Beckhoff TwinCAT

The Windows Control and Automation Technology

NOTA DE APLICAO 02
Princpios bsicos da programao de PLC para
CX com TwinCAT PLC

BRESIMAR (asaTek)
e-mail j.andril@bresimar.pt
B-NA02(v1.1)
Janeiro/2009

Bresimar - Sociedade de Equipamentos Elctricos, Lda.

Geral (Sede)
Quinta do Simo - EN109 - Esgueira
Apartado 3080
3801-101 Aveiro
PORTUGAL
Telf . +351 234 303 320
Telm . +351 939 992 222
Fax +351 234 303 328/9
e-mail bresimar@bresimar.pt

Getting Started with CX1000

Table Of Contents
1.

2.

3.

4.

5.

6.

Local PC Configuration ..................................................................................................4

1.1.
Firewall Settings .....................................................................................................................4
1.2.
Anti-virus Software ............................................................................................................... 4
1.3.
IP Address and Subnet Mask ................................................................................................ 4
Current CX1000 IP Address Settings..........................................................................................5
2.1.
CX1000 in DHCP Mode (Default) ........................................................................................ 5
2.2.
Fixed IP Address Settings ...................................................................................................... 5
2.3.
Unknown IP Address Settings ............................................................................................... 5
Modifying the CX1000 IP Address Settings ...............................................................................6
3.1.
CX1000 NetBIOS Name ....................................................................................................... 6
3.1.1. Verify CX1000 Access using the Ping Command .................................................... 6
3.1.2. Cloning CX1000 CF Cards .................................................................................................. 7
3.2.
TwinCAT System Manager ................................................................................................... 8
3.2.1. Windows XPe ....................................................................................................................... 8
3.2.2. Windows CE ......................................................................................................................... 8
3.3.
Local Configuration............................................................................................................... 8
3.4.
Remote Connection................................................................................................................ 9
3.4.1.
Windows XPembedded................................................................................................. 9
3.4.2.
Windows CE ................................................................................................................ 10
3.5.
None of The Above .............................................................................................................. 10
Programming Remote TwinCAT Systems ............................................................................... 11
4.1.
Select CX1000 as Target TwinCAT System ........................................................................ 11
4.2.
CX1000 Configuration Settings (WinCE only) .................................................................... 16
4.3.
Select CX1000 as Target PLC............................................................................................... 18
Restore/Upgrade CX1000 Image................................................................................................ 20
5.1.
CX1000 Image Version......................................................................................................... 20
5.1.1.
Windows XPe .............................................................................................................. 20
5.1.2.
Windows CE ................................................................................................................ 20
5.2.
CX1000 with Windows CE V4.10 ....................................................................................... 21
5.3.
Delete Existing Image from CF Card (WinCE only)............................................................ 21
5.4.
Restore CX1000 Image to CF Card (WinCE only) ............................................................. 22
Additional Information ............................................................................................................... 23
6.1.
TwinCAT System Configuration .......................................................................................... 23
6.2.
TwinCAT PLC Control.......................................................................................................... 23
6.3.
Ethernet Cross-over Connection............................................................................................ 23
6.4.
Real-Time Ethernet Driver ................................................................................................... 23
6.5.
Manually Storing Settings on WinCE CX1000.................................................................... 24
6.6.
Using Remote Desktop Connection...................................................................................... 24
6.7.
Using CERHost .................................................................................................................... 27
6.8.
Removing TwinCAT Route Settings from the AMS Router ....................... 29
6.8.1.
Removing Corrupt Routes Manually ........................................................................... 30

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Version Updated Changes
V1.2

22/11/2004

Info added to explain different methods of getting an IP address

into the CX1000 to get the Ethernet link up and running

V1.3

22/02/2005

Section added to direct to Beckhoff InfoSys to install Real-Time

Ethernet driver
V1.4
V1.5

23/05/2005
05/07/2005

Updated: 07/09/2005

Details added on how to suspend a WinCE CX1000 to permanently

store route settings

Major revision and restructure of document with new sections:
Firewall ports and anti-virus software
Using the Ping command
Configure WinCE settings using TwinCAT System Manager
Restoring/Upgrading CX1000 Image
Removing configured routes from AMS Router

