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TwinCAT

PLC and Motion Control on the PC

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TwinCAT PLC
TwinCAT Supplements
TwinCAT NC/CNC
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beckhoff.com/TwinCAT
TwinCAT

The Windows Control and Automation Technology

Product overview
PC-based control technology
PLC and Motion Control
on the PC
TwinCAT PLC
TwinCAT NC PTP
TwinCAT NC I
TwinCAT CNC
TwinCAT I/O
TwinCAT CP
TwinCAT Supplements
System
TwinCAT Supplements
Motion
TwinCAT Supplements
Communication
TwinCAT Supplements
Controller
TwinCAT Supplements
Building Automation
1136
1140
1143
1146 1157
1179
1148
1150
1152
1154
1156
1166
1170
1180
New Automation Technology BECKHOFF
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Product overview TwinCAT
Software PLC
TwinCAT PLC
1146
PC hardware standard PC/IPC hardware, no extras
Operating systems Windows NT/2000/XP/Vista, Windows 7,
NT/XP Embedded, CE*
Real-time Beckhoff real-time kernel
I/O system EtherCAT, Lightbus, PROFIBUS DP/MC, Interbus,
CANopen, DeviceNet, SERCOS, Ethernet and
PC hardware
Run-time system 4 multi-tasking PLCs each with 4 tasks in each PLC
run-time system, development and run-time systems
on one PC or separately (CE: only run-time)
Memory process image size, ags area, program size,
POU size, number of variables only limited by
the size of the user memory (max. 2 GB with
NT/ 2000 / XP/Vista)
Cycle time adjustable from 50 s
Link-time 1 s (Intel

Core2 Duo) for 1,000 PLC commands

Programming IEC 61131-3: IL, FBD, LD, SFC, ST, powerful
library management, convenient debugging
Software NC PTP
TwinCAT NC PTP
1148
TwinCAT PLC inclusive 1146
PC hardware standard PC/IPC hardware, no extras
Operating systems Windows NT/2000/XP/Vista, Windows 7,
NT/XP Embedded, CE*
Real-time Beckhoff real-time kernel
I/O system EtherCAT, Lightbus, PROFIBUS DP/MC, Interbus,
CANopen, DeviceNet, SERCOS, Ethernet and
PC hardware
Programming performed using function blocks for TwinCAT PLC
according to IEC 61131-3 (standardised PLCopen
Motion Control libraries), convenient axis commis-
sioning menus in the System Manager
Run-time system NC point-to-point including TwinCAT PLC
Number of axes up to 255
Axis types electrical and hydraulic servo drives, frequency
converter drives, stepper motor drives, switched
drives (fast/crawl axes)
Cycle time 50 s upwards, typically 1 ms (selectable)
Axis functions standard axis functions: start / stop /
reset /reference, speed override,
special functions: master/slave cascading,
cam plates, electronic gearings, online distance
compensation of segments, ying saw
TwinCAT Level
TwinCAT I/O
1154
PC hardware standard PC/IPC hardware, no extras
Operating systems Windows NT/2000/XP/Vista, Windows 7,
NT/XP Embedded, CE (only run-time)*
Real-time Beckhoff real-time kernel
Multi-purpose I/O interface for all common eldbus systems,
PC Fieldbus Cards and interfaces with integrated real-time driver
TwinCAT Level
TwinCAT CP
1156
PC hardware standard PC/IPC hardware, no extras
Operating systems Windows NT/2000/XP/Vista, Windows 7,
NT/XP Embedded*
Real-time Beckhoff real-time kernel
Windows driver for Beckhoff Control Panel
* version-dependent
New Automation Technology We reserve the right to make technical changes. BECKHOFF
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TwinCAT system
TwinCAT CP
TwinCAT I/O
TwinCAT PLC
TwinCAT NC PTP
System Manager
TwinCAT NC I
TwinCAT CNC B
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TwinCAT
Supplements
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Software NC I
TwinCAT NC I
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TwinCAT PLC inclusive 1146
TwinCAT NC PTP inclusive 1148
PC hardware standard PC/IPC hardware, no extras
