22.2 IX22.1 IX22.0

BitVar AT%IX22.1 : BOOL;
IB23 IB22 IB21 IB20 Posi AT%IB20 : UDINT;

IW22 IW20 equivalent
ID20
Posi AT%ID20 : UDINT;
Beckhoff
Variable Scope
Local variables are restricted Global variables are known

to the block or POU in which in each block or POU within
they were declared. a project.
Keywords
Keywords
VAR_GLOBAL ..
VAR ..
END_VAR
END_VAR
VAR_CONFIG ..
VAR_INPUT ..
END_VAR
END_VAR
VAR_IN_OUT ..
END_VAR
VAR_OUTPUT ..
END_VAR
Beckhoff
Variable Scope
 Global Variables can be read and written to from anywhere in the PLC program
 Local Variables can only be written to from within the POU where they are defined
 The local variable of any POU can be read by first accessing the POU instance that
the variable is defined in and then using the ‘.’ to access the local variables defined
within that POU
 Local variables cannot be written to from another POU
Beckhoff
Initial Values
 All Variables have the option of assigning an initial value

 This value will be written to memory when the PLC starts, after which the code of
the PLC will control the value
Beckhoff
Constants
 Variables defined as Constants cannot be written to by the PLC

 Constants are declared similar to initial values
 Use of the keyword ‘Constant’ at the beginning of the declaration section signals
the compiler that the variable is a constant.
TwinCAT 3
Beckhoff TwinCAT 3
Data Type Conversions
TWINCAT 3
Beckhoff TwinCAT 3
Data Type Conversion
 In the PLC it is possible to convert from any data type to

another data type
Beckhoff TwinCAT 3
 The conversion functions are built in and are called in the

following format
 myOtherVar := datatype_to_datatype(myVar);
Beckhoff TwinCAT 3
Beckhoff TwinCAT 3
Beckhoff TwinCAT 3
Beckhoff TwinCAT 3
Beckhoff TwinCAT 3
Beckhoff TwinCAT 3
Beckhoff TwinCAT 3
Beckhoff TwinCAT 3
Beckhoff TwinCAT 3
TwinCAT 3
Beckhoff TwinCAT 3
Addressing Variables
TWINCAT 3
Beckhoff TwinCAT 3
Addressed Variables
 Addressed Variables in TwinCAT are freely configurable

 It is allowed, that addressed variables can be connected to
any hardware point, axis, or other location in the Solution.
 Variables that are assigned an address within the PLC are
‘Linked’ to items outside of the PLC, such as hardware,
axes, or other PLC taks.
 These addressed variables can defined in either a POU or in
a Global Variable List (GVL)
Beckhoff TwinCAT 3
POU Addressed Variables
 Once an addressed variable

has been declared in the
PLC, it will be added to the
‘Instance’
Beckhoff TwinCAT 3
GVL Addressed Variables
 To add ‘Global’ variables, ‘Right-Click on the GVLs folder

 Select ‘Add’, then click on ‘Global Variable List’
Beckhoff TwinCAT 3
 Provide a unique and

descriptive name
 Click ‘Open’
Beckhoff TwinCAT 3
 Provide a unique and

descriptive name
Beckhoff TwinCAT 3
 Create the variables with their addresses
Beckhoff TwinCAT 3
Addressed Variables ‚Instance‘
 To create the ‘Instance’

 In the ‘Solution Explorer’,
Right-Click on the
‘Untitled1 Project’ and
select ‘Build’
 If there are any Errors a
new ‘Instance’ will not be
created, or the existing
‘Instance’ will not be
changed
Beckhoff TwinCAT 3
Linking Variables
ADDRESSED VARIABLES
‚INSTANCE‘
Beckhoff TwinCAT 3
Linking Variables
 A link is created between two similar variables in two

different tasks, so that their may share data.
Beckhoff TwinCAT 3
Linking Variables
 Double click on
GVL_IO.xStart
 On the ‘Variable’ tab click
‘Linked to…’ to open the
Attach Variable window
Note: If the Variable window was already open, the Attach

Variable window will open instead.
Beckhoff TwinCAT 3
Linking Variables
 The ‘Attach Variable’ window displays all possible locations

that the variable could be linked to.
Beckhoff TwinCAT 3
Linking Variables
 The filter settings on the right side will narrow the results
Beckhoff TwinCAT 3
Linking Variables
 Select the first Input under the EL1008 and click ‘OK’
Beckhoff TwinCAT 3
Linking Variables
 The icons of both variables now show the ‘Link’ symbol
Beckhoff TwinCAT 3
Linking Variables
 The ‘Variable’ Tab now shows the linking information in

the ‘Linked to…’ box
Beckhoff TwinCAT 3
Linking Variables
 The variable links are not implemented until an ‘Activate

Configuration’ command is executed.
 From the ‘TwinCAT’ menu select ‘Activate Configuration’
Beckhoff TwinCAT 3
Linking Variables
 Click ‘OK’ to proceed
 Click ‘OK’ to Restart TwinCAT in ‘Run Mode’
Beckhoff TwinCAT 3
Linking Variables
 Now that the hardware variable is linked to the PLC

variable, the PLC must be running for the hardware to
update
 Login and Run the PLC
Beckhoff TwinCAT 3
Linking Variables
 Select the PLC or the hardware variable and go to the

‘Online’ tab
 You can now watch the
value change
Beckhoff TwinCAT 3
Beckhoff Training
Beckhoff
Lamp Test
Beckhoff
Lamp Test – Power Rail
 The Power Rail is powered by an external source.

 The I/O cards receive power from the cards to their left
and then pass power to the cards on their right.
 Note: Not all cards use and/or pass the power rail.
Beckhoff
Lamp Test – Digital Input
 The push button will be wired from Connection Point 2 on the EL1002 through the
push button, and then back to Connection Point 1 on the EL1002.
 When the contacts are closed power is sent from the positive connection to the
input.
Beckhoff
Lamp Test – Digital Output
 The LED will be wired from Connection Point 3 on the EL2002 through the LED,
and then back to Connection Point 1 on the EL2002.
 When the output is turned on, the LED will illuminate.
Beckhoff
Lamp Test – Coupler Power
 The EtherCAT Coupler must be powered for communication to occur.
 Note: This power should be supplied separately from the power

rail.
Beckhoff
Lamp Test – EtherCAT Communication
 The EtherCAT Coupler is connected to a network port on the Controller by an

EtherCAT Cable
Beckhoff
Lamp Test - Overview
 The Controller will communicate

with the I/O through the coupler.
When the Input is true this will
be sent to the controller to be
processed by the PLC.
The PLC will then send a
command to the output to turn
on the LED.
 Note: The Coupler power and

power rail power are supplied separately.
Beckhoff
Lamp Test – EtherCAT Communication to Hardware
 Under I/O the EtherCAT Coupler can be

found
 I/O – Devices – Device 1 EtherCAT – Term
1 EK1200
 The I/O Terminals can be found under the
Coupler
Beckhoff
Lamp Test – PLC Communication to EtherCAT
 The Hardware is Linked

to the PLC Instance.
Beckhoff
Lamp Test – PLC Code
 In the PLC the variables are declared with addresses so that they may be linked to
the hardware
 When the code is run, xLight1 will have the same value as xSwitch1
Beckhoff
Lamp Test – FLOW
 Power passes from the supply through the power rail and to the Push Button, when
the button is pressed power is supplied to the input
Beckhoff
Lamp Test – FLOW
 When the EtherCAT update happens the status of the input will be given to the
EtherCAT packet
Beckhoff
Lamp Test – FLOW
 The EtherCAT card in the PC will pass the data directly to the PCs memory where it
can be read by TwinCAT
Beckhoff
Lamp Test – FLOW
 TwinCAT will then pass the data from the I/O

Configuration to the PLC Instance
Beckhoff
Lamp Test – FLOW
 The PLC will then process the code

Beckhoff
Lamp Test – FLOW
 TwinCAT will then pass the data from the PLC Instance
back to the I/O Configuration
Beckhoff
Lamp Test – FLOW
 The EtherCAT card in the PC will read the data directly from the PCs memory and
send out the EtherCAT packet over the network.
Beckhoff
Lamp Test – FLOW
 When the data reaches the Output card the output will be energized and the LED
will illuminate.
Beckhoff
Lamp Test – FLOW
 PB
 Input Card
 I/O Update
 I/O Configuration
 PLC Instance
 PLC Code
 PLC Instance
 I/O Update
 Output Card
 LED
Beckhoff
Lamp Test – FLOW
 PB  Electricity and Data flow “downstream”
 Input Card  From the Push Button to the LED

 I/O Update  Along the path there are several places
 I/O Configuration where the signal can be tested and/or
monitored
 PLC Instance
 PLC Code  At the wiring connection of the card, in
 PLC Instance the I/O or PLC Instance and in the PLC
Code itself.
 I/O Update
 Output Card
 LED
Beckhoff
Lamp Test – FLOW
 PB  When testing hardware it is possible to

“Write” and to “Force” data into the
 Input Card system
 I/O Update
 A “Write” is applied one time and then
 I/O Configuration control is given back to the system
 PLC Instance
 A “Force” in the PLC Instance or I/O is
 PLC Code
applied before each update of the I/O
 PLC Configuration or PLC task
 I/O Instance
 When Writing or Forcing the Flow of
 I/O Update data must be taken into consideration
 Output Card cont.
 LED
Beckhoff
Lamp Test – FLOW
 PB  If the Force is applied to an Input in the

I/O Configuration then everything
 Input Card downstream will react accordingly, just
 I/O Update as if the Push Button had been pressed
 I/O Configuration  However, if the Output in the PLC
 PLC Instance Configuration is Forced then only the
 PLC Code hardware will be effected. The PLC
 PLC Instance Code will have no idea that the output
has been energized.
 I/O Update
 Output Card
 LED
Beckhoff
Lamp Test – Forces in the PLC
 When a variable is Forced inside the PLC, the Force is applied and then the PLC
Code is allowed to run as it normally would. The Force is then applied again at the
end of the PLC Scan.
 Here y has been Forced to a value of 1
 x is assigned a value of y + 1 or 2
Beckhoff
Lamp Test – Forces in the PLC
 Here y has also been forced to a value of 1

 However, the first line of code assigns a value of 2 to y
 This will result in x being assigned the value of 3
Beckhoff Training
Beckhoff
Analog Test
 The hardware shows the data type needed for the PLC variable to be linked to it.
Beckhoff
Analog Test
 Add the PLC variables for the Analog Input and Output
Beckhoff
Analog Test
 Write the code to assign the output to the input.