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1. Local PC Configuration
1.1. Firewall Settings
TwinCAT uses ports 48898 and 48899 to communicate with remote systems via the
Ethernet network. If a firewall is installed on the local PC, it will almost certainly block
these ports by default, and prevent TwinCAT from configuring remote systems. The first
indication of this problem will be a failure to find any remote TwinCAT systems on the
network, even though they can be pinged successfully from the local PC.
Firewall ports 48898 (for TCP) and 48899 (for UDP) should be opened with full
read/write access for TwinCAT to use. There are currently no known issues with
Windows Firewall or other firewall packages if these ports have been opened

successfully.
NOTE: full local administrator rights will almost certainly be needed to open ports
on the Windows Firewall. Other firewall packages may have password protection
on port configuration to prevent viruses and other people from opening ports
unexpectedly.

1.2. Anti-virus Software

Anti-virus software programs that have been installed as part of an internet security
suite can also modify settings in other areas of Windows, such as browser security levels,

and it is impossible to find all the settings required to prevent interference with the
TwinCAT traffic through the Ethernet port.
In particular, Norton and McAfee security suites are both known to spuriously cause
problems with the broadcast search for remote TwinCAT devices, resulting in no remote

devices being found, event though they exist on the network and can be seen with the
Ping command. They have also been known to corrupt AMS route settings for no
apparent reason, which can interfere with the TwinCAT PLC connection during

debugging.
NOTE: it is STRONGLY recommended that Norton and McAfee anti-virus software
should be disabled while using TwinCAT.

1.3. IP Address and Subnet Mask

If the CX1000 is to be assigned a fixed IP address, the local PC must have the same
subnet mask as the CX1000 and a similar IP address. For example, if the CX1000 will be
assigned subnet mask 255.255.255.0 and IP address 192.168.3.26, the local PC must also
have subnet mask 255.255.255.0 and IP address of 192.168.3.n.
If the PC and CX1000 are both using DHCP mode, they will automatically receive
identical subnet masks and similar IP addresses.

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2. Current CX1000 IP Address Settings

2.1. CX1000 in DHCP Mode (Default)
Brand new CX1000s are shipped with the base image installed on the CF card, and will
be configured in DHCP mode by default. Similarly, a CF card that has just had the base
image restored to it will also be in DHCP mode at first boot up.
If a DHCP server is present, the CX1000 will be assigned an IP address and appropriate

subnet mask, and will join the network.

If a DHCP server is NOT present and 2 or more DHCP-enabled PCs are connected together
via a hub, switch or cross-over cable, they will automatically sort out IP addresses and

subnet masks between themselves and join the network. Please note that this process
can take up to 1 minute to complete.
To determine the actual IP address assigned to the CX1000:
1. Ping the CX1000 using the NetBIOS name
2. If the ping command is successful, the actual IP address will be shown in square
brackets after the NetBIOS name. The CX1000 has successfully joined the
network, and is ready to be configured as required. Go to chapter 3, Modifying
the CX1000 IP Address Settings on page 6.

2.2. Fixed IP Address Settings

If CX1000 has been previously configured with a known fixed IP address and subnet

mask, the following steps are required:

1. Set the PCs subnet mask to the same value as the CX1000
2. Where the mask byte is 255, the corresponding IP address byte must be identical
on the PC and CX1000

3. For the mask bytes set to 0, at least one of the corresponding IP address bytes
must be different to thCX1000
4. Ping the CX1000 using the CX1000 IP address or NetBIOS name
5. If the ping command is successful, the actual IP address will be shown in square
brackets after the NetBIOS name. The CX1000 has successfully joined the
network, and is ready to be configured as required. Go to section 3, Modifying
the CX1000 IP Address Settings on page 6.