Operating systems Windows NT/2000/XP/Vista, Windows 7,
NT/XP Embedded, CE*
Real-time Beckhoff real-time kernel
I/O system EtherCAT, Lightbus, PROFIBUS DP/MC, Interbus,
CANopen, DeviceNet, SERCOS, Ethernet and
PC hardware
Programming DIN 66025 programs for NC interpolation,
access via function blocks from TwinCAT PLC
according to IEC 61131-3
Run-time system NC interpolation, including TwinCAT NC PTP
and PLC
Number of axes max. 3 axes and up to 5 auxiliary axes per group,
1 group per channel, max. 31 channels
Axis types electrical servo axes, stepper motor drives
Interpreter
functions
subroutines and jumps, programmable loops,
zeroshifts, tool compensations, M and H functions
Geometries straight lines and circular paths in 3-D space,
circular paths in all main planes, helixes with base
circles in all main planes linear, circular, helical
interpola tion in the main lanes and freely denable
planes, Bezier splines, look-ahead function
Axis functions online reconguration of axes in groups,
path override, slave coupling to path axes,
auxiliary axes, axis error and sag compensation,
measuring functions
Operation automatic operation, manual operation
(jog / inching), single block operation, referencing,
handwheel operation (motion /superposition)
Software CNC
TwinCAT CNC
1152
TwinCAT PLC inclusive 1146
TwinCAT NC PTP inclusive 1148
TwinCAT NC I inclusive 1150
PC hardware standard PC/IPC hardware, no extras
Operating systems Windows NT/2000/XP/Vista, Windows 7,
Windows NT/XP Embedded*
Real-time Beckhoff real-time kernel
I/O system EtherCAT, Lightbus, PROFIBUS DP/MC, Interbus,
CANopen, DeviceNet, SERCOS, Ethernet and
PC hardware
Programming DIN 66025 programming language with
high-level language extensions, mathematical
functions, programming of parameters/variables,
user macros, subroutine techniques, spindle and
help functions, tool functions, zero offset shifts
Run-time system CNC, including TwinCAT NC I, NC PTP, PLC
Number o f axes /
spindles
8 path axes / 6 controlled spindles, max. of
64 axes / 12 controlled spindles (optional)
Axis types electrical servo-axes, analog/encoder interface
via eldbus, digital interface via eldbus
(EtherCAT, Lightbus, PROFIBUS MC, SERCOS)
Geometries linear, circular, helical interpolation in the main
planes and freely denable planes, 8 interpolating
path axes per channel, look-ahead function
Axis functions coupling and gantry axis function, override, axis
error and sag compensation, measuring functions
Operation automatic operation, manual operation
(jog / inching), single block operation, referencing,
block search, handwheel operation (motion /
superposition)
TwinCAT CNC Options
Options TwinCAT CNC Axes Pack 1153
TwinCAT CNC Channel Pack 1153
TwinCAT CNC Transformation 1153
TwinCAT CNC HSC Pack 1153
* version-dependent
New Automation Technology BECKHOFF We reserve the right to make technical changes.
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Supplements | System
TwinCAT ECAD Import 1158
tool for importing XML les from ECAD systems
TwinCAT Engineering Interface Server 1158
for coordination of programming tasks via a source code
management system
TwinCAT XML Data Server 1159
PLC data can be written directly into an XML le or read
from an XML le.
TwinCAT Backup 1160
tool for backing up and restoring of les, operating system and
TwinCAT settings
TwinCAT Simulation Manager 1160
simplies preparation and conguration of a simulation environment
TwinCAT Database Server 1161
for bi-directional access: PLC and database
TwinCAT PLC HMI 1161
displays only the visualisation created with TwinCAT PLC control
in full screen under XP when starting up
TwinCAT PLC HMI Web 1162
Displays a visualisation created with TwinCAT PLC control
in Internet Explorer. A Java VM is required.