Beckhoff
Analog Test
 Right-Click on the Project and select ‘Rebuild’

Beckhoff
Analog Test
 If there are no errors, the variables will be place into the Instance
Beckhoff
Analog Test
 Link the Analog Input

 Right-Click on the variable in the Instance and select ‘Change Link’
Beckhoff
Analog Test
 Scroll down to the EL3002 and select the first ‘Value’

 Click ‘OK’
Note: If you hover the mouse of the variable, the tooltip will display the full path
including the channel number.
Beckhoff
Analog Test
 Link the Analog Output

 Right-Click on the variable in the Instance and select ‘Change Link’
Beckhoff
Analog Test
 Scroll down to the EL4032 and select ‘Analog Output’

 Click ‘OK’
Note: If you hover the mouse of the variable, the tooltip will display the full path
including the channel number.
Beckhoff
Analog Test
 After the variables have been Linked, from the TwinCAT select ‘Activate
Configuration’
Beckhoff
Analog Test
 Confirm the overwrite of the current configuration

Beckhoff
Analog Test
 Click ‘OK’ to restart TwinCAT in Run Mode

Beckhoff
Analog Test
 From the PLC menu, select ‘Login’

Beckhoff
Analog Test
 From the PLC menu, select ‘Start’

Beckhoff
Analog Test
 The values of the analog variables can now be seen

TwinCAT 3
Beckhoff TwinCAT 3
PLC Languages IEC61131-3 3rd Edition
TWINCAT 3
Beckhoff TwinCAT 3
PLC Languages
 ST – Structured Text
 FBD – Function Block Diagram
 LD – Ladder Diagram
 SFC – Sequential Function Chart
 IL – Instruction List
 CFC – Continuous Function Chart

 Not part of the IEC standard
Beckhoff TwinCAT 3
PLC Languages – Structured Text
 Structured Text is a high level language which has a similar

syntax to PASCAL
 ST is best for complex mathematical equations and
iterations (loops)
Beckhoff TwinCAT 3
PLC Languages – Function Block Diagram
 Function Block Diagram is based on viewing a system in

terms of the flow of signals between processing elements.
 FBD is very similar to an electronic circuit diagram.
 Typical use of FBD is to describe controls loops and logic.
Beckhoff TwinCAT 3
PLC Languages – Ladder Diagram
 Ladder Diagram is based on a technique used to design

logic using relays. A Ladder diagram always has a power rail
on the left side which supplies power to the contacts on
the rung.
Beckhoff TwinCAT 3
PLC Languages
 Sequential Function Chart is used in describing the

behavior of a system in terms of states and transitions.
 SFC allows the sequential aspects of a control program to
be described.
Beckhoff TwinCAT 3
PLC Languages – Instruction List
 Instruction List is a low level language which is similar in

structure to an assembly language
Beckhoff TwinCAT 3
PLC Languages Continuos Function Chart
 Continuous Function Chart is not a part of the IEC standard

but is included in TwinCAT
 CFC is similar to FBD, the difference is that FBD is separated
into rungs and CFC is all on one piece of paper. The order of
operation is designated by the block number.
Beckhoff TwinCAT 3
TwinCAT 3
Beckhoff TwinCAT 3
Languages Samples
TWINCAT 3
Beckhoff TwinCAT 3
Languages Samples
 A program that will monitor an Analog Value and energize

an output if the value is within a specific range.
 The output will be energized if the value is within range. A
range is defined as having an upper value and a lower
value.
 Therefore we have 2 conditions that determine if the
output is energized. The first condition is that the value is
greater than the low end of the range, and the second
condition is that the value is less than the upper end of the
range.
Beckhoff TwinCAT 3
Languages Samples
 If both conditions are TRUE then the output will be

energized.
 Condition1 is that the value of the analog input is greater
than the lower end of the Range. We will assume the lower
end of the range is defined as 0.
 Therefore Condition1 will be TRUE if the value is greater
than 0.
Beckhoff TwinCAT 3
Languages Samples
 Condition2 is that the value of the analog input is less than

the upper end of the Range. We will assume the upper end
of the range is defined as 10,000.
 Therefore Condition2 will be TRUE if the value is less than
10,000.
Beckhoff TwinCAT 3
Languages Samples
 Here is the Ladder Diagram (LD) code to solve the problem.
Beckhoff TwinCAT 3
Languages Samples
 Here is the Function Block Diagram (FBD) code to solve the

problem.
Beckhoff TwinCAT 3
Languages Samples
 Here is the Continuous Function Chart (CFC) code to solve

the problem.
Beckhoff TwinCAT 3
Languages Samples
 Here is the Instruction List (IL) code to solve the problem.
Beckhoff TwinCAT 3
Languages Samples
 Here is the Structured Text (ST) code to solve the problem.
Beckhoff TwinCAT 3
Languages Samples
 Here is another Structured Text (ST) code to solve the

problem.
Beckhoff TwinCAT 3
TwinCAT 3
Beckhoff TwinCAT 3
CASE Instruction
TWINCAT 3
Beckhoff TwinCAT 3
CASE Instruction
 A CASE instruction is used when making a decision based

on an integer value
 Typically a CASE instruction is used to control the state of
the machine, or of a sequential process
Beckhoff TwinCAT 3
CASE Instruction
 In the below example ‘iStep’ is the variable that will be

evaluated to determine which section of code to run
Beckhoff TwinCAT 3
CASE Instruction
 It is important to understand that only one step is executed

during a PLC cycle
 In Step 0 if xStep is TRUE the iStep will be incremented by a
value of 1.
 Step1 will not run until the next PLC cycle
Beckhoff TwinCAT 3
CASE Instruction
 When the CASE instruction is reached the value of iStep is

evaluated
Beckhoff TwinCAT 3
CASE Instruction
 When iStep is equal to 0 this code will be executed
Beckhoff TwinCAT 3
CASE Instruction
Beckhoff TwinCAT 3
CASE Instruction
Beckhoff TwinCAT 3
CASE Instruction
 When iStep is equal to any other value this code will be

executed
Beckhoff TwinCAT 3
CASE Instruction
 After the step is executed the code will continue after the
END_CASE
Beckhoff TwinCAT 3
CASE Instruction
 It is possible for steps to be combined

 When step numbers are separated by a , each number will
be evaluated individually
 When step numbers are separated using .. The range of
numbers will be evaluated
 Overlapping/Repeating step numbers will generate a

compile error
Beckhoff TwinCAT 3
CASE Instruction
 In the below example 0, 5, and 42 will have a common

execution
Beckhoff TwinCAT 3
CASE Instruction
 In the below example the values of 2,3 and 4 will have a

common execution
Beckhoff TwinCAT 3
TwinCAT 3
Beckhoff TwinCAT 3
Calling FBs with a CASE Instruction
TWINCAT 3
Beckhoff TwinCAT 3
 When calling Function Blocks from a CASE instruction it is

important to remember that only one step is run per PLC
cycle.
Beckhoff TwinCAT 3
 In the below code step 0 will Initialize the timer

 Step 1 sets the input to TRUE and sets iStep to a value of 2
 Step 2 is monitoring the output of the timer, however the
time itself is never being called and will no longer update
Beckhoff TwinCAT 3
 The function block instance along with the parentheses ()

must called in each step that uses the function block.
Beckhoff TwinCAT 3
 Another option is to call the function block from outside of

the CASE instruction
 In this example the timer is called every PLC cycle
 The steps in the CASE instruction simply control a variable
that is evaluated by the timer
Beckhoff TwinCAT 3
 Calling a Function Block outside of a CASE instruction is

slightly less efficient.
 When the Function Block is outside of a CASE instruction, it
is updated every PLC cycle.
 When the Function Block is only called from within a CASE
instruction then it will only be updated when the step is
active.
 Calling the Function Block from within a CASE instruction
requires careful programming practices to ensure that the
Function Block is updated properly.
Beckhoff TwinCAT 3
 When calling a Function Block from within a CASE

instruction it is important to call the FB in each step as
needed.
Beckhoff TwinCAT 3
 The Execute input of a

Function Block from the
Tc2_MC2.lib requires a
rising edge for proper
operation.
Beckhoff TwinCAT 3
 To ensure the rising edge

is handled properly the FB
is first called with a FALSE
at the Execute and then
again called with a TRUE
at the Execute.
 iStep is immediately and
unconditionally changed.
Beckhoff TwinCAT 3
 The FB is called again with

the Execute set to FALSE,
this calls the Function
Block so that it will be
updated in the step, and
also resets the Execute
 The FB is then monitored
for both an Error status
and a Done status.
Beckhoff TwinCAT 3
TwinCAT 3
Beckhoff TwinCAT 3
Boolean Selection with SEL and IF Instructions
TWINCAT 3
Beckhoff TwinCAT 3
 Function Block Diagram provides a SEL (Select) Function to

allow for the selection of two items based on a Boolean
value.
Beckhoff TwinCAT 3
 The Input ‘G’ will either be TRUE or False
Beckhoff TwinCAT 3
 When ‘G’ is TRUE, the value at ‘IN1’ will be passed to the

output
Beckhoff TwinCAT 3
 When ‘G’ is FALSE, the value at ‘IN0’ will be passed to the

output
Beckhoff TwinCAT 3
 It is also possible to place expressions on the inputs on the

SEL block
Beckhoff TwinCAT 3
 Structured Text provides the same functionality with the IF

Instruction
Beckhoff TwinCAT 3
 The code between ‘IF’ and ‘THEN’ must result in a Boolean

value, either TRUE or FALSE
Beckhoff TwinCAT 3
 If myBool is TRUE then the variable myTime will be

assigned a value of T#2s
 Else the variable myTime will be assigned a value of T#1s
Beckhoff TwinCAT 3
 The expression that is evaluated by the IF instruction can

be any expression that results in a Boolean value
Beckhoff TwinCAT 3
 The use of the ‘ELSIF’ instruction allows for the evaluation

of another expression when the first expression returns
FALSE.
Beckhoff TwinCAT 3
 It is also possible to use multiple ‘ELSIF’ instructions
Beckhoff TwinCAT 3
TwinCAT 3
Beckhoff TwinCAT 3
Iterations with Loops
TWINCAT 3
Beckhoff TwinCAT 3
Iterations with Loops - FOR
 The ‘FOR’ loop is used to repeat a block of code, a specific

number of times
 The ‘FOR’ loop has a specific start and end point
Beckhoff TwinCAT 3
 ‘i’ is the iteration variable and is of type ‘INT’

 In the below samples the ‘FOR’ loop will execute exactly 10
times within 1 PLC cycle
Beckhoff TwinCAT 3
 The start and the end are defined by the programmer
Beckhoff TwinCAT 3
 It is a common practice to use the iteration value as the

index value in an array
 This will loop through each index of the array and set it’s
value to zero.
Beckhoff TwinCAT 3
 It is also possible to skip values in the iteration
Beckhoff TwinCAT 3
 The start and end of the ‘FOR’ loop must be either literal
values or must be defined as a ‘CONSTANT’
 The value to skip by can be a standard variable
Beckhoff TwinCAT 3
 When monitoring a ‘FOR’ loop online, the value of the

iteration variable will always be 1 more than the end value
Beckhoff TwinCAT 3
Iterations with Loops - While
 The ‘WHILE’ loop monitors a Boolean condition

 While the Boolean condition is TRUE, the block of code will
continuously repeat within the same PLC cycle
Note: values from outside the PLC task should never be a

condition of the ‘WHILE’ loop
Beckhoff TwinCAT 3
 The ‘WHILE’ loop should be used with extreme caution!