2.3. Unknown IP Address Settings

If CX1000 has been previously configured with a fixed IP address and subnet mask, but

the settings are unknown, the IP address and subnet mask must be changed manually.
If the CX1000 has a DVI/USB module fitted, local configuration can be used to
modify the IP address and subnet mask settings. Go to section 3.3, Local
Configuration on page 8 for full details.
If the CX1000 does NOT have a DVI/USB module fitted, or a suitable keyboard,
mouse or screen are not available, the CX1000 image on the CF card must be
restored to the base image. Go to section 5, Restore/Upgrade CX1000 on page

20.

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3. Modifying the CX1000 IP Address Settings

If the Ethernet network is part of the real-time control system, fixed IP addresses and
subnet masks should be used to ensure that the correct device is always accessed. If an
Ethernet device is replaced, the new device can be assigned the same IP address as the
old device, and the system will function correctly with the new device.
Some DHCP servers allow IP addresses to be assigned to specified Ethernet MAC address,

ensuring that a particular device will always be assigned the same IP address, and no
other device will get that particular IP address. However, if a replacement device is
fitted, the DHCP server configuration must be updated to ensure that the IP address is
associated with the Ethernet MAC address of the new device.

3.1. CX1000 NetBIOS Name

If the CX1000 does not find a NetBIOS name on the CF card when it boots up, it will
generate a name and store it on the CF card. The NetBIOS name is passed to other
devices on an Ethernet network when an IP address is assigned, and each device will
associate the NetBIOS name with the IP address.
The NetBIOS name is generated using the last 3 bytes of the Ethernet port MAC address.
For example, a CX1000 with Ethernet MAC address of 00-01-05-00-27-3C will have a
NetBIOS name of CX_00273C. The MAC address of the Ethernet port can be found on
the serial number label in the CX1000.

3.1.1. Verify CX1000 Access using the Ping Command

The Ping command is a command line prompt in Windows that allows a PC to check if

a device with a specified IP address is present on the Ethernet network. Ping sends 4
request messages (1 per second) to the specified IP address and displays the responses
that are received. The screenshot below shows a successful ping command to IP
address 192.168.3.4.

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The NetBIOS name for a device (if known) can also be specified for the ping command.
If the name is associated with an IP address in the PC, the associated IP address (shown
in square brackets) will be pinged. The screenshot below shows a successful ping
command to device CX_002BD5, which has IP address 192.168.3.4.

If no response is received, the device either does not exist, or other factors e.g.
firewall, incorrect subnet mask, etc. are preventing the local PC from seeing the
response. In this case, the local PC will not be able to access the target device. Refer
to chapter 1, Local PC Configuration on page 4.
3.1.2. Cloning CX1000 CF Cards
If a CX1000 CF card is cloned AFTER the NetBIOS name has been generated, all
CX1000s fitted with the cloned CF card will have the same NetBIOS name. While this
does not cause a problem for the functionality of the CX1000 and TwinCAT, network
problems will occur when cloned CX1000s are connected to the same network.
In addition, the NetBIOS names and the last 3 bytes of the Ethernet port MAC address
will not match on cloned CX1000s, making it more difficult to identify which CX1000 is
actually communicating with TwinCAT System Manager, or other applications.

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3.2. TwinCAT System Manager

3.2.1. Windows XPe
TwinCAT System Manager cannot currently be used to modify the CX1000 settings. Refer
to section 3.3, Local Configuration on page 8.

3.2.2. Windows CE
TwinCAT System Manager can be used to modify the settings shown on the screen
capture below on a CX1000 running Windows CE. Proceed to Chapter 4, Programming
Remote TwinCAT Systems on page 11 to continue CX1000 configuration.

To change any other Windows CE settings on the CX1000, use the procedure described in
section 3.3, Local Configuration on page 8.