TwinCAT PLC HMI CE 1162
licence for using the system software TwinCAT PLC HMI CE
under Windows
TwinCAT Management Server 1162
licence for using the TwinCAT Management Server for
central administration of Beckhoff CE controls
TwinCAT Scope 2 1163
licence for using the TwinCAT Scope
TwinCAT EtherCAT Redundancy 1163
licence for extending the TwinCAT EtherCAT master with
cable redundancy capability
TwinCAT PROFINET IO Controller 1164
licence for using the PROFINET IO Controller
TwinCAT PROFINET IO Device 1164
licence for using the PROFINET IO Device
TwinCAT EtherNet/IP Slave 1165
licence for using the EtherNet/IP Slave
Supplements | Motion
TwinCAT PLC Hydraulic Positioning 1166
software library for TwinCAT PLC for the control of the position
and pressure of hydraulic axes
TwinCAT NC FIFO Axes 1166
software library that enables a target value specied by the user
to be generated for an NC axis
TwinCAT NC Flying Saw 1167
software library for TwinCAT PLC to enable implementation
of the ying saw function
TwinCAT PLC Remote Synchronisation 1167
software library for general synchronisation of time
in distributed systems
TwinCAT NC Camming 1167
software library that enables the use of the cam function
of TwinCAT NC
TwinCAT Cam Design Tool 1168
tool for designing electronic cam plates, fully integrated in the
TwinCAT System Manager
TwinCAT Digital Cam Server 1168
fast camshaft controller as software implementation in TwinCAT,
freely congurable via the TwinCAT System Manager
TwinCAT Valve Diagram Editor 1169
graphics-oriented editor for designing the characteristic curves
of a hydraulic valve
TwinCAT Kinematic Transformation 1169
realises different kinematic transformations for TwinCAT PTP or
TwinCAT NC I
Product overview TwinCAT
New Automation Technology We reserve the right to make technical changes. BECKHOFF
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Supplements | Communication
TwinCAT PLC Serial Communication 1170
software library for communication via serial Bus Terminals
or PC COM ports
TwinCAT PLC Serial Communication 3964R / RK512 1170
software library for communication via serial Bus Terminals
or PC COM ports with the 3964R/RK512 protocol
TwinCAT PLC Serial Communication EnOcean 1171
software library for the processing of signals from sensors
without batteries with EnOcean technology
TwinCAT PLC Modbus RTU 1171
software library for communication with the Modbus protocol
via serial Bus Terminals or PC COM ports
TwinCAT PLC IEC 60870-5-101/-102/-103/-104 Master 1172
software library for communication via the telecontrol protocol
according to IEC 60870-5-10x (master)
TwinCAT PLC IEC 60870-5-101/-104 Slave 1172
software library for communication via the telecontrol protocol
according to IEC 60870-5-101/104 (slave)
TwinCAT DriveTop Server 1173
communication server for connecting the Indramat DriveTop tool
with TwinCAT
TwinCAT DriveCOM OPC Server 1173
for communication of drive setup tools right into
DriveCom-compatible drives
TwinCAT OPC Server 1175
for access to TwinCAT variables in accordance with the
OPC DA/XML DA specication
TwinCAT OPC UA Server 1176
for access to TwinCAT variables in accordance with the
OPC UA specication
TwinCAT SMS/SMTP Server 1176
enables sending of SMS or e-mail messages from the TwinCAT PLC
TwinCAT TCP/IP Server 1177
server and PLC library for communication via generic TCP server
(client functionalities included)
TwinCAT Modbus TCP Server 1177
for communication with Modbus TCP devices
(server and client functionality)
TwinCAT Virtual Serial COM Driver 1177
driver for the automatic generation of virtual Windows COM interfaces
for EL60xx terminals
TwinCAT FTP Client 1178
enables the TwinCAT PLC to access several FTP servers
TwinCAT PLC RFID Reader Communication 1178
for the connection of RFID readers to the TwinCAT PLC
Supplements | Controller
TwinCAT PLC Controller Toolbox 1179
software library with function blocks for control technology
TwinCAT PLC Temperature Controller 1179
software library with temperature control function block
Supplements | Building Automation
TwinCAT PLC Building Automation 1180
software library for executing basic building automation functions
TwinCAT PLC Building Automation DALI 1180
software library for the processing of signals for the digital
interfaces of ballasts
TwinCAT Building Automation Framework 1181
for easy conguration of building automation applications
TwinCAT PLC HVAC 1182
software library for the automation of heating, ventilation,
air-conditioning and sanitary installations
TwinCAT PLC M-Bus 1183
licence for using the PLC library TwinCAT PLC M-Bus
TwinCAT Crestron Server 1183
for communication between a TwinCAT PLC and a Crestron control
centre
New Automation Technology BECKHOFF We reserve the right to make technical changes.
