BECKHOFF New Automation Technology BECKHOFF

TwinCAT 3 | eXtended Automation (XA)

Product announcement

TwinCAT 3 | eXtended Automation Technology (XAT)

Beckhoff created a global standard for automation with the launch of PC-based control technology in 1986. On the software side, the TwinCAT (The Windows Control and Automation Technology) automation suite forms the core of the control system. The TwinCAT software system turns almost any PC-based system into a real-time control with multiple PLC, NC, CNC and/or robotics runtime systems. TwinCAT 3 is the systematic further development of TwinCAT 2, with which the world of automation technology is being redened.

Beckhoff PC-based Control: New Standards in Automation

PC Hardware Fieldbus TwinCAT Software

Base I/O TwinSAFE PLC Control Control (PID) Connectivity

Ethernet TCP/IP

Motion

NC PTP

NC I

CNC

Robotics

Measurement Technology

TwinCAT 3 highlights
only one software for programming and conguration Visual Studio integration more freedom in selecting programming languages support for the object-oriented extension of IEC 61131-3 use of C/C++ as the programming language for real-time applications link to Matlab/Simulink open interfaces for expandability and adaptation to the tools landscape exible runtime environment active support of multi-core and 64-bit systems migration of TwinCAT 2 projects

BECKHOFF New Automation Technology

We reserve the right to make technical changes.

TwinCAT 3 | eXtended Automation Architecture (XAA)

Product announcement
estimated market release 4th quarter 2010

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

PC System Windows 32/64 bit TwinCAT 3 Engineering Environment based on Visual Studio System Manager Conguration Programming IEC 61131-3 objectoriented extensions C/C++

TwinCAT Transport Layer ADS TwinCAT 3 Runtime Real-time Kernel TcCOM TcCOM TcCOM PLC Safety NC TcCOM TcCOM C Module

TcCOM

TcCOM

CNC

Simulink Module

TcCOM

C++ Module

PLC

TwinCAT Automation Device Driver ADD Fieldbus

TwinCAT 3 architecture of the development environment

eXtended Automation Technology TwinCAT 3 extends the standard automation world

eXtended Automation Architecture supports all main eldbuses supports IEC 61131, C/C++, Matlab/Simulink supports Motion Control: from point-to-point to CNC supports TwinSAFE conguration supports Scientic Automation: robotics, measurement technology, Condition Monitoring eXtended Automation Engineering one tool Microsoft Visual Studio integrated: IEC 61131 worldwide standard in automation integrated: C/C++ worldwide standard in IT integrated: TwinCAT System Manager well-known conguration tool link to Matlab/Simulink: worldwide standard in science expandable with other tools: editors, compilers TwinCAT 2 projects can be migrated. TwinCAT 3 modules: standardised programming frames using the .NET programming languages for non-real-time capable applications (e.g. HMI) eXtended Automation Runtime IEC 61131, C/C++, Matlab/Simulink objects in one runtime integrated TwinSAFE runtime extended real-time-functionality: min. 50 s cycle time and low jitter enhanced performance: support of multi-core CPUs future-proof: supports 64-bit operating systems

We reserve the right to make technical changes.

BECKHOFF New Automation Technology

TwinCAT 3 | eXtended Automation Engineering (XAE)

Integration in Microsoft Visual Studio makes it possible to program automation objects in parallel with the aid of the 3rd edition of IEC 61131-3 and the C or C++ languages. The objects (modules) generated can exchange data with each other and call each other independently of the language they were written in. The TwinCAT System Manager has been integrated into the development environment. This way, only one software is required to congure, parameterise, program and to diagnose automation devices.

TwinCAT Standard
TwinCAT 3 Engineering Environment System Manager Conguration I/O PLC MC NC CNC Safety others Programming IEC 61131 Objectoriented extensions

TwinCAT Integrated
TwinCAT 3 Engineering Environment based on Visual Studio
System Manager Conguration I/O PLC C/C++ MC NC CNC Safety others Matlab/ Simulink Third-party programming tool C/C++

Programming NonReal-time real-time C#/.NET

IEC 61131 Objectoriented extensions

C/C++

Real-time Workshop

IEC Compiler

IEC Compiler

Microsoft C Compiler

TwinCAT Transport Layer ADS TwinCAT 3 Runtime

TwinCAT Transport Layer ADS TwinCAT 3 Runtime

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

Flexible use of programming languages

C and C++ programming languages standardised widely used programming languages very powerful programming languages run under the same runtime as PLC programs for the implementation of drivers Extended debugging of C++ programs debugging of C++ programs that run in real-time use of breakpoints use of watch lists use of call stacks .NET programming languages used for non-real-time-programming (e.g.: HMI) source code management in the same project Link to Matlab/Simulink great variety of toolboxes possibilities for use: building of control circuits in simulation in optimisation automatic code generation debug interface between Matlab/Simulink and TwinCAT

BECKHOFF New Automation Technology

We reserve the right to make technical changes.

