Beckhoff_TwinCAT3_2010_e

3

TwinCAT 3 | eXtended Automation Technology (XAT)

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

Beckhoff PC-based Control: New Standards in Automation

PC HardwareFieldbusTwinCAT SoftwareBaseI/OTwinSAFEPLCControlControl (PID)ConnectivityEthernet TCP/IPMotionNC PTPNC ICNCRoboticsMeasurement TechnologyTwinCAT 3 highlights

– – – – – – – – – –

2

only one software for programming and confi guration

®

Visual Studio integration

more freedom in selecting programming languages

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

use of C/C++ as the programming language for real-time applicationslink to Matlab®/Simulink®

open interfaces for expandability and adaptation to the tools landscapefl exible runtime environment

active support of multi-core and -bit systemsmigration of TwinCAT 2 projects

BECKHOFFNew Automation Technology

We reserve the right to make technical changes.

TwinCAT 3 | eXtended Automation Architecture (XAA)

Product announcement

estimated market release 2nd quarter 2011

In addition to the possibilities of controller programming according to the 3rd edition of IEC 61131-3, the new TwinCAT 3 architecture allows the use of C and C++ as the programming language. This opens up completely new appli cation possi-

bilities, as well as the expansion of or integration in existing systems. The link to Matlab®/Simulink® is just one example of this new openness.

PC SystemWindows 32/ bit

TwinCAT 3 Engineering Environment based on Visual Studio® System Manager– Confi guration

Programming

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

TwinCAT Transport Layer – ADSTwinCAT 3 RuntimeReal-time KernelTcCOMTcCOMTcCOMPLC

Safety

NC

TcCOMTcCOMC

Module

TcCOMTcCOMCNC

Simulink®Module

TcCOMC++Module

PLC

TwinCAT Automation Device Driver – ADDFieldbus

TwinCAT 3 architecture of the development environment

eXtended Automation Technology –

TwinCAT 3 extends the standard automation world

eXtended Automation Architecture– supports all main fi eldbuses

– supports IEC 61131, C/C++, Matlab®/Simulink®– supports Motion Control: from point-to-point to CNC– supports TwinSAFE confi guration

c Automation: robotics, – supports Scientifi measurement technology, Condition MonitoringeXtended Automation Engineering– one tool – Microsoft Visual Studio®

– integrated: IEC 61131 – worldwide standard in automation

– integrated: C/C++ – worldwide

standard in IT

– integrated: TwinCAT System Manager – well-known confi guration tool

®– link to Matlab/Simulink®: worldwide standard in science – expandable with other tools: editors, compilers

– TwinCAT 2 projects can be migrated.– TwinCAT 3 modules:

standardised programming frames

– using the .NET programming languages for non-real-time capable applications (e.g. HMI)

eXtended Automation Runtime

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

3

We reserve the right to make technical changes.

BECKHOFFNew 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 confi gure, parameterise, program and to diagnose automation devices.

TwinCAT Standard

TwinCAT 3 Engineering EnvironmentSystem Manager

Confi guration– I/O– PLC– MC– NC– CNC– Safety– others

ProgrammingIEC 61131Object-orientedextensions

TwinCAT Integrated

TwinCAT 3 Engineering Environment based on Visual Studio® System ManagerConfi guration– I/O– PLC– C/C++– MC– NC– CNC– Safety– others

Matlab®/Simulink®

Third-partyprogramming toolC/C++

ProgrammingNon-Real-time

real-timeC#/.NET

IEC 61131Object-orientedextensions

C/C++

Real-timeWorkshop

IEC CompilerIEC CompilerMicrosoft C Compiler

TwinCAT Transport Layer – ADSTwinCAT 3 Runtime

TwinCAT Transport Layer – ADSTwinCAT 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 benefi ts in

®

terms of handling, connection to source code control software, etc., while TwinCAT Integrated, as the name implies, integrates itself into Visual Studio. In this version, the C/C++, C#, VB.NET programming languages and link to Matlab®/Simulink® are available.

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

4

BECKHOFFNew Automation Technology

We reserve the right to make technical changes.