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Comparison: execution times for 1,000 PLC commands by a hardware PLC
and by TwinCAT PLC
Load threshold and jitter online
ministic features, independently
of other processor tasks. The
real-time load on a PC is set
with TwinCAT; dened operat-
ing behaviour is achieved in
this way. TwinCAT indicates the
system load for programs that
are running. A load threshold
can be set in order to assure
a dened computing capacity
for the operating programs as
well as for Windows NT/2000/
XP/Vista or Windows 7. If this
threshold is exceeded, a system
message is generated.
TwinCAT supports system
diagnosis
The general use of hardware
and software from the open PC
world requires some checking:
unsuitable components can
upset the PC system. Beckhoff
has integrated a practical indi-
cator of the real-time jitter, giv-
ing administrators an easy way
to evaluate the hardware and
software. A system message
during operation can draw
attention to incorrect states.
TwinCAT PC-based control technology
Start/stop behaviour
Depending on the setting,
TwinCAT is started and stopped
manually or automatically. Since
TwinCAT is integrated into Win-
dows NT/2000/XP/Vista and Win-
dows 7 as a service, an operator
is not needed to start the system:
switching on is enough.
Restarting and data backup
When a program is started or
restarted, TwinCAT loads pro-
grams and remanent data. To
back up data and to shut down
Windows NT/2000/XP/Vista
or Windows 7 correctly, a UPS
(uninterruptible power supply)
is of great value.
TwinCAT and Blue Screen
The TwinCAT system can be
congured such that real-time
capability is maintained in the
event of a BSOD (Blue Screen of
Death) operating system crash.
Real-time tasks such as PLC and
NC can therefore continue to run
and bring the controlled process
into a safe state. Ultimately, it is
The Windows Control and
Automation Technology
The TwinCAT Software System
turns almost any compatible
PC into a real-time controller
with a multi-PLC system and
NC/CNC axis control. At the
same time, TwinCAT integrates
the programming environment
for all Beckhoff controllers: from
high-end Industrial PC Control
to embedded controller.
TwinCAT architecture
TwinCAT consists of run-time
systems that execute control
programs in real-time and the
development environments for
programming, diagnostics and
conguration. Any Windows pro-
grams, for instance visualisation
programs or Ofce programs,
can access TwinCAT data via
Microsoft interfaces, or can
execute commands.
A practically oriented
software solution
TwinCAT offers a precise time-
base in which programs are
executed with the highest deter-
New Automation Technology We reserve the right to make technical changes. BECKHOFF
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Real-time operation of PLC software in a classic PLC
Real-time operation of PLC software on a PC
Real-time operation of software for a PLC and NC (Motion Control) on a PC
the decision of the programmer
whether or not to utilise this fea-
ture, bearing in mind that data
or programs may already have
been destroyed by the BSOD.