 If the condition never results in a value of FALSE the WHILE
loop will run indefinitely

Beckhoff TwinCAT 3
 Typically the value being monitored by the ‘WHILE’

instruction will be altered by the code inside of the ‘WHILE’
loop

Beckhoff TwinCAT 3
Iterations with Loops – Repeat Until
 The ‘REPEAT’ loop is similar to the ‘WHILE’ loop

 The difference is that the code in the loop is guaranteed to
run a minimum of 1 time

condition of the ‘REPEAT’ loop
Beckhoff TwinCAT 3
Iterations with Loops – Repeat Until
 After the block of code is executed, then condition is

checked
 If the condition is TRUE then code will continue, if the
Condition is FALSE the code will ‘REPEAT’

condition of the ‘REPEAT’ loop
Beckhoff TwinCAT 3
Iterations with Loops – EXIT
 It is possible to ‘EXIT’ a loop at any time
Beckhoff TwinCAT 3
TwinCAT 3
Beckhoff TwinCAT 3
LIMIT Function
TWINCAT 3
Beckhoff TwinCAT 3
LIMIT Function
 The LIMIT function provides the programmer with a way to

limit the value of an input to another function or function
block
Beckhoff TwinCAT 3
LIMIT Function
 This will allow the programmer to ensure proper operation

even if the user enters a number that is out of range
Beckhoff TwinCAT 3
TwinCAT 3
Beckhoff TwinCAT 3
Logging in to the PLC
TWINCAT 3
Beckhoff TwinCAT 3
 From the ‘PLC’ menu, select ‘Login’
Beckhoff TwinCAT 3
 Confirm that you would like to Create the Run-Time and

load the code
Beckhoff TwinCAT 3
 From the ‘PLC’ menu, select ‘Start’
Beckhoff TwinCAT 3
 In the ‘Solution Explorer’

under ‘PLC’ expand ‘POUs’
and then double-click on
‘MAIN (PRG)’
Beckhoff TwinCAT 3
 ‘MAIN’ is opened in the ‘Code’ window

 The TAB at the top indicates that it is ‘Online’
 Double-click in the ‘Prepared value’ column and type in a
value for either ‘b’ or ‘c’
 Press ‘Enter’
Beckhoff TwinCAT 3
 From the ‘PLC’ menu,

select ‘Write values to all
online applications’
Beckhoff TwinCAT 3
 The ‘Prepared value’ is now placed in the ‘Value’

 If the value of ‘a’ does not update, check that the ‘PLC’ is
running
Beckhoff TwinCAT 3
 Online mode information - status of the PLC modules:

 = Engineering Environment is in Offline Mode and
the PLC module is in not Run Mode or there is no
connection to the target
= Engineering Environment is in Online Mode but
the PLC module is not in Run Mode
= Engineering Environment is in Offline Mode but
the PLC module is in Run Mode
= Engineering Environment is in Online Mode and
the PLC module is in Run Mode
Beckhoff TwinCAT 3
TwinCAT 3
Beckhoff TwinCAT 3
Making Changes to the Code
TWINCAT 3
Beckhoff TwinCAT 3
Making changes to the Code
 To make changes to the PLC you must be Offline.

 In the ‘PLC’ menu, click ‘Logout’
Beckhoff TwinCAT 3
 In ‘Main’ change the command from + to –
Beckhoff TwinCAT 3
 Again, from the ‘Build’ menu, select ‘Rebuild Solution’
Beckhoff TwinCAT 3
 From the ‘PLC’ menu select ‘Login’
Beckhoff TwinCAT 3
 When preforming a ‘Login’ the following options will be

provided.
Beckhoff TwinCAT 3
 Login with online change : This option is selected

per default. So if you confirm the dialog with OK , the
modifications will be loaded and immediately shown in
the online view (monitoring) of the respective
object(s).
Beckhoff TwinCAT 3
 Login with download : Activate this option if the

application project should be loaded and initialized
completely. This will Stop the PLC execution.
 Login without any change : Activate this option in

order to keep the program running on the controller
unchanged. Afterwards an explicit download might be
done, thus loading the complete application project, or
at the next re-login you will be asked again whether an
online change should be done.
Beckhoff TwinCAT 3
Beckhoff Training
Programs
Program PRG
 Called by a task: (one program can call another)
 Calls: Programs, Funtion Blocks, and Functions
 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 possible
 Monitoring: Local data are immediately visible in the online mode of the PLC control
 Use: Main programs, Main, Manual, Automatic, Unwind, Rewind, Sorter, etc.
Programs
ST FBD IL LD
Beckhoff Training
Beckhoff
Calling Programs
 Right-Click on the POUs folder, select ‘Add’, then click ‘POU…’

Beckhoff
Calling Programs
 Give the POU a unique name

 Set the Type to ‘Program’
 Select ‘Structured Text’ as the Implementation
language
Beckhoff
Calling Programs
 Double – Click on ‘MAIN’

 Place the cursor in the body of ‘MAIN’ and press the ‘F2’ key
Beckhoff
Calling Programs
 In the ‘Input Assistant’ select ‘Module Calls’

 Expand ‘Untitled1’, and POUs
 Select ‘P_Manual’, Click ‘OK’
Beckhoff
Calling Programs
 ‘P_Manual’ is now called from ‘MAIN’

Beckhoff Training
Beckhoff
Functions
 A Function is a re-useable piece of code that will process the defined inputs and
return a single result
 AND, OR, SQRT, SIN, COS, GT, LE are all examples of Functions
 The programmer can also create their own Functions that normally involve more
complicated tasks, such as converting a temperature value from Celsius to
Fahrenheit or scaling an analog input value from 0-32767 to 0-10
 Note: Functions have no memory space and therefore they do not retain any values
from one PLC scan to the next. Each function starts new each PLC scan.
Beckhoff
Functions
Function: FUN
 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 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.
Beckhoff
Functions
ST FBD
IL LD
Beckhoff Training
Beckhoff
Adding a new Function
 To add a Function, ‘Right-Click’ on the ‘POUs’ folder

 Then Select ‘Add’ -> ‘POU’
Beckhoff
 In the ‘Add POU’ Dialog window

 Change the ‘Name’ to ‘F_Square’
 Select the ‘Radio’ Button for ‘Function’
 Type in ‘LREAL’ for the ‘Return Type’
 Set the Implementation Language to
‘Structured Text’
 Click the ‘Open’ button
Beckhoff
 You should now see the following

Beckhoff
Parts of a Function
 Declaration
 Code
 Use
Beckhoff
Parts of a Function : Declaration
 The Declaration of a Function contains 4 parts

 The Name of the Function
 The Return type of the Function
 The Variables to be passed into the Function
 The local variables used by the Function
Beckhoff

 Following the Beckhoff coding convention, the name of the Function starts with
F_
 The same IEC rules for naming of variables apply to the naming of Functions
 Following the Name of the Function is the Return Type
 A Function can only Return one variable
Beckhoff

 In the below example lrTempInCelsius is the name of the Variable that is being
passed into the function
Beckhoff
Parts of a Function : Code
 Write to the name of the Function to return the result of the function
Beckhoff
Use of a Function
 myNumber is declared as an LREAL with an initial value of 2.0

 mySquaredNumber is declared as an LREAL with no initial value
 In the code the Function
F_Squared is called and
myNumber is passed into it.
 The result of the Function
is then stored in mySquaredNumber .
Beckhoff Training
Beckhoff
 To add a Function, ‘Right-Click’ on the ‘POUs’ folder

Beckhoff

 Change the ‘Name’ to ‘F_CtoF’
 Select the ‘Radio’ Button for ‘Function’
 Type in ‘LREAL’ for the ‘Return Type’
 Set the Implementation Language to
‘Structured Text’
Beckhoff

Beckhoff
Parts of a Function
 Declaration
 Code
 Use
Beckhoff
 The Declaration of a Function contains 4 parts

 The Return type of the Function
 The local variables used by the Function
Beckhoff

 Following the Beckhoff coding convention, the name of the Function starts with
F_
 The same IEC rules for naming of variables apply to the naming of Functions
 Following the Name of the Function is the Return Type
 A Function can only Return one variable
Beckhoff

 In the below example lrTempInCelsius is the name of the Variable that is being
passed into the function
Beckhoff
Parts of a Function : Code
 The working code of the Function

 Tf := 9/5 * Tc + 32
 The name of the Function is used as the Return value of the Function
 The literal values of 9, 5 and 32 all have a decimal point to signify them as
REAL numbers and not INTEGERs
Beckhoff
Use of a Function
 lrTempC is declared as an LREAL with an initial value of 100

 lrTempF is declared as an LREAL with no initial value
 In the code the Function
F_CtoF is called and
lrTempC is passed into it.
 The result of the Function
is then stored in lrTempF.
Beckhoff
Parts of a Function : Summary
TwinCAT 3
Beckhoff TwinCAT 3
Linear scaling with a ratio
TWINCAT 3
Beckhoff TwinCAT 3
 Assignment:
 Create a function that will scale a value between
0 and 32767 to a value between 0.0 and 100.0
 Thoughts:
 Because both scales start at 0 we can simply divide the
maximum scale-to value by the maximum scale-from
value 100.0/32767
 This will give us a ratio that we can multiply by the input
and it will give us the scaled value
Beckhoff TwinCAT 3
 The formula will be
 Ratio := MaxOuput / MaxInput;