3.3. Local Configuration

CX1000 is an embedded PC, and can be configured locally in the same way as a standard
desktop PC. Local configuration requires a USB keyboard and mouse (connected to USB
ports X10 and X11) and a DVI or VGA monitor connected to port X12. A DVI-to-VGA
adapter is required to connect a monitor with a 15-pin VGA connector. This method
works for CX1000s that are running WinXPe and WinCE.
If the CX1000 does NOT have a DVI/USB module fitted, or a suitable keyboard, mouse or
monitor is not available, the CX1000 can be configured using a remote connection from
another PC. Refer to section 3.4, Remote Connection on page 9.

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3.4. Remote Connection

3.4.1. Windows XPembedded
Remote Desktop Connection can be used to connect to a CX1000 running WinXPe and
display the CX1000 desktop on the local PC. The CX1000 can now be configured via the
Control Panel in the same way as any other PC from the local PC.

Remote Desktop Connection is included as standard in Windows XP. It can be

downloaded from www.microsoft.com for installation on a PC running Windows 2000,
Windows ME or Windows 98. Refer to section 6.6, Using Remote Desktop Connection

on page 24 for further details.

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3.4.2. Windows CE
CERHost can be used to connect to a CX1000 running WinCE and display the CX1000
desktop on the local PC. The CX1000 can now be configured via the Control Panel in the
same way as any other WinCE device from the local PC.

CERHost can be downloaded from www.microsoft.com and will run on any Windows

platform. Refer to section 6.7, Using CERHost on page 27 for further details.

3.5. None of The Above

If the CX1000 does not have the DVI/USB module fitted and the IP address settings are
unknown, the CX1000 cannot be configured locally or remotely. In this case, the only
option is to restore the default CX1000 image onto the CF card.
All CX1000 settings will be lost, but the CX1000 IP address configuration will be returned
to DHCP mode. Go to chapter 5, Restore/Upgrade CX1000 Image on page 20.

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4. Programming Remote TwinCAT Systems

CX1000 does not contain the TwinCAT System Manager and TwinCAT PLC Control editing
tools. System configuration and PLC programs must be developed on a standard desktop
or laptop PC, and configured on the CX1000 remotely via the Ethernet network.

4.1. Select CX1000 as Target TwinCAT System

To select a CX1000 as the target system to be configured by TwinCAT System Manager:

1. Select System Configuration

2. Select the General tab
3. Click Choose Target

4. Select Search

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5. Select Broadcast Search

TwinCAT System Manager will scan the Ethernet network, and display the details of all
TwinCAT-enabled systems that it found on the network.
6. Select the CX1000 that you want to connect to as the remote system
7. Click Add Route

Any remote TwinCAT systems found on the network will be displayed, along with the
TwinCAT version and installed operating system on the remote system.

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8. Enter the User name: and Password:

9. For WinXPe CX1000, the default user name is Administrator and default
password is 1
10. For WinCE CX1000, default user name and password are blank
11. Click OK to return to the Add Route Dialog window.

When the route to the CX1000 has been established, X will be shown in the
Connected column next to the CX1000 host name. The version of WinCE operating
system should also be noted for future reference. As this process may take up to 15
seconds to complete, use the Refresh Status button to re-check the CX1000 status.
NOTE: the error message below may appear if the CX1000 IP address has been
modified, as the CX1000 NetBIOS name will still be associated with the old IP

address within Windows.

To re-create the route to the CX1000 in the Add Route Dialog window:

Select IP Address instead of Host Name

Enter the new IP address of the CX1000 in Address Info:
Click Add Route and return to step 8 above.

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12. Click Close

The CX1000 will appear as a branch under the local system.

13. Select the required CX1000 and click OK

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The CX1000 is now the target TwinCAT system for the local PC. TwinCAT System

Manager displays the current target system and the operating status of the current
target system at the bottom right hand side of System Manager Window.