Worldwide connection
through message routing
remote connection is
inherent to the system
According to the requirement
for operating resources, the
TwinCAT software devices can
be distributed: TwinCAT PLC
programs can run on the PCs
or on Beckhoff Bus Terminal
Controllers. A message router
manages and distributes all the
messages, both in the system
and via TCP/IP connections.
PC systems can be connected
with each other via TCP/IP; Bus
Terminal Controllers are inte-
grated via serial interfaces and
eldbuses (EtherCAT, Lightbus,
PROFIBUS DP, CANopen, RS232,
RS485, Ethernet TCP/IP).
Worldwide access
Since standard TCP/IP services
of NT/2000/XP/Vista/CE and
Windows 7 can be used, this
data can be exchanged across
the world. The system offers
scalable communication capac-
ity and timeout periods for the
supervision of communi ca tions.
OPC provides a stan dardised
means for accessing many differ-
ent SCADA/MES/ERP packets.
PLC cycle PLC cycle
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PLC cycle PLC cycle
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PLC Server Windows NT
and HMI
NC Server
for Motion Control
t
1 ms
PLC cycle (e.g. 2 ms) PLC cycle t
NC cycle (e.g. 1 ms) NC cycle t
2 ms 3 ms 4 ms 5 ms e.g.
NC cycle NC cycle
New Automation Technology BECKHOFF We reserve the right to make technical changes.
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The Windows Control and Automation Technology
The Beckhoff TwinCAT software system turns almost any compatible PC into a real-time controller with a multi-PLC system, NC axis
control, programming environment and operating station. TwinCAT replaces conventional PLC and NC/CNC controllers as well as
operating devices with:
open, compatible PC hardware
embedded IEC 61131-3 software PLC, software NC and software CNC in Windows NT/2000/XP/Vista, Windows 7, NT/ XP Embedded, CE
programming and run-time systems optionally together on one PC or separated
connection to all common eldbuses
PC interfaces support
data communication with user interfaces and other programs by means of open Microsoft standards (OPC, OCX, DLL, etc.)
TCP/ IP | serial
ADS interface
System Manager
Real-time server
I/O mapping
I/O: all fieldbuses and PC interfaces
ADS
Message router
Message router
I/O
ADS interface
I/O server
I/O run-time
I/O
ADS interface
PLC server
PLC run-time
I/O
ADS interface
NC PTP server
NC PTP run-time
I/O
ADS interface
NC I server
NC I run-time
I/O
ADS interface
CNC server
CNC run-time
System Manager
configuration,
service,
monitoring
ADS
PLC control
PLC
programming
ADS ADS
Motion Control
TwinCAT NC PTP
TwinCAT NC I
TwinCAT CNC
ADS OCX/DLL
Scada,
Visual Basic,
Delphi, Visual
C++, .NET, C#,
VB.NET,
OPC client
Scada,
Visual Basic,
Delphi
ADS Web service
ADS-http://
Internet /Intranet
TwinCAT OPC server
DA XML UA
New Automation Technology We reserve the right to make technical changes. BECKHOFF
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TwinCAT I/O universal I/O
interface for all common
eldbuses
Many PC eldbus cards from
various manufacturers are sup-
ported. It is possible to operate
more than one eldbus card per
PC. Master and slave function-
ality is supported, depending
on the selected eldbus card.
The eldbus cards can be con-
gured and diagnosed conve-
niently via the TwinCAT System
Manager. TwinCAT I/O includes
the TwinCAT real-time system
for operating the eldbuses and
a DLL interface to application
programs.
TwinCAT PLC the central
pillar of automation soft-
ware
Conceived as a pure software
PLC, TwinCAT PLC allows up to
four virtual PLC CPUs, each
running up to four user tasks,
on one PC. The PLC program can
be written in one or more of the
languages provided for in the
IEC 61131-3 standard:
IL (Instruction List),
LD (Ladder Diagram),
FBD/CFC (Function Block
Diagram),
PLC and Motion Control on the PC
SFC (Sequential Function
Chart) and
ST (Structured Text).