 ScaledValue := InputValue * Ratio;
Beckhoff TwinCAT 3
Answer
Beckhoff TwinCAT 3
 Declaration
Beckhoff TwinCAT 3
 Code
Beckhoff TwinCAT 3
 Use
Beckhoff TwinCAT 3
TwinCAT 3
Beckhoff TwinCAT 3
Linear scaling using an equation
TWINCAT 3
Beckhoff TwinCAT 3
 Assignment
 Create a function that will scale a value between any
two numbers to a value between any two other
numbers
Beckhoff TwinCAT 3
 Thoughts
 This is similar to converting temperature from one scale
to another. The numbers can go both positive and
negative. For any given value on 1 scale there is exactly
1 possible value on the other scale
 32 degrees F = 0 degress C
 212 degress F = 100 degrees C
Beckhoff TwinCAT 3
 Thoughts
 Think of the Celsius scale as the X-Axis and the
Fahrenheit scale as the Y-Axis
 The formula to convert from Celsius to Fahrenheit is:
TempF = 9/5 * TempC + 32
 The +32 is the offset of the line,
because it does not cross the
Y-Axis at 0
Beckhoff TwinCAT 3
 Thoughts
 The 9/5 comes from the step required to get from one
position on the line to the next
 For each increase of 9 degrees Fahrenheit. You must
increase 5 degrees in Celsius
Beckhoff TwinCAT 3
 Thoughts
 An increase on the Y-Axis is referred to as a Rise, an
increase on the X-Axis is called a Run
Beckhoff TwinCAT 3
 Thoughts
 So we have a Rise of 9 and a Run of 5. This can be
calculated using 2 known positions 100,212 and 0,32
 The difference in the values will give us the change in
Step.
212-32 / 100-0 = 180/100 = 9/5
Step = (y2-y1) / (x2-x1)
Beckhoff TwinCAT 3
 Thoughts
 Because the Step is actually a ratio it is referred to as the
Slope of the Line, in the formula we will use the letter
m.
 The formula needed to do our conversion is
y = mx + b
where:
m = (y2-y1) / (x2-x1)
x = value to be converted (TempC)
b = 32, the Y-Intercept
Beckhoff TwinCAT 3
 Thoughts
 y = 9/5 * TempC + 32
 TempF = 9/5 * TempC + 32
Beckhoff TwinCAT 3
 Thoughts
 Using this formula we can now convert from any scale to
any other scale
 y=mx+b
 m=(y2-y1)/(x2-x1)
 b=y1-(x1*m)
Beckhoff TwinCAT 3
Answer
Beckhoff TwinCAT 3
 Declaration
Beckhoff TwinCAT 3
 Code
Beckhoff TwinCAT 3
 Use
Beckhoff TwinCAT 3
Beckhoff Training
Beckhoff
Function Blocks
 A Function Block is a re-useable piece of code that can have multiple inputs and
multiple outputs. Function Blocks are instantiated, therefore each time a Function
Block is used it must be assigned a unique instance name. Each instance receives
its own space in memory and therefore will retain its values from one PLC scan to
the next.
 TON, CTU, R_Trig, FB_FileOpen, ADSREAD, these are just a few examples of
Function Blocks
 The programmer can also create their own Function Blocks to perform a variety of
tasks.
Beckhoff
Function Block
Function block FB
 Called by: Programs or other FBs
 Calls: Funtion Blocks, Functions
 Local variable: static, i.e. the local data are available again in the next cycle. Each
FB call has its own local data.
 Inputs: 0,1,2,3…VAR_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. Timers,
Counters, Axis Commands, Alarms, etc.
Beckhoff
Function Block
ST FBD
IL LD
Beckhoff Training
Beckhoff
Adding a new Function Block
 To add a Function Block, ‘Right-Click’ on the ‘POUs’ folder

Beckhoff

 Change the ‘Name’ to ‘FB_Pulse’
 Select the ‘Radio’ Button for ‘Function Block’
 Set the Implementation Language to ‘Structured
Text’
Note: Extends, Implements, and Access Specifier

are used with OOP and should be left empty
Beckhoff

Beckhoff
Parts of a Function Block
 Declaration
 Code
 Use
Beckhoff
Parts of a Function Block : Declaration
 The Declaration of a Function Block contains 4 parts

 The Name of the Function Block
 The Variables to be passed into the Function Block
 The Variables to be passed out of the Function Block
 The Variables that are internal to the Function Block
 The Body/Code of the Function Block
Beckhoff
 The Name of the Function Block

 Following the Beckhoff coding convention, the name of the Function Block
starts with FB_
 The same IEC rules for naming of variables apply to the naming of Function
Blocks
Beckhoff
 The Variables to be passed into the Function Block

 Below the Enable, Time On, and Time Off values are being passed into the
Function Block
Beckhoff
 The Variables to be passed out of the Function Block

 Below the Output variable ‘bPulse’ has been added
Beckhoff
 The Variables that are internal to the Function Block

 Below the two timers to be used have been instantiated
 fbTON is of type TON
 fbTOF is of type TOF
Beckhoff
Parts of a Function Block: Code
 The working Code of the Function Block

 Below the two timers are called with their instance name
 The := symbol signifies that a value of the variable is being passed into the FB and
the => symbol signifies that a value of the variable is being passed out of the FB
Beckhoff
 The IN of fbTON is TRUE if bEnable is TRUE and fbTOF.Q is FALSE

 What is fbTOF.Q?
 Any the . symbol is used it signifies that the variable on the right exists inside of the
variable on the left.
 Q is an output of a TOF, therefore calling the instance name fbTOF followed by .
will allow access to the variables that are declared inside of fbTOF
Beckhoff
 Also notice that fbTON.Q is passed into fbTOF, this will cause the two timers to
toggle based on the values of tTimeOff and tTimeOn
 Finally the output of fbTOF is passed to bPulse. bPulse is the output of FB_Pulse
 This could have been done with the following
 bPulse := fbTOF.Q;
Beckhoff
Parts of a Function Block: Use
 fbPulse1 is of type FB_Pulse fbPulse1 is an instance of FB_Pulse

 bSwitch is passed into the bEnable input of fbPulse1
 tTimeOn and tTimeOff are assigned literal values in the proper TIME format
 bPulse is passed out of fbPulse1 into bLight
Beckhoff
Parts of a Function Block: Summary
TwinCAT 3
Beckhoff TwinCAT 3
Library Manager
TWINCAT 3
Beckhoff TwinCAT 3
Beckhoff
Libraries
 Libraries contain Functions and Function Blocks that can be used within a program.
 TwinCAT includes many libraries for many common tasks.
 Libraries can be written by the programmer and re-used on multiple projects.
 The Functions and Function Blocks in the libraries cannot be opened from the PLC
program that is using them.
 All Libraries are pre-compiled.
Library Manager
 The Library Manager can be accessed in the Solution Explorer under the PLC
Project
Beckhoff TwinCAT 3
Library Manager
 By Default the Library Manager contains the Standard and System Libraries from
TwinCAT 2 (Note: These libraries have been converted to work within TwinCAT 3)
 Tc3_Interfaces and Tc3_Module are additional libraries that can be used for
communicating with TcCom objects and other new features in TwinCAT 3
 Note: Tc3_Module is required in order to be able to compile a project
 A library contains a Name, a Company, an effective Version and a default

Namespace. These values are set in the project information dialog of each library.
Beckhoff TwinCAT 3
Library Manager - Versions
 Managed Libraries
 In general the libraries are added to the library manager with an specific version.
(e.g. v3.2.0.0)
 The project will always use this set of libraries although newer versions of some
libraries could exist in the library repository. The project can automatically use the
newest version of a library too.
 To use libraries unmanaged, Click on a library in the Library Manager, select the
Properties button at the top of the library manager, and set the version to 'Newest
version always'.
 In this dialog it is also possible to specify another specific version.
Beckhoff TwinCAT 3
 Select a Library and Click Properties
Beckhoff TwinCAT 3
 Specific Versions or Newest Version always can be selected here
Beckhoff TwinCAT 3
Library Manager – Adding a Library
 Use the ‘Add Library’ button to add a library to the project

 Note: Libraries are added to the project, not the solution, if more than one PLC
project exists inside of a solution, then each PLC project will have its own libraries.
Beckhoff TwinCAT 3
 Use the ‘Add Library’ button to add a library to the project

 Note: Libraries are added to the project, not the solution, if more than one PLC
project exists inside of a solution, then each PLC project will have its own libraries.
 Click on the ‘Advanced…’ button in the bottom left corner
Beckhoff TwinCAT 3
 When Display all versions is checked, the library manager will show previous
versions of the libraries (if there are any).
Beckhoff TwinCAT 3
 From the Library Repository it is possible to add additional folder locations, and
copy library files into the default folder
Beckhoff TwinCAT 3
 Add an additional location
Beckhoff TwinCAT 3
 Move libraries to the default location
Beckhoff TwinCAT 3
 The ‘Find’ button will allow for searching for an item inside of all libraries
Beckhoff TwinCAT 3
 Type in the search word and wait for the results

 Select the desired item and press ‘Open’
 The library will now be selected in the previous window
Beckhoff TwinCAT 3
 The ‘Details’ button will provide specific information about the selected item.
Beckhoff TwinCAT 3
Beckhoff Training
Beckhoff
Flow Control
 Flow control allows you to see which lines of code are being executed
 In the below sample we can see that lines 2 and 5 are being executed, as indicated
by the green highlights
Flow Control Off Flow Control On

Beckhoff
Flow Control
 Flow Control is part of the TwinCAT PLC Toolbar

Beckhoff Training
Beckhoff
Searching
 Go To Definition
 Find All References
 Find
Beckhoff
Go To Definition
 To find the Declaration of a Variable, Highlight the text, then Right-Click

 Select ‘Go To Definition’ from the context menu
Beckhoff
Go To Definition
 This will open the file where the declaration is and Highlight the Variable
 If a Variable is defined in more than one location, the search tool will find the
correct definition based on the use of the variable
Beckhoff
Go To Definition
 This can also be used on the instance and/or the implementation of a Function
Block
 The Definition of fbTOF in the Code window is on Line 12 in the local declaration
window.
Beckhoff
Go To Definition
 The definition of TOF is found in the Library Manager

Beckhoff
Go To Definition
 Using ‘Go To Definition on the declaration of an instance will open the

implementation of a user defined Function Block
Beckhoff
Find All References
 Using ‘Find All References’ will open a new window displaying the search results
Beckhoff
Find All References
 Using ‘Find All References’ will open a new window displaying the search results
 This window will display the declaration of the variable and also where the variable
is read and written in the program
Beckhoff
Find All References
 This search will find multiple declarations if they exist.