TwinCAT 3 | eXtended Automation Language Support

Real-timeNon-real-timeC#

System Manager

LD editor

.NET

FBD editorVisual Basic

SFC editor

C++

IL editorSilverlightST editor

CFC editor

Visual C/C++ editorIntegration 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 languagesTwinCAT System Manager integrated into Visual Studio®

5

We reserve the right to make technical changes.

BECKHOFFNew Automation Technology

TwinCAT 3 | XA Language Support: IEC 61131-1

For more effi cient programming of automation devices, the editors for IEC 61131-3 programming in TwinCAT have been signifi cantly improved. The operability in particular has been improved and the debugging options have been extended. The new options include improved inline monitoring, conditional break points and more.

In TwinCAT 3, the editors of the

IEC 61131-3 have been integrated seamlessly into the Visual Studio® environment. As a result, the editors use the original Visual Studio® tool-box for the graphical languages, for example.

Improved inline monitoring for the structured text (ST) programming language

6

BECKHOFFNew Automation Technology

We reserve the right to make technical changes.

TwinCAT 3 | XA Language Support: IEC 61131-1

TwinCAT 3 likewise supports the extensions to the 3rd edition of the IEC 61131-3 standard that have not yet been fi nally decided. These enable among other things the use of object-oriented techniques such as single inheritance, interfaces, methods and attributes, which signifi cantly increase both the reusability and the quality of the control code.

Example of the use of polymorphism

within an IEC 61131-3 POU (Program Organization Unit)

IEC 61131-3 programming

– supplier-independent programming standard– PLCopen certifi cation

– portable, reusable software– fi ve graphic and text-based programming languages: – Structured Text and Instruction List

– Function Block Diagram and Ladder Diagram – Sequential Function Chart– data encapsulation by user-defi ned data types

Extended options in TwinCAT 3:

– improved ease of operation usability – auto-complete

– marking of associated keywords

– collapsing of programming structures – ...

– extended debugging

– use of conditional break points – improved inline monitoring – ...

– object-oriented extensions – single inheritance – interfaces – methods – attributes

7

We reserve the right to make technical changes.

BECKHOFFNew Automation Technology

TwinCAT 3 | XA Language Support: C/C++

TwinCAT 3 offers the possibility to program TwinCAT runtime modules in C/C++ languages. If Visual Studio® 2010 in the version Professional, Premium or Ultimate is available on the engineering system, then TwinCAT 3 will integrate itself into the existing Visual Studio Shell® in order to use the programming language C or C++ in addition to I/O confi guration and the IEC 61131-3 for real-time tasks.

Wizards for the creation of basic

projects, classes and I/O variables make rapid engineering possible.

The routine “CyclicUpdate” is cyclically processed. The internal variables are available for monitoring in the TwinCAT online watch win-dow even without having to set a breakpoint.

C/C++ as programming languages in automation technology

C and C++ programming languages

– powerful, widely used programming languages– standardised, object-orientated programming languages– generation of effi cient object code

– run under the same runtime as PLC programs– for the implementation of drivers

– Beckhoff SDK for extended functionality in the real-time context

8

Extended debugging of C++ programs– debugging of C++ programs that run in real-time– monitoring, watch lists also without the use of break points.NET programming languages– used for non-real-time programming (e.g.: HMI)– source control in the same project

BECKHOFFNew Automation Technology

We reserve the right to make technical changes.

TwinCAT 3 | XA Language Support: Matlab®/Simulink®

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

Example for

temperature controller in

Matlab®/Simulink®

Parameter view of the generated module in TwinCATParameterviewofthegeneratedmoduleinTwinCACT

Integration with the simulation software Matlab®/Simulink®

–

– – – – – – – –

standard tool in scientifi c and measuring applicationswide range of toolboxes (e.g. Fuzzy Logic Toolbox)

development, simulation and optimisation of complex control loopsautomatic code generation via Realtime Workshopdebug interface between TwinCAT 3 and Simulink®

parameterisation of the generated module in TwinCAT 3

download and execution of the module in TwinCAT 3 runtimemultiple module instantiation possible

Modules can be used without Matlab®/Simulink®.

9

We reserve the right to make technical changes.