NOTE: CX1000 with WinCE V4.10 may not automatically store a new route when it

is created, and it will be lost when the CX1000 is powered down. The route must
be stored manually by suspending the CX1000. Refer to section 6.5 , Manually
Storing Settings on WinCE CX1000 on page 24.
For details about upgrading a CX1000, refer to section 5.2, CX1000 with Windows CE
V4.10 on page 21.

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4.2. CX1000 Configuration Settings (WinCE only)

When a connection to a WinCE CX1000 has been established, the IP address and display
settings can modified using the following steps:
1. Select the CX1000 Settings tab
2. Enter the required AmsNetId and Host Name

3.
4.
5.
6.

Set the TCP/IP Settings as required

Set Display Resolution to the required size

Set Display Frequency to the required screen refresh rate

Click Apply

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7. Enter User name and Password. These are both blank by default.
8. Click OK

9. Click Yes to force the CX1000 to re-boot

10. Click OK to return to the local PC TwinCAT System

At this point, the CX1000 has been shut down. Cycle the power supply to the CX1000 to

make it re-boot with the new settings.

If the IP address configuration has been changed, the current route in TwinCAT System
Manager will still be associated with the old IP address. Repeat the procedure in section
4.1, Select CX1000 as Target TwinCAT System on page 11 to re-create the route to the
CX1000.

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4.3. Select CX1000 as Target PLC

To select the CX1000 as the target PLC system:

1. Select Online
2. Select Choose Run-Time System

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3. Double click on the name of the target CX1000

4. Select the required run time port. Run-Time 1 (Port 801) is the target port in the
example below.
5. Click OK

The target PLC system will be displayed in the red box at the bottom right of the
TwinCAT PLC Control screen.

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5. Restore/Upgrade CX1000 Image

Situations can arise where the CX1000 user password has been changed and forgotten, or

a fixed IP address has been set and forgotten, etc. In this case, it may be desirable to
restore the CX1000 to its basic state, i.e. the state when it left the factory.
NOTE: restoring a CX1000 CF card to the base image will wipe all user settings and

user-generated data files from the CF card.

Beckhoff periodically update the CX1000 image files to include the latest version of
TwinCAT and other new features or bug fixes.

5.1. CX1000 Image Version

5.1.1. Windows XPe
The image version on a WinXPe CX1000 is indicated by the version file in the root of the
CF card. XPENET.120 indicates that XPe.NET image version 120 is currently installed.
The version file can be viewed in the root of the C drive by double clicking the My
Computer icon on the CX1000 itself, using local or remote configuration. Alternatively,
the file name can be checked by reading the CF card using a PC and CF card reader.
To get a WinXPe CF card upgraded, please contact Hayes Control Systems Ltd.
The image file name has the following format:
CX1800_02nn_yyyy_mm_dd_XPE_xxx_vvv.ZIP

Option Description
CX1800_02nn_
Yyyy_mm_dd_

xxx_

Beckhoff part number for WinXPe image

Date of release of image version

LF = low footprint image (128Mb CF card required)
HMI = HMI image (256Mb CF card required)
NET = .NET framework image (512 Mb CF card required)

vvv

Image version identification number

5.1.2. Windows CE
The image version on a WinCE CX1000 is indicated by the version file in the root of the
CF card. V1.75 indicates that WinCE image file version 175 is currently installed. The
version file can be viewed in the \Hard Disk folder by double clicking the My
Computer icon on the CX1000 itself, using local or remote configuration. Alternatively,
the file name can be checked by reading the CF card using a PC and CF card reader.
The image file name has the following format:
CX1800_01nn_yyyy_mm_dd_CX_xxx_www_vvv.ZIP

Option Description
CX1800_01nn_
Yyyy_mm_dd_

xxx_

Beckhoff part number for WinCE image

Date of release of image version

LF = low footprint image
HMI = HMI image with .NET framework

www_

Windows CE version. This must match the version of Windows

CE installed in the CX1000. (See page 12.)

vvv

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Image version identification number.