Beckhoff
Find All References
 This search will find multiple declarations if they exist
 The results can be filtered using the ‘Scope’ drop down list
Beckhoff
Find All References
 Double-Clicking on a result in the ‘Cross Reference List’ will open the code and
Highlight the text
Beckhoff
Find
 Find is part of the ‘Standard Tool Bar’

Beckhoff
Find
 You can type in part of a variable name and press the ‘Enter’ key
 Each time you press the ‘Enter’ key the next result will be Highlighted
 Using the Find tool in this manner will only search the current file
Beckhoff
Find
 Using the Icon will open the ‘Find and Replace’ window
Beckhoff
Find
 Using the Icon will open the ‘Find and Replace’ window
 The ‘Look in:’ drop down list will allow for searching of more than just the current file
Beckhoff Training
Beckhoff
Boot Project
 The TwinCAT Boot Project is used on a production machine as the PLC code to be
run when TwinCAT starts.
 The Boot Project in TwinCAT3 is Automatically created when the Configuration is
“Activated”
 The default location for the Boot Project is C:\TwinCAT\3.1\Boot
Beckhoff
Boot Project
 The “Autostart” for the boot project can be found by selecting the name of the PLC
Project in the “Solution Explorer”
Beckhoff
Boot Project
 Before activating the configuration the folder is empty, after a “Blank Configuration”
has been added the follow files and folders are created.
Beckhoff
Boot Project
 Adding a PLC project and then Activating the Configuration provides the following
Beckhoff
Boot Project
 A Right-Click on the Project Name in the Solution Explorer will provide a context
menu that allows for “Activate Boot Project…” this way you can create a boot
project without effecting the I/O configuration.
 There is also the option to Enable and Disable the Autostart of the boot project from
here
Beckhoff
Boot Project - Encryption
 The option to Encrypt the boot project exists in a drop down list and can be
accessed by selecting the project name in the solution explorer
Beckhoff
 The Boot folder holds a zip file that contains the files to recreate the project, all of
these files can be opened by adding them as an existing item.
 The PLC folder contains the information of the actual Boot Project.
Beckhoff
 Removing the PLC folder from C:\TwinCAT\3.1\Boot will remove the boot project.
 If Encryption is enabled, these are the files that are encrypted.
 Encryption is done with Standard AES encryption.
 An encrypted boot project can only be run on its Target System; therefore moving
an encrypted Boot folder from one CX to another will no longer function.
TwinCAT 3 Scope
IPC I/O Motion Automation

TwinCAT 3 Scope
Overview
 A charting and analysis tool for the TwinCAT world

 Variables from the TwinCAT system can be recorded and displayed graphically
 Sampling rates can be adjusted individually for each channel
 Recordings in the µs range and long-term recordings over several days are
possible
 Scope View for the display of the signals

 Scope Server for the recording of the values
 Possibility to connect to servers distributed in the field from a central View
 Due to its integration into Visual Studio, it is possible to use TwinCAT Projects and
Scope View projects in a single solution
TwinCAT 3 Scope
Agenda
 Scope History
 Installation
 Features
 General Features
 Product Levels
 Scope Details
 Lab
TwinCAT 3 Scope
Scope History – Scope 1
Always installed with TwinCAT 2

TwinCAT 3 Scope
An approved engineering tool…
• New style
• 2 Components View and Server
• Long time records
• Auto scaling
• More trigger functionality
• Constant development
TwinCAT 3 Scope
The functional principle
Scope 2 View
Scope 2 Scope 2 Scope 2

Server Server Server
Device 1 Device 2 Device n
TwinCAT 3 Scope
Scope History – TwinCAT 3 Scope
A consistent stage of development…

TwinCAT Scope 2 Visual Studio + TwinCAT 3
= TwinCAT 3 Scope:
Integrated into Microsoft

Visual Studio
TwinCAT 3 Scope
Agenda
 Scope History
 Installation
 Features
 Product Levels
 Scope Details
 Lab
TwinCAT 3 Scope
Installation
What if you do not have Visual Studio but want to use the Scope?
TwinCAT 3 Scope Installation
Visual Studio 2010 available

No Visual Studio available
 TwinCAT 3 Scope “Integrated” into  TwinCAT 3 Scope

VS2010 contains royalty free VS2010-Shell
 Integration into the Microsoft Visual Studio  Provides Microsoft Visual Studio Shell
TwinCAT 3 Scope as new template like C# / C++  Usable as Standalone Scope
 C# /.NET programming for Scope Control
applications in the same environment
TwinCAT 3 Scope
Installation Requirements
 OS
 Windows XP, Windows XP Embedded, Windows Embedded Standard 2009,
Windows 7
 .Net Framework
 The .NET Framework 4.0 is required
 TwinCAT
 Minimum is TwinCAT 3 ADS
TwinCAT 3 Scope
Installation
 TwinCAT 3 Scope Base is installed with TwinCAT 3 XAE

 Further product levels and features are enabled by licensing
 Scope can also be downloaded for use outside of TwinCAT 3 Engineering
 Download Scope View
 Both Full and an Update version are available
 After accepting the license agreement, please provide customer information
TwinCAT 3 Scope
Installation
 Complete – Normal install with both Server and View
 Custom – Options for TF3300 Scope Server (2KB) and/or TE130X Scope View
(3KB)
TwinCAT 3 Scope
Licensing
 Licensing for Scope View is the same as all other TC3 Functions
TwinCAT 3 Scope
Agenda
 Scope History
 Installation
 Features
 Product Levels
 Scope Details
 Lab
TwinCAT 3 Scope
Features
 Integration as an individual project

 Can exist in parallel to TwinCAT in one solution
 Creates synergies between the TC-products
 Hierarchy like in TwinCAT Scope 2
TwinCAT 3 Scope
Features
Easy selection of channels with the Target Browser
 Integrated into Visual Studio as an individual Tool-Window

 Multiselect and Drag & Drop are possible
 Filter settings for variables
TwinCAT 3 Scope
Features
Selection of variables over the variable-declaration in the TwinCAT PLC Control

TwinCAT 3 Scope
Features
Multiselect in the Solution-Explorer
 Common changes can be implemented faster

 Changes that are not possible are shown grayed out
 Scope-comprehensive
TwinCAT 3 Scope
Features
Easy Engineering because of Docking-Windows

TwinCAT 3 Scope
Agenda
 Scope History
 Installation
 Features
 Product Levels
 Scope Details
 Lab
TwinCAT 3 Scope
General Scope Features
Long time records are possible
 File store option in Scope properties

 Depending on system resources
 Depending on the amount of channels, sampling rate and record time
Solid data after storing as .svd file

TwinCAT 3 Scope
Analysis during the record
It is possible to stop one

chart for your analysis
and the recording goes
on!
TwinCAT 3 Scope
Cursor and Marks
Activation of X- and Y- Cursors

during the recording
TwinCAT 3 Scope
Different zoom and panning functions
Zoom and panning functions:

-Zoom X-Axis
-Zoom Y-Axis
-Zoom Default Display Width
-Zoom Max Out
-Panning X Direction
-Panning X and Y Direction
TwinCAT 3 Scope
Trigger controlled records
 Start Record
 Stop Record
 Stop Display
 Restart Display
 Start Subsave
 Stop Subsave
 Execute Report
TwinCAT 3 Scope
Agenda
 Scope History
 Installation
 Features
 Product Level
 Scope Details
 Lab
TwinCAT 3 Scope
Product Level
TwinCAT 3 Scope Base

 Integrated into TwinCAT Engineering (TE1000) Setup
 View and local Server
 Machine start-up
 No license required
TwinCAT 3 Scope View Professional

 TE1300 with extended functions: long term records, Subsaves, .NET Control
Integration
 Process control
 Subject to license terms
TwinCAT 3 Scope Server

 Remote Server
 Activates the extended functions of Professional
 Subject to license terms
TwinCAT 3 Scope
View vs Server
 Scope View
 is a TwinCAT engineering product and supplies the graphic interface for the
configuration of recordings and the display of signal curves. The View is
available in different product levels, Base and Professional
 Scope Server
 is a TwinCAT 3 function and supplies the software for the data recording,
which is installed on distributed target devices or on the local target device.
The Server sends the recorded data to the View
Note: Both components must be available in the system in order to be able to use the
Scope.
TwinCAT 3 Scope
View vs Server
 The TwinCAT Scope View communicates over ADS with the Scope Servers
distributed in the system. The local Server, which is located with the View on a
system, can be used for the recording of local variables. However, it is also used
whenever saved Scope data files are opened in the View. The View displays the
signal curves and is used for the configuration of recordings.
TwinCAT 3 Scope
Agenda
 Scope History
 Installation
 Features
 Product Levels
 Scope Details
 Configuration
 Lab
TwinCAT 3 Scope
Configuration
 Not only are signal curves represented in the TwinCAT Scope View; recording
configurations are also created. The architecture is reflected in the tree structure
within the Measurement Project in the Solution Explorer.
 Measurement Scope Project:

The main level, in which several Scopes can be
inserted. The Scopes within a project can be
controlled independently of one another.
 Standard Scope Project:
A Scope always stands for a recording
configuration. This means that all elements inserted
below it are subject to the same recording settings.
If you click on a Scope, the setting options such as
recording duration and ring buffer are displayed in
the Visual Studio Property window.
TwinCAT 3 Scope
Configuration
 Chart:
Several charts can exist in parallel in a Scope. They are the actual display area in
the view and provide the time base. Each chart has its own toolbar for changing the
display. The color and axis settings can be made in the Property window.
 Axis:
A chart can have several axes. An axis provides the
range of values for the connected channels.
Amongst others, the automatic or free scaling can
be set in the Property window.
 Cursor:
Cursors are hierarchically assigned to the charts. X
and Y cursors can be added within a chart. In the
Cursor Tool window you can see amongst other
things the current values of the signal/cursor
interface and also differences to other cursors. Any
desired number of X and Y cursors can be set.
TwinCAT 3 Scope
Configuration
 Trigger:
Triggers are assigned to the Scopes in the tree structure of the Scope View. The
trigger action, e.g. Stop Record, can be set in the Property window of the trigger
group. The underlying triggers can be logically linked to a trigger condition. The
variable selection also takes place here in the Property window.
TwinCAT 3 Scope
Agenda
 Scope History
 Installation
 Features
 Product Levels
 Scope Details
 Window
 Lab
TwinCAT 3 Scope
Window
 The interfaces for the

control of the Scope View
are divided into several
individual windows (Tool
windows) and their position
and size are freely
configurable.
Note: To reset the window

layout from the ‘Window’
menu select ‘Reset Window
Layout’
TwinCAT 3 Scope
Window
 Solution Explorer
 Display of the project structure within a solution.
TwinCAT 3 Scope
Window
 Cursor
 Display of the values present at the X/Y-cursor.
TwinCAT 3 Scope
Window
 Error List
 List of errors, warnings and messages. Each scope project lists the generated
messages independently here. The messages for the respectively selected
Scope can be deleted via the context menu item "Clear Error List".
TwinCAT 3 Scope
Window
 Target Browser
 With the target browser you can be add Scope configuration channels via their
symbol names.
TwinCAT 3 Scope
Window
 Properties
 The settings of the respective element that is marked
in the Solution Explorer can be modified here.
TwinCAT 3 Scope
Window
 Scope View Control

 Display of the individual charts. The
charts can be displayed next to
each other or in overlapping tabs
within the control, exactly like all
other windows.
TwinCAT 3 Scope
Agenda
 Scope History
 Installation
 Features
 Product Levels
 Scope Details
 Project Types
 Lab
TwinCAT 3 Scope
Project Types
 Empty Measurement Project

 Scope configurations (.sv2 | .tcscope) or scope data (.svd) can subsequently
be inserted here.
TwinCAT 3 Scope
Project Types
 Measurement Scope Project

 Contains a Scope instance as well as a pre-configured chart and an axis.
TwinCAT 3 Scope
Project Types
 Measurement Scope Project with Reporting

 See "Measurement Scope Project" + a ready-made printing template for
printing charts.
TwinCAT 3 Scope
Project Types
 Measurement Scope NC Project

 Contains a Scope instance that has been specially pre-configured for
working with axes.
TwinCAT 3 Scope
Agenda
 Scope History
 Installation
 Features
 Product Levels
 Scope Details
 Scope Menu
 Lab
TwinCAT 3 Scope
Scope Menu
 Target Browser
 Opens the target browser for variable
selection from local or remote servers
 Cursor Window
 Opens the cursor window.
TwinCAT 3 Scope
Scope Menu
 Send Project By E-Mail...

 Context menu of the Scope instance to be
sent - > Send Project By Email
If the Scope is to contain data (Scope State:
Reply), then you can select whether the data
should also be sent.
 Clear Error List

 Deletes all entries (Error | Warning | Message)
of the currently active Scope from the error
list.
TwinCAT 3 Scope
Scope Menu
 Change Ads Symbol...

 Dialog for the replacement of character
strings. The symbol names of all channels
located below the selected element are edited.
 Change Index Group...

 Dialog for incrementing / decrementing the
Index Group / Index Offset. The acquisitions of
all channels located below the selected
element are edited.
TwinCAT 3 Scope
Scope Menu
 New Chart
 Creates a new chart within the Scope.
 New Axis
 Creates a new axis within the chart. If the
selected element is not a chart, then a new
chart is additionally created.
 New Empty Channel

 Creates a new channel within the axis. If no
axis is selected, then a new axis is additionally
created.
TwinCAT 3 Scope
Scope Menu
 Delete
 Deletes the element currently selected in the
Solution Explorer.
TwinCAT 3 Scope
Scope Menu
 Export to CSV
 Export data to a CSV file
 Export to Binary
 Export data to a Binary file
TwinCAT 3 Scope
Scope Menu
 Save Data
 After stopping the recording, the current data
including the configuration can be saved in a
.svd file.
 The generated Scope data file (.svd) can be
added directly to the Measurement Project or
saved in a directory of your choice via the
directory selection dialog.
TwinCAT 3 Scope
Scope Menu
 Scope Messages
 Some frequently occurring message boxes in
the scope are equipped with a checkbox
"Remember my answer and don't ask again!"
so that the question is not repeated the next
time. This makes the handling of the program
individually adjustable for each user. If a
message box has been deactivated, it can be
activated again here.
TwinCAT 3 Scope
Scope Menu
 Local Scope Server...

 Opens the configuration interface of the Scope
Server.
 Options...
 Opens the Visual Studio Options window and
selects the Scope entry.
TwinCAT 3 Scope
Agenda
 Scope History
 Installation
 Features
 Product Levels
 Scope Details
 Toolbar
 Lab
TwinCAT 3 Scope
Toolbar
 The default Measurement toolbar includes commands to Start and Stop recording.
 Other commands can be added by selecting the down arrow and then customize.
TwinCAT 3 Scope
Agenda
 Scope History
 Installation
 Features
 Product Levels
 Scope Details
 Properties
 Lab
TwinCAT 3 Scope
Properties
 Each item in the Solution Explorer (Scope, Chart, Axis, and Channel) has it’s own
properties window.
TwinCAT 3 Scope
Properties
 Project properties include:

 File Name and File Path
 Record Time Days:Hours:Minutes:Seconds
TwinCAT 3 Scope
Properties

 File Store specifies whether the server should temporarily save the data in a
local file or whether it should keep the data only in the RAM. The selection
should be selected depending on the amount of the data to be recorded and
the recording device. That way the access time is better if only the RAM is
used. In case of larger quantities of data, however, it is usually necessary to
use the file store.
TwinCAT 3 Scope
Properties

 Start Record selects whether the recording should start on actuation of the
recording button (client start) or on receipt of a trigger event (trigger start).
TwinCAT 3 Scope
Properties

 Ring Buffer defines how a server is to react on reaching the end of the
recording time.
TwinCAT 3 Scope
Properties
 Ring Buffer active: the recording is not stopped; instead, the oldest data in
the memory are overwritten. The consequence is that the start time of the
recording increases. The recording is only stopped when the stop button is
actuated.
 Ring Buffer inactive: the recording is stopped on reaching the end of the
recording time. The recording can be terminated prematurely via the stop
button.
TwinCAT 3 Scope
Properties
 Chart properties include:

 Auto Start – Live display when recording
is started
 Default Display Time – Width of time to
display on the chart
 Time Bar – Displays the time values
across the bottom of the chart
TwinCAT 3 Scope
Properties

 Tool Bar – Toggles the chart tool bar
which provides display controls for
viewing specific time periods and
zooming.
 It is also possible to start and stop the
display, which does not affect the
recording of the data.
TwinCAT 3 Scope
Properties

 Border and Chart colors selections can
be made from either the color pallet tool
or directly with an RGB value
TwinCAT 3 Scope
Properties

 Use X-Axis Grid: The X-subdivisions in
the chart can be switched on or off here.
 Use X-Axis SubGrid: Auxiliary lines for
the finer X-subdivision of the main grid
can be shown or hidden here.
TwinCAT 3 Scope
Properties

 X-Grid Color: The color of the grid.
 X-Grind Line Width: Line width of the
grid in pixels.
 X-SubGrid Divisions: Number of areas
into which the main grid is subdivided by
auxiliary lines.
TwinCAT 3 Scope
Properties

 Ticks: The number of subdivisions.
 X-Axis Color: The color of the X-axis.
 X-Axis Line Width: Line width of the axis
in pixels.
TwinCAT 3 Scope
Properties

 Scale on Zoom: If this option is selected,
the chart instructs all axes (X and Y) to
perform auto scaling after a zoom or
panning action. As a result the selected
range may be expanded.
TwinCAT 3 Scope
Properties

 Stacked Y-axes: With this setting you
can select whether the axes of a chart are
to be positioned next to each other in
order to display the values of the added
channels within the same area or whether
the axes are to be displayed above one
another in order to obtain a separate
display area for each.
TwinCAT 3 Scope
Properties

 Y-Zoom: The behavior of a chart when
zooming can be set via the Y-Zoom. If the
option is set, you can navigate in the data
of a chart in the Y-direction as well. This
includes both zooming and panning
(shifting the display with the mouse).
TwinCAT 3 Scope
Properties
 Axis properties include:

 Comment: A free comment can be saved
here.
 Show Name: Defines whether the name
of the chart is shown in the graph.
TwinCAT 3 Scope
Properties

 Grid Color: The color of the grid.
 Grid Line Width: Line width of the grid in
pixels.
TwinCAT 3 Scope
Properties

 SubGrid Divisions: Number of areas into
which the main grid is subdivided by
auxiliary lines.
In the case of logarithmic scaling the
auxiliary lines for subdivision are shown
only in the set number if the range of
values per tick is precisely one decade.
Otherwise the displayed auxiliary line
shows the decades not displayed in the
main grid.
TwinCAT 3 Scope
Properties

 Use Grid: The Y-subdivisions of the axis
can be shown or hidden here.
 Use SubGrid: Auxiliary lines for the finer
Y-subdivision of the main grid can be
shown or hidden here. Auxiliary lines
have no axis labelling.
TwinCAT 3 Scope
Properties

 Auto Scale: If Auto Scale is active, each
axis is scaled such that the last-known
minimum and maximum of all connected
channels lie within the display range.
TwinCAT 3 Scope
Properties

 Axis Max: If Auto Scale is inactive, the
maximum value can be edited directly.
 Axis Min: If Auto Scale is inactive, the
minimum value can be edited directly.
 Logarithmic: Switches between
logarithmic and linear scaling of the axes.
TwinCAT 3 Scope
Properties

 Color: The color of the axis.
 Line Width: The line width in pixels.
TwinCAT 3 Scope
Properties