TwinCAT PLC running under
the Windows NT/2000/XP/Vista
operating systems includes both
the programming environment
and the run-time system, so
that an additional programming
device is not required. Under the
CE operating system and the
embedded operating systems
for the series BX and BC control-
lers, only TwinCAT run-time is
available. Program modications
are implemented via network-
capable powerful communica-
tion with the run-time system.
Programming can be done
locally,
via TCP/IP or
via the eldbus (BXxxxx
and BCxxxx).
IEC 61131-3 advanced
programming standard for
all Beckhoff controllers
The TwinCAT PLC is programmed
in accordance with IEC 61131-3
independently of the manufac-
turer. TwinCAT supports all the
IEC 61131-3 programming lan-
guages with convenient editors
and a fast, effective compiler,
so that the development cycle
for the creation even of large
PLC programs of several mega-
bytes can be short. Incremental
compilation prevents long
turnaround times. Only genu-
inely new sections are compiled.
Powerful editor features, such as
autoformat, autodeclare or
nd and replace enable fast
programming. For all program-
ming languages, the project
comparison function facilitates
differences to be identied and
accepted if appropriate. If a
project (comments, directories,
etc.) is to be translated into a
language other than the origi-
nal language, all terms can be
exported into a table, translated
and re-imported. If a team is
dealing with the development,
all objects (blocks, data types,
lists) can be managed within a
source code management tool
via the TwinCAT Engineering
Interface. This enables changes
to be traced back and differences
between individual versions to
be displayed.
The concept of the instan-
tiation of function blocks, in
which each instance is associ-
ated with its own data, leads
naturally to object-oriented and
structured programming styles.
All common data types specied
in IEC 61131-3 are supported.
Multi-dimensional elds and
structures are possible, as are
enumeration and subrange types.
TwinCAT PLC is certied
for the languages IL and ST
(base level). The online change
function can be used for code
and/or data modications while
the PLC is running, providing
maximum data retention. Source
code can be stored in the target
system (except for BCxxxx series
controllers). The criteria analysis
function is very helpful for the
detection of process errors.
Code can very easily be
reused via the convenient library
manager. For know-how pro-
tection, multi-stage password
protection can be applied to
programs and libraries.
Many target platforms
one tool
The PLC programs created with
TwinCAT PLC can be executed
on a number of target platforms.
Apart from Industrial PCs and
the Embedded PCs, the PLC
project can also be loaded into
New Automation Technology BECKHOFF We reserve the right to make technical changes.
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the BC and BX series eldbus
controllers from Beckhoff. Pro -
gram development and debug-
ging proceed in the same working
environment, regardless of which
unit is executing the program.
Extensive supplementary
libraries
As an extension to the blocks
dened by the IEC language
standard, Beckhoff offers a wide
range of supplementary libraries
for the execution of tasks typical
in automation technology: e.g.
libraries for controlling electrical
and hydraulic axes via TwinCAT
NC, serial communication librar-
ies, system libraries for message
outputs, write/read les, control
technology blocks, etc.
Helpful practice tools
Extensive faultnding functions
in TwinCAT PLC facilitate the
solution of problems either on
site or via remote maintenance.
For this purpose, the PLC pro-
gramming environment in
TwinCAT offers:
monitoring,
powerow (ow control),
break point,
sampling trace of PLC
variables,
single step,
watchlist,
call hierarchy and
forcing of variables.
In addition, the TwinCAT
ScopeView (a software
oscilloscope) can be used
to record one or several
variables simultaneously.
TwinCAT NC Motion
Control on the PC
A software NC consists of:
positioning (set value
generation and position
control)
integrated PLC with
NC interface
operating programs
for commissioning
purposes
I/O connection for axes
via eldbus
With TwinCAT NC, the position
controller is calculated on the
PC processor as standard. It
exchanges data cyclically with
drives and measurement systems
via the eldbus.