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5.2. CX1000 with Windows CE V4.10

CX1000 is upgraded periodically to add new features, including newer versions of
TwinCAT, and fix any bugs that have been found in previous versions. All current
development is focused on CX1000 with WinCE V4.20, and no further updates for WinCE
V4.10 will be released. The WinCE core is installed internally in the CX1000 and can
only be upgraded by Beckhoff in Germany. Most CX1000s can be upgraded from V4.10 to
V4.20, although an upgrade fee is payable. Please contact Hayes Control Systems Ltd

for further details.

The last released image for CX1000 with WinCE V4.10 was V1.42 (released June 2004)
which contains TwinCAT V2.90 Build 959. Any new features or bug fixes that have been
added since V1.42 image was released will not be available on the CX1000 WinCE V4.10
platform. There is generally no need to upgrade CX1000s that are operating in the field

without problems.

5.3. Delete Existing Image from CF Card (WinCE only)

A typical folder structure for a WinCE CX1000 CF card is shown below. To delete the
existing image from a WinCE CF card:
1. Insert the CF card into a Compact Flash Type 1 reader
2. The CF card will appear as an additional disk drive for the PC
3. Delete all folders and files from the root directory of the CF card disk drive.
Note: do NOT re-format the CF card under any circumstances. If Windows Explorer

cannot read the CF card due to file system corruption, contact Hayes Control
Systems Ltd for further help.

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5.4. Restore CX1000 Image to CF Card (WinCE only)

When the CX1000 is first powered up with the restored base image, it will default to
DHCP mode and re-generate the NetBIOS name. Go to section 2.1, CX1000 in DHCP
Mode (Default) on page 5 to start configuring the CX1000 as required.
To restore a Windows CE image to the CF card:
1. Extract all files from the Zip file to a directory on the PC.

2. A base directory will be created that indicates the version of the image. In the
example, the directory name is V175
3. Copy all files from the V175\WithTc\CF directory to the root of the CF card if
TwinCAT is required on the CX1000

4. Copy all files from the V175\WithoutTc\CF directory to the root of the CF card
if TwinCAT is not required on the CX1000

5. Return the CF card to the CX1000 and re-boot

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6. Additional Information
6.1. TwinCAT System Configuration
Once the target TwinCAT system has been selected, the CX1000 system is configured
using TwinCAT System Manager in exactly the same way as a local TwinCAT system
would be configured.
Getting Started note Configure the TwinCAT IO System is available as a PDF document
from Hayes Controls to guide the user through configuring and downloading the CX1000
hardware system using TwinCAT System Manager.

6.2. TwinCAT PLC Control

Once the target TwinCAT PLC has been selected, the CX1000 PLC program is configured
using TwinCAT PLC Control in exactly the same way as a local TwinCAT PLC would be

configured.
Getting Started note Mapping TwinCAT PLC Variables to IO is available as a PDF
document from Hayes Controls to guide the user through configuring and downloading
the PLC program using TwinCAT PLC Control.

6.3. Ethernet Cross-over Connection

An Ethernet cross-over connection is convenient for on-site working as it allows a laptop
PC to be connected directly to the CX1000. This type of connection requires the subnet

mask for the PC Ethernet port settings to be the same as the subnet mask for the
CX1000.

The subnet mask also affects the IP address that must be specified for the PC Ethernet
port. If a byte in the subnet mask is set to 255 (0xFF), the corresponding byte of the IP
address must be the same in the PC and CX1000. This is shown in the table below.
Setting CX1000

PC

Subnet mask

255.255.255.0

255.255.255.0

IP address

192.168.1.x

192.168.1.y

Comment
The subnet mask settings must be
identical
The first 3 IP address bytes must equal,
the 4th byte must be different.