TwinCAT 3 | eXtended Automation Language Support

Real-time Nonreal-time
C#

System Manager

LD editor

.NET

FBD editor

Visual Basic

SFC editor

C++

IL editor

Silverlight

ST editor

CFC editor

Visual C/C++ editor

Integration of Visual Studio

Automation devices and application programming in one environment use of the most famous and best supported development suite future-proof editing of PLC programs and complex visualisations in one environment multi-language support modern look and feel context-sensitive online help automatic syntax checking IntelliSense syntax highlighting use of the well-known source code control tools Open architecture extendable by plug-ins

Parallel use of the C++ and FBD programming languages

TwinCAT System Manager integrated into Visual Studio

We reserve the right to make technical changes.

BECKHOFF New Automation Technology

TwinCAT 3 | eXtended Automation Language Support

The integration of Matlab/Simulink enables execution of TwinCAT modules that were generated as models in the Simulink simulation environment. The chosen interfacing type displays the parameters and variables in the graphic interface of TwinCAT 3 and enables viewing and modication in the real-time environment at runtime.

Example for temperature controller in Matlab/Simulink

Parameter i Parameter view Parameter view of the generated module in TwinCAT generated module TwinCA generated odule TwinCAT er r e winCAT CA

Integration with the simulation software Matlab/Simulink

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standard tool in scientic and measuring applications wide range of toolboxes (e.g. Fuzzy Logic Toolbox) development, simulation and optimisation of complex control loops automatic code generation via Realtime Workshop debug interface between TwinCAT 3 and Simulink parameterisation of the generated module in TwinCAT 3 download and execution of the module in TwinCAT 3 runtime multiple module instantiation possible Modules can be used without Matlab/Simulink.

BECKHOFF New Automation Technology

We reserve the right to make technical changes.

TwinCAT 3 | eXtended Motion Control

With eXtended Motion Control, TwinCAT automation software offers an integrated and scalable solution for Motion Control applications including simple point-to-point movements, CNC and robot control.

Functionality

NC PTP

NC I

CNC

Robotics

Point-to-point movement gearing camming superposition ying saw

Interpolated motion with 3 axes and 5 additional axes programming according to DIN 66025 technological features straightforward utilisation through function blocks from the PLC

Complete CNC functionality interpolated movement for up to 32 axes per channel various transformations

Interpolated motion for robotic control support for a wide range of kinematic systems optional torque pre-control

Interpolated motion for robotic control

Advantages of the integration of robotic control in TwinCAT conguration, parameterisation, diagnostics and programming in TwinCAT optimum synergy between PLC, Motion Control and robot control system high performance and precision through direct interfaces Kinematic calculation process forward transformation inverse transformation calculation of the dynamic model

We reserve the right to make technical changes.

BECKHOFF New Automation Technology

TwinCAT 3 | eXtended Automation Runtime (XAR)

Standardised modules enable open and exible design of the TwinCAT 3 runtime. It makes an environment available in which the TwinCAT 3 modules can run. Whether the modules are PLC, NC, CNC, RC (Robotic Control) or C code-based modules (e.g. created with Matlab/Simulink) is irrelevant.

TwinCAT Transport Layer ADS

TC Conguration Debugging

TwinCAT Object Manager

Task

TcCOM

PLC TcCOM

TcCOM TcCOM
Call

Call

C++ Module

Task

NC

TcCOM

Task

C++ Module
Task

Call

C Module

TwinCAT Real-time Kernel

TcCOM

Simulink Module

TcCOM

Task

CNC TcCOM PLC

Task

TcCOM

Task

Safety TwinCAT 3 Runtime

TwinCAT Automation Device Driver ADD

Fieldbus

Modular TwinCAT 3 runtime

Modular design, openness, extendibility

Open runtime interface separation of complete functionality into modules use of services from system modules (e.g. real-time) dened interfaces
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TcCOM

Simulink Module

extension of the runtime by own modules (e.g. bus drivers) Scalability: modules can contain simple functions; complex algorithms and realtime tasks.