 Ticks: Maximum number of subdivisions.
If there is not enough space for the
selected number of ticks, these are
automatically reduced in the chart.
In the case of logarithmic scaling the
number of ticks depends on the displayed
range of values and can thus deviate from
the settings.
 Visible: Specifies whether the axis is
shown or hidden in the chart.
TwinCAT 3 Scope
Properties
 Channel properties include:

 Array Length: If the connected symbol is
an array type, then the length of the array
is displayed here.
 Data-Type: The Data Type field sets the
data type of the signal. The Symbol Size
field is filled in accordingly.
TwinCAT 3 Scope
Properties

 Disabled: The channel can be
deactivated in order to prevent it being
recorded. However, it is retained when
saving the configuration.
TwinCAT 3 Scope
Properties

 Sample State: The signal to be recorded
can be sampled at the most with the
speed of the task to which it is connected,
(TaskSampleTime). However, a free
(larger) sample rate can also be set (Free
Sample). The maximum provided for here
is 5000 ms.
 Sample Time: If Free Sample is selected
the sample time can be entered here.
TwinCAT 3 Scope
Properties

 Symbol based: Via the "symbol based"
option you can set whether a channel is to
be created via its symbol name or with
free acquisition.
TwinCAT 3 Scope
Properties

 Symbol Index Group / Offset: The Index
Group and the Index Offset clearly define
the position of the signal in the task. They
can be edited by adding the prefix "0x" in
hexadecimal notation or without a prefix in
decimal notation. The display is always in
hexadecimal.
TwinCAT 3 Scope
Properties

 Symbol Name: If a symbol name is
assigned for a signal, this can be entered
here. If "Symbol based" is inactive, the
connection parameters can be entered
manually.
 Symbol Size: Shows the size of the
variables in bytes. It depends on the data
type and therefore cannot be edited.
TwinCAT 3 Scope
Properties

 Target Port: The port of the task to be
connected.
 Target System: The routes entered in the
System Manager can be selected from
the target system list.
TwinCAT 3 Scope
Properties

 Use Local Server: The "Use local server"
option enables data to be recorded from
systems on which no Scope Server is
installed. In this case the local server
takes over the task of the remote server.
TwinCAT 3 Scope
Properties

 Comment: A free comment can be saved
here. If applicable the comment will be
adopted from the connected ADS symbol.
 Visible: Here you can set whether the
channel should be displayed in the chart.
TwinCAT 3 Scope
Properties

 Antialias: This option decides how the
lines will be drawn. Antialias is "nicer" but
requires considerably more computing.
This has an effect in particular if there are
many channels with large movements.
 Line Color: The color of the graph.
 Line Width: The line width of the graph.
The line width 1 requires least computing.
TwinCAT 3 Scope
Properties

 Mark Color: The color of the base
markings.
 Marks: Selection of the visibility of
markings -> On (permanently visible) |
Auto (dependent on the zoom level) | Off
(markings switched off).
 Mark Size: The size of the base
markings.
TwinCAT 3 Scope
Properties

 Bit Mask: In the Bit Mask field a value
can be entered with which the display
value is masked, provided it is not of the
type floating point. This means that the
value of the channel is ANDed with the
binary value of the mask. This helps you,
for example, to observe individual bits of a
status byte.
 Offset: A free offset can be added to the
function value of the channel in the offset
field.
TwinCAT 3 Scope
Properties

 Scale Factor: The display value of a
channel can be changed with the scale
factor. This is useful, for example, if you
wish to display angle signals in degrees
instead of radians. With a scaling factor of
k = 360 / (2*Pi) = 57.296, therefore,
degrees would be displayed instead of
radians.
TwinCAT 3 Scope
Properties

 Time Shift: The Time shift option enables
you to shift the graph along the time axis.
This can be useful, for example, if you
wish to compensate a known bus runtime.
TwinCAT 3 Scope
Properties
 Multiple Selection
 Some parameters are often
modified for several or all
elements. To do this you can mark
several elements via the Solution
Explorer and edit the settings of
all marked elements at the same
time. Data that differ between the
selected elements are
represented as empty fields.
 To make multiple selections, keep
the <Ctrl> key pressed during the
selection. In the case of
successive elements you can
select the first element, keep the
<Shift> key pressed and then
select the last element in order to
mark all elements in between.
TwinCAT 3 Scope
Agenda
 Scope History
 Installation
 Features
 Product Levels
 Scope Details
 Target Browser
 Lab
TwinCAT 3 Scope
Target Browser
 With the target browser you can add Scope configuration channels via their symbol
names. The target browser is divided into two halves. The first shows a tree with
the first entry: ROUTES. Below that all devices registered in the System Manager
are shown. The color of the target indicates the system state: red = not reachable
(stop mode), blue = config. mode, green = system in run mode.
TwinCAT 3 Scope
Target Browser
 The second half shows a detailed list of the sub items of the selected element of
the tree structure.
TwinCAT 3 Scope
Target Browser
 In the list structure one or more channels can now be selected and added to the
configuration with a double click or by a right mouse click-> "Add symbol" ("Add
Subsymbols" ) or by one of the buttons in the toolbar.
 In addition, selected elements can be inserted by drag & drop to any place within
the configuration.
 If a folder, an Ads Bigtype or an array is selected that contains sub-symbols, the
"Add Subsymbols" option adds a channel for each sub symbol. The "Add symbol"
option inserts only one channel with the information of the selected symbol.
TwinCAT 3 Scope
Target Browser
 When selecting ‘Add Subsymbols’ for an NC Axis, a

predefined list of variables for that axis will be added to the
Scope
TwinCAT 3 Scope
Target Browser
 If a target computer is selected in the tree or list structure, the connected tasks
become visible. These are marked in color: green = PLC task, blue = NC task, red
= other.
 If a task is not displayed, then a selection menu can be called using the Enable
Server Ports option that displays the limitation to certain tasks.
TwinCAT 3 Scope
Agenda
 Scope History
 Installation
 Features
 Product Levels
 Scope Details
 Cursor
 Lab
TwinCAT 3 Scope
Cursor
 Cursor
 A chart cursor can be added and changed via the cursor module.
TwinCAT 3 Scope
Cursor
 The cursor module (listed in each chart element as "cursor") offers the following
setting options:
 Delta Values: If several cursors are used in one direction the differences can be
displayed if Delta Types is activated.
 Hex Values: Hexadecimal notation of the average values of the individual
channels.
TwinCAT 3 Scope
Cursor
 Each X/Y-cursor within the cursor module offers its own setting options
 Color: Color of the cursor.
 Comment: A comment can be saved here.
 Line Width: Line width of the cursor in pixels.
TwinCAT 3 Scope
Cursor
 The values are displayed in the cursor window

 Right-Click on ‘Scope Project’ and select
‘Cursor Window’
TwinCAT 3 Scope
Cursor
 Status Times
 The times belonging to an added X-cursor
are displayed here in three formats.
 Absolute Position: Corresponds to the
actually registered time.
 Record Position: Time value of the cursor
since the beginning of the recording.
 Chart Position: Time value of the cursor
within the recording.
TwinCAT 3 Scope
Cursor
 Channel
 The average values of the individual
channels are displayed with the respective
X-cursor in the Channel field. The
displayed average values are, like the
display, compromised to pixel width. You
can zoom into the recording in order to
indicate the intermediate values.
TwinCAT 3 Scope
Cursor
 Axis
 The values of the Y-cursors on the
respective axes are indicated in the lowest
field.
TwinCAT 3 Scope
Agenda
 Scope History
 Installation
 Features
 Product Levels
 Scope Details
 Trigger
 Lab
TwinCAT 3 Scope
Trigger
 Different trigger functions can be added to the Scope configuration.

 In order to enable the simplest possible and free combination of individual trigger
conditions and actions, these are combined into trigger groups.
TwinCAT 3 Scope
Trigger
 Trigger groups and trigger sets can be added via the trigger context menu.
 Right-Click on ‘Trigger’ and select ‘New Trigger Group’
TwinCAT 3 Scope
Trigger
 Trigger Action
 Start Record: If this option is selected, the start record condition in the Scope
settings should be set to trigger start. Otherwise the Scope would start recording as
usual. With setting this action, therefore, a question box appears that carries out
this setting if necessary. If you actuate the record button in the menu bar, the
Scope connects itself as usual to the servers involved and starts to sift through the
connected channels, but without starting the actual recording. The recording begins
with the trigger time of the last trigger set condition.
TwinCAT 3 Scope
Trigger
 Trigger Action
 Stop Record: If the stop action is selected, the Scope should be operated in the
ring buffer mode. With setting this action, therefore, a question box appears that
carries out this setting if necessary. In the field below you can specify whether a
fixed time range should appear in the recording before and/or after the trigger
event. If pre-trigger is selected, trigger events before the expiry of this time are
ignored. If post-trigger is active, the recording runs for the specified time after
receipt of the trigger event.
TwinCAT 3 Scope
Trigger
 Trigger Action
 Stop Display: The stop display action stops all Scope charts that are in live mode
at the point of triggering. With the trigger position you can select how many percent
of the display shown (display width) are to be located before or behind the trigger
event (in the example: positive 0-crossing of the green signal at 10% of 2.5 s = 0.25
s). If the trigger condition is fulfilled again, the display jumps to this new event.
Pause can be actuated in the chart in order to prevent this retriggering.
TwinCAT 3 Scope
Trigger
 Trigger Action
 Restart Display: All charts paused due to a Stop Display trigger are resumed on
fulfilment of the trigger condition.
TwinCAT 3 Scope
Trigger
 Trigger Action
 Start Subsave: On the occurrence of this trigger event a background recording is
started with the current configuration. This sub save always runs in the ring buffer
mode (independent of the settings in the Scope settings). It is possible to start up to
5 sub saves simultaneously (via one or more trigger events). The maximum
memory capacity of the sub save can be specified in the 'Record Time' field. This
recording duration may also be longer than the recording duration of the basic
configuration (in this case ring buffer operation should also be selected).
TwinCAT 3 Scope
Trigger
 Trigger Action
 Stop Subsave: Following the Stop Subsave trigger event, the oldest sub save is
stopped and transferred to the View in the background. From here it is saved in a
.svd file via the specified path. The generated file name consists of the name of the
Scope in the basic configuration and an ID composed of the date and time, in
alphanumeric order.
TwinCAT 3 Scope
Trigger
 Each trigger set can be regarded as an independent trigger condition.