6.4. Real-Time Ethernet Driver

Real-Time Ethernet allows TwinCAT to by-pass the Windows TCP/IP stack, and
significantly reduces the time taken in transferring messages between TwinCAT and the
hardware of the Ethernet port. Real-Time Ethernet is available on all CX1000s, and be
used to communicate with the BK9000 bus coupler and AX2000-B900 drive.
If TwinCAT System Manager does not detect an RT Ethernet port when the system is
scanned, the real-time driver must be installed in the Windows operating system. For
full details, refer to the Beckhoff InfoSys under TwinCAT, System Manager,

Appendix and RealTime Ethernet.

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6.5. Manually Storing Settings on WinCE CX1000

To manually suspend a WinCE CX1000 to store configuration changes:

1. To access the CX1000, use local configuration (see section 3.3) or remote
connection. (See section 3.4.2)
2. Click Start
3. Select Suspend

The CX1000 will shut down and re-boot to make any new settings take effect.

6.6. Using Remote Desktop Connection

Remote Desktop Connection allows a PC running Win98SE or later to access and control a
Windows XP PC via Ethernet. It is an integral part of Windows XP, but it must be
installed separately on other versions of Windows. It is available for download from
www.microsoft.com.
To connect to a WinXPe CX1000:
1. Run Remote Desktop Connection
2. Select Options >>

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3. Enter the NetBIOS name or IP address of the CX1000 in Computer

4. Enter Administrator in Username and 1 in Password
5. Click Connect

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Remote Desktop Connection will show the current display that the CX1000 sending to the
graphics output, X12. It will also send the mouse and keyboard strokes to the CX1000
when the Remote Desktop Connection window has the focus on the local PC.

The IP address and subnet mask settings can now be modified using the same method as
with a keyboard and mouse on a normal PC.

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6.7. Using CERHost

CERHost allows a PC to access and control a Windows CE device via an Ethernet
connection. It is stand-alone EXE file, and is available for download from
www.microsoft.com.
To connect to a WinCE CX1000:

1. Run CERHOST.EXE.
2. Select Tools and ensure that Send all mouse move is ticked.

3. Select Connect to open a connection to a CX1000

4. Enter the name or IP address of the target CX1000.

5. Click OK

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CERHOST will show the current display that the CX1000 sending to the graphics output,
X12. It will also send the mouse and keyboard strokes to the CX1000 when the CERHOST
window has the focus on the local PC.

The IP address and subnet mask settings can now be modified using the same method as
with a keyboard and mouse on a normal PC.

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6.8. Removing TwinCAT Route Settings from the AMS Router

When a route is created to a TwinCAT device, the settings are stored in the AMS Router
on the local PC. To remove the route settings for a TwinCAT Device:
1. Right click TwinCAT icon at bottom right of the screen

2. Select System and Stop

3. Right click TwinCAT icon at bottom right of the screen and select Poperties
4. Select the AMS Router tab
5. Select the devices that need to be deleted and click Remove. The route to the
device has now been removed from the AMS router. Click OK when complete.

If a Win32 error occurs when trying to remove a device, the route must be removed
manually from the Windows registry. Follow the procedure described in section 6.8.1,
Removing Corrupt Routes Manually on page 30.
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6. Right click TwinCAT icon at bottom right of the screen

7. Select System
8. Select Config

The local TwinCAT AMS Router will be re-started, and the TwinCAT System will return to

Config mode.
6.8.1. Removing Corrupt Routes Manually
Occasionally, it is possible to get 2 or more routes configured in the AMS Router with the

same name. If this happens, the routes cannot be removed in the normal way, and must
be removed manually from the Windows registry.
To remote a route from the Windows registry:

1. Click Start and Run

2. Enter regedit and click OK

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3.
4.
5.
6.
7.
8.

Select My Computer
Select HKEY_LOCAL_MACHINE

Select SOFTWARE

Select Beckhoff
Select TwinCAT

Select Remote

Each configured route will have its own folder, but the folder for a corrupt route will

contain another folder of the same name.

9. Delete both folders and exit the Registry Editor
10. Return to section 6.8, Removing TwinCAT Route Settings on page 29.

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