BECKHOFF New Automation Technology

We reserve the right to make technical changes.

TwinCAT 3 | eXtended Automation Runtime (XAR)

TwinCAT 3 modules consist of a range of formally dened attributes and interfaces. They enable general application of the modules with each other and externally. The predened interfaces enable cyclic calling of the internal module logic, for example. Each module implements a state machine that controls the initialisation, parameterisation and linking of the respective module.

TwinCAT Module Module Description State Machine ITComObject Interface Interfaces Parameter Interfaces Pointers

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

Data Areas

Contexts Categories ADS Port

Data Area Pointers

Structure of a TwinCAT 3 module Selection and Se e parameterisation of pa Matlab/Simulink aM mo module o

Fast communication, reusability

Functionality of the modules is scalable. direct and therefore very fast communication between modules Modules are sealed. Modules can be developed, serviced and tested independent of each other. high reusability
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We reserve the right to make technical changes.

BECKHOFF New Automation Technology

TwinCAT 3 | eXtended Automation Performance

Current developments in computer technology, which offer CPUs with more and more cores, enable the distribution of tasks across different cores. The TwinCAT 3 runtime environment follows this concept. It can be used to distribute functional units such as HMI, PLC runtime or MC to dedicated cores. For each of the cores used by the runtime environment the maximum load as well as the base time and therefore the possible cycle times can be set separately.

Multi-core CPU Core 0 Windows Apps Windows Drivers PLC Control Core 1 User HMI Core 2 PLC Runtime 0 Task 0 Task 1 ADS ADS Router Engine L2 Shared Cache ADS Router Message Queues System Memory ADS ADS ADS ADS Core 3 PLC Runtime 1 Core NC Runtime 1

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

Distribution of functional units to different processor cores Dialog for the distribution of tasks to processor cores

Multi-core and multi-tasking support

Support of multi-core systems distribution from applications to cores (e.g. PLC, NC and HMI can run on different cores)
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Support of multi-tasking preemptive multi-tasking parallel processing of tasks

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

BECKHOFF New Automation Technology

We reserve the right to make technical changes.

TwinCAT 3 | Migration of TwinCAT 2 projects

To ensure seamless transition between TwinCAT 2.11 and TwinCAT 3, different migration routes are provided. With TwinCAT 3, the TwinCAT 2.11 PLC runtime and TwinCAT 2.11 PLC Control are always supplied as well. TwinCAT 2.11 PLC projects and TwinCAT 3 modules can therefore be executed in parallel. Naturally, it is also possible to convert TwinCAT 2.11 projects to TwinCAT 3.

Multi-core PC System Microsoft Windows Operating System TwinCAT 3 eXtended Automation Engineering TwinCAT Transport Layer ADS-Router TwinCAT 3 eXtended Automation Runtime TwinCAT 2.11 PLC Runtime TwinCAT 2.11 PLC Engineering

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

Fieldbus Drivers

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

Scenarios for the migration of TwinCAT 2.11 projects: 1. Execution of TwinCAT 2.11 PLC projects as modules in the TwinCAT 3 runtime linking of TwinCAT 2.11 PLC projects with TwinCAT 3 modules at the I/O level 2. Conversion of existing projects to TwinCAT 3 integrated application of TwinCAT 3 functionality

Advantages of the migration to TwinCAT 3

utilisation of extended options application of tried and tested code in new projects application of an integrated software tool in all projects
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We reserve the right to make technical changes.

BECKHOFF New Automation Technology

Product announcement
estimated market release 4th quarter 2010

Headquarters Beckhoff Automation GmbH Eiserstrae 5 33415 Verl Germany Phone: + 49 (0) 52 46 / 9 63 - 0 info@beckhoff.com www.beckhoff.com

www.beckhoff.com/TwinCAT3
Beckhoff, TwinCAT, EtherCAT, Safety over EtherCAT, TwinSAFE and XFC are registered trademarks of and licensed by Beckhoff Automation GmbH. Other designations used in this publication may be trademarks whose use by third parties for their own purposes could violate the rights of the owners. Beckhoff Automation GmbH 04/2010 The information provided in this brochure contains merely general descriptions or characteristics of performance which in case of actual application do not always apply as described or which may change as a result of further development of the products. An obligation to provide the respective characteristics shall only exist if expressively agreed in the terms of contract.

DK3332-0410