 The action report of the trigger group defines what happens when a trigger group is
triggered.
TwinCAT 3 Scope
Trigger
 The trigger set offers the following setting options:

 Channel: A channel is assigned to each set whose state is to be checked for the
selected trigger condition
 Combine: By selecting a logic operation these individual conditions can be placed
in relation to one another. Note here that AND operations are handled before OR
operations.
TwinCAT 3 Scope
Trigger
 The trigger set offers the following setting options:

 Hit: indicates whether the trigger set has been triggered ( ) or not ( ).
 Release: The release condition can be either a rising or falling edge.
 Threshold: The associated limit value.
TwinCAT 3 Scope
Trigger
 As soon as a trigger set is triggered, the icon in the Solution Explorer changes from
to
 All trigger sets remain set until the entire trigger group has triggered.
TwinCAT 3 Scope
Trigger
 Manual triggering of trigger set

 Triggers can be manually triggered for test purposes via the trigger set context
menu item "Manual Trigger Hit".
TwinCAT 3 Scope
Agenda
 Scope History
 Installation
 Features
 Product Levels
 Scope Details
 Exporting Data
 Lab
TwinCAT 3 Scope
Exporting Data
 Recorded data can be saved in a scope data file (.svd). Alternatively data can be
exported in .csv, .txt or a binary format after stopping the current recording.
 Right-Click on ‘Scope’ and select ‘Export to CSV’ or ‘Export to Binary’
TwinCAT 3 Scope
Exporting Data
 Export to CSV:
Text export in order to be able to use the Scope data in other programs as well.
The generated file is held in the table format. The rows are separated by lines and
the columns by tabulators. The first rows contain information about the recording,
such as Scope name or start and the end time of the recording.
TwinCAT 3 Scope
Exporting Data
 Afterwards a definition range with the acquisition data follows for each channel.
TwinCAT 3 Scope
Exporting Data
 Finally a list with the recorded data follows for each channel. First the time value as
an offset of the start record time, then the corresponding data value.
TwinCAT 3 Scope
Exporting Data
 Export to Binary:
The binary data format is based on the text format, but contains no separators.
Instead the byte lengths of all variable data types (such as character strings) are
contained in the corresponding headers. All times are specified in the file time
format: 1tick = 100ns; origin is 1/1/1601 0h.
TwinCAT 3 Scope
Agenda
 Scope History
 Installation
 Features
 Product Levels
 Scope Details
 .Net API
 Lab
TwinCAT 3 Scope
.Net API
 Integration of the ScopeViewControl in your own applications

 In order to achieve high ease of integration, the TwinCAT Scope is subdivided into
components. The separation of Scope View and Scope Server, for example, is
visible. Beyond that the Scope View is based on the ScopeViewControl, which is
similarly usable as an independent component. The ScopeViewControlLib
developed in .NET is available with the installation of TwinCAT 3.1 from version
4006. In this way simple integration is possible in C#, VB.Net or WPF applications.
TwinCAT 3 Scope
.Net API
 Requirements
 The ScopeViewControl requires .NET Framework 4.0.
 Click on the project with the right mouse button and select "Properties".
 The target framework ".NET Framework 4" must be selected under
"Application".
 The ".NET Framework 4 Client Profile" is not supported.
 Further information can be found in the TE13xx TwinCAT 3 Scope View

documentation
 TwinCAT 3 Scope View
TwinCAT 3 Scope
Agenda
 Scope History
 Installation
 Features
 Product Levels
 Scope Details
 Lab
TwinCAT 3 Scope
Lab
 In order to allow a fast startup and to simplify work with the TwinCAT 3 Scope
software oscilloscope, the first steps are briefly described. We have consciously
avoided dealing with every detail. For example, trigger-controlled recordings and
the creation of reports are not subjects of this documentation.
TwinCAT 3 Scope
Lab
 1. Installation:
For basic understanding is important to know that a Scope Server is always
installed with a Scope View, since otherwise no saved data can be displayed locally
in the View. Conversely, the Scope component installation can also install the
Server without View on a target device.
 2. Licensing:
Regardless of whether the Scope View was installed by its own setup or by the
TwinCAT 3 XAE setup, the initially activated license is "Base" for View and Server.
You can find out here which functions are enabled with which license key.
TwinCAT 3 Scope
Lab
 3. New project:
The Scope View can be selected under Beckhoff in the Windows Start Menu.
TwinCAT 3 Scope
Lab
 The Visual Studio opens in its shell or in a full version if installed. You can choose
between various templates. For this demo please select ‘Measurement Scope
Project’ and click ‘OK’
TwinCAT 3 Scope
Lab
 In the Solution Explorer the starting point for the new Scope configuration
assembles itself automatically.
TwinCAT 3 Scope
Lab
 4. Selection of channels:
Variables or channels now have to be added to the generated configuration. These
can be selected via the target browser. When using for the first time it is possible
that this will not be directly visible as a window in Visual Studio. The target browser
can be selected in the context menu with a right-click on the Scope node.
TwinCAT 3 Scope
Lab
 Alternatively the target browser can also be selected via the Scope menu in Visual
Studio. Once the target browser has opened, the window can be docked in any
position in the user interface. It is possible to select the desired variables by
browsing into the respective target system.
TwinCAT 3 Scope
Lab
 The variables can be selected by multi-select and added to the configuration by

right-clicking on "Add symbol" or by drag & drop.
TwinCAT 3 Scope
Lab
 The selected channels are assigned to the last-selected axis. In this case only one
axis is present.
TwinCAT 3 Scope
Lab
 5. Recording:
Prior to a recording the basic recording settings must be made in the Scope
Properties. Standard is a ten-minute recording which is started manually and
automatically stopped after the respective time. The settings for all hierarchical
levels – Scope, Charts, Axis and Channel – as well as for trigger and cursor can be
made in the standard Property window of Visual Studio. A simple click on the
corresponding element in the Solution Explorer is sufficient, provided that the
Property window has already been opened first under View in Visual Studio.
TwinCAT 3 Scope
Lab
 If the standard settings are left as they are, the recording can be started. To this
end the Scope toolbar must be opened when using for the first time.
In Visual Studio > View > Toolbars > TwinCAT Measurement.
 The recording is started by clicking on the icon with the red recording symbol.
TwinCAT 3 Scope
Lab
 6. During the recording:

In order to improve the display of the channels in the View, charts and axes can be
added even during the recording in TwinCAT 3 Scope View and channels can be
shifted within the Scope.
 X and Y cursors can also be added and deleted at runtime.
 An important feature is the possibility to stop the display of the current recording
while the recording of the data continues to run in the background. Once the display
is stopped you can zoom into the data and analyze the signal curve with the
cursors at your leisure.
TwinCAT 3 Scope
Lab
 7. Stopping the recording and saving the data:

In this case the started recording is stopped automatically on expiry of the recording
time of ten minutes. Alternatively the recording can of course be ended manually at
any time via the stop button in the Scope toolbar. The recorded data are only
consistent if they are stored as a .svd file. Click on the Scope menu in Visual Studio
and select Save Data.
TwinCAT 3
Beckhoff TwinCAT 3
Remote Connections
TWINCAT 3
Beckhoff TwinCAT 3
Remote Connections
 In the ‘Solution Explorer’, select ‘System’
Beckhoff TwinCAT 3
Remote Connections
 On the ‘TwinCAT Project’ tab, click ‘Choose Target’
Beckhoff TwinCAT 3
Remote Connections
 In the ‘Choose Target System’ dialog box, click on ‘Search

(Ethernet)…’
Beckhoff TwinCAT 3
Remote Connections
 In the ‘Add Route Dialog’ dialog box, click on ‘Broadcast

Search’
Beckhoff TwinCAT 3
Remote Connections
 Select the Target Computer

 Set the Address Info to ‘IP Address’ and select ‘Add Route’
Beckhoff TwinCAT 3
Remote Connections
 Provide an Administrator level User name and Password

 Press ‘OK’
Beckhoff TwinCAT 3
Remote Connections
 An ‘X’ may or may not

appear in the
‘Connected’ column
 If there was no Error
given press the ‘Close’
button
 The 2 possible errors
are caused be either a
lost connection, or an
incorrect password
Beckhoff TwinCAT 3
Remote Connections
 In the ‘Choose Target System’ dialog box, select the target

system, then press ‘OK’
Beckhoff TwinCAT 3
Remote Connections
 On the ‘TwinCAT Project’ tab there are now tabs for both
‘Local’ and ‘Target’
 On the ‘Settings (Target)’ tab, the ‘Auto Boot’ and ‘Auto
Logon’ settings can be changed
Beckhoff TwinCAT 3
Remote Connections
 It is possible to open the project that is running on the

remote system
 You must first start with an empty solution explorer.
 Either close TwinCAT and reopen it, or go to the ‘File’
menu, and select ‘Close Solution’.
Beckhoff TwinCAT 3
Remote Connections
 In the ‘File’ menu

 Go to ‘Open’
 Then select ‘Open Project From Target’
Beckhoff TwinCAT 3
Remote Connections
 In the ‘Choose Target System’ dialog box, select the target

system, then press ‘OK’
Beckhoff TwinCAT 3
Remote Connections
 Select a Location to Save the project

Note: This is opening the project from the target device and
saving a local copy of it.
Beckhoff TwinCAT 3
Remote Connections
 The project will be added to the

‘Solution Explorer’
Beckhoff TwinCAT 3

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New Automation Technology

TwinCAT 3 | eXtended Automation Technology 1

IPC I/O Motion Automation

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1988 1993 1996

S1000 S2000 TwinCAT

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1988 1993 1996 2010

S1000 S2000 TwinCAT TwinCAT 3

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Beckhoff PC-based Control:

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eXtended Automation Technology (XAT)

eXtended Automation Engineering (XAE)

eXtended Automation Runtime (XAR)

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Windows 32/64 bit

TwinCAT 3 Engineering Environment based on Visual Studio®

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 TwinCAT 3 – extended, modular engineering tool

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System Manager Programming

 for PLC and C/C++ programmers – CNC

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TwinCAT 3 framework = Microsoft Visual Studio® 2010

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Motion control configuration

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Mapping of process images

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Virtual Inputs Outputs

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Shared tree structure for hard- and software

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