BECKHOFFNew Automation Technology

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 PTPNC ICNCRobotics

Point-to-point movement – gearing– camming– superposition– fl 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– confi guration, parameterisation, diagnostics and programming in TwinCAT

– optimum synergy between PLC, Motion Control and robot control system

– high performance and precision through direct interfaces

10

Kinematic calculation process– forward transformation– inverse transformation

– calculation of the dynamic model

BECKHOFFNew Automation Technology

We reserve the right to make technical changes.

TwinCAT 3 | Safety PLC

The TwinCAT Safety PLC is a software-based safety controller. It enables a universal, scalable and simplifi ed solution for safety technology. The TwinCAT Safety PLC supports all steps of safety-related software development including design, implementation, verifi cation and validation. The TwinCAT Safety PLC is approved for applications up to SIL3 IEC 61508 or Ple DIN EN ISO 13849-1.

TwinCAT Safety PLC

–

– – – –

software-based safety controller

fully integrated development environmentgraphic and source code editorprogramming in Safety C

examination of the source code for safety

– –

automatic analysis of the control structure and calculation of the safety characteristic values according to DIN EN ISO 13849-1 and EN IEC 62061 or IEC 61508 respectivelyverifi cation and validation of the desired safety level (PL or SIL)

11

We reserve the right to make technical changes.

BECKHOFFNew Automation Technology

TwinCAT 3 | eXtended Automation Runtime (XAR)

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

TwinCAT Transport Layer – ADS

TC Confi guration

Debugging

TwinCAT Object Manager

Task

TcCOMCall

Task

Task

TcCOMCall

TcCOM Task

TwinCAT Real-time KernelSimulink®

Module

Task

TcCOMTask

Task

TcCOMSafety

TwinCAT 3 Runtime

TwinCAT Automation Device Driver – ADDFieldbus

Modular TwinCAT 3 runtime

TcCOMPLC

Call

Modular design, openness, extendibility

Open runtime interface– separation of complete functionality into modules

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

12

TcCOMCNC

TcCOMC++

Module

TcCOMNC

TcCOMPLC

C++Module

C

Module

Simulink®Module

– e xtension of the runtime by own modules (e.g. bus drivers)– Scalability: modules can contain simple functions; complex algorithms and real-time tasks.

BECKHOFFNew 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 defi ned attributes and interfaces. They enable general application of the modules with each other and externally. The predefi ned interfaces enable cyclic calling of the internal module logic, for example. Each module implements a state machine that controls the initialisation, parameterisation and linking of the respective module.

TwinCAT ModuleModule DescriptionState MachineITComObject InterfaceInterfaces

Parameter

InterfacesPointers

In addition to user modules,

a number of system

modules are already avail-able which provide basic runtime functionality (e.g. TwinCAT real-time). These modules have fi xed object IDs and are therefore acces-sible from each module.

Data AreasContextsCategoriesADS Port

Data AreaPointers

Structure of a TwinCAT 3 module

Selection and See

parameterisation of pa

®

a Matlaba MaM/Simulink® modulemoo

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

13

We reserve the right to make technical changes.

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

Multi-core CPUCore 0WindowsAppsWindowsDrivers

PLC Control

Core 1User HMI

Core 2PLC Runtime 0Task 0Task 1

ADS

ADS Router Engine

L2 Shared Cache

ADS Router Message Queues

System Memory

ADS

ADS

ADS

ADS

Core 3PLC Runtime 1

Core …NC Runtime 1

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

Dialog for the

distribution of tasks to processor cores

Multi-core and multi-tasking supportSupport of multi-core systems– distribution from applications to cores (e.g. PLC, NC and HMI can run on different cores)

14

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

Support of -bit

operating systems

– usage of more resources (memory)

BECKHOFFNew 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 SystemTwinCAT 3 –

eXtended Automation EngineeringTwinCAT Transport Layer – ADS-RouterTwinCAT 3 –

eXtended Automation Runtime

TwinCAT 2.11 PLCRuntimeTwinCAT 2.11 PLCEngineeringTwinCAT 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 level2. 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

15

We reserve the right to make technical changes.

BECKHOFFNew Automation Technology

Product announcement

estimated market release 2nd quarter 2011

Headquarters

Beckhoff Automation GmbHEiserstraße 533415 VerlGermany

Phone: + 49 (0) 52 46 / 9 63 - 0info@beckhoff.comwww.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 11/2010

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.DK3332-1110