Central NC positioning
on the PC
The computing capacity of a PC
enables axis motion simultane-
ously with the PLC, whereby
the position controller is usually
calculated on the PC: the com-
puting capacity of a PC enables
many axes to be positioned
simultaneously.
TwinCAT enables a PC to
process the operating programs,
the PLC and the NC at the same
time. The division of the system
load is supported by TwinCAT
with appropriate functions.
Analytical path calculation
The algorithms that TwinCAT NC/
NC I/CNC uses to control axes
take account of the dynamic
parameters of the axis: speed,
acceleration and jerk. In this
way, the axes are moved at any
time within the limits of what
is dynamically possible, and are
precisely analytically coordi-
nated. A range of different regu-
lation algorithms are available
in order to reduce the deviations
from the ideal trajectory that will
occur in practice.
Individual or joint
Based on the normal methods
for positioning an individual
electrical axis, moving from its
starting point to its destination
(point-to-point positioning),
TwinCAT NC also allows the
coordinated movement of a
number of axes in multi-stage
master-slave operation (e.g.
gearing functions or cam plates)
to be executed. TwinCAT NC I
further allows the interpolated
path sequencing described in
accordance with DIN 66025 to
be carried out involving up to
three axes.
Software PLC included
TwinCAT combines software
NC and software PLC to form a
powerful controller. The commu-
nication between the two pack-
ages is a pure software/software
channel with minimum delay
times. The NC functionalities are
called from the PLC program via
standardised, PLCopen-certied
function blocks.
Axis movements can be
simulated without hardware;
the actual value is instructed to
ideally track the set value, and
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PTP positioning procedure Hierarchical controller architecture: central or distributed
0
20
40
100
80
60
-22
-20
-18
-12
-14
-16
-10
-8
-6
0
-2
-4
2
4
8
6
12
10
0.0 0.2 0.4 0.6 0.8
0
200
400
1000
800
600
0
-2
2
time (s)
velocity (m/min)
acceleration (m/s
2
)
jerk (scaled to -1.0, +1)
position (mm)
Supervisory system
TwinCAT
PC Control
TwinCAT
PC Control
TwinCAT
PLC I/O
LAN
Communication
the complete machine ow is
checked. TwinCAT ScopeView is
helpful for commissioning and
maintenance. It records all axis
variables such as position, speed
and acceleration.
Convenient commissioning
Commissioning is simplied
signicantly by the conguration
and diagnostic dialogs offered
in the TwinCAT System Manager.
For each axis, all main data are
displayed at a glance. The axes
can be moved via function keys.
Special functions such as cou-
plings, cam plates or distance
compensation can be triggered
and observed via the System
Manager. A convenient dialog
enables the dynamic parameters
of an axis to be determined.
TwinCAT NC I axis
interpolation in three
dimensions
TwinCAT NC I (interpolation)
is the NC system for linear
and circular interpolated path
movements of axis groups with
up to eight drives. The system
includes interpreter, set value
generation and position control-
ler. PLC functionality is integrated,
as is the connection of the axes
with the eldbus.
The interpreter interprets
the code described in DIN 66025.
Comprehensive PLC libraries
enable interaction between
NC and PLC. NC programs, for
example, can be loaded directly
from the PLC program into the
interpreter. As an alternative to
DIN 66025, the path interpola-
tion via the TcPlcInterpolation
library can take place directly
from the PLC. In this case, the
geometry and help functions
(e.g. M functions) are writ-
ten to a table in the PLC and
transferred to the NC core. This
procedure is particularly suitable
for exible movements, e.g. in
pick-and-place applications.
TwinCAT CNC
the software CNC for
toughest requirements
TwinCAT CNC expands TwinCAT
NC I with classic CNC features:
up to 32 interpolating axes
and comprehensive coordinate
and kinematic transformations
are possible. Parts program -
ming is carried out according
to DIN 66025 using high-level
language extensions. TwinCAT
CNC can operate with up to
64 axes or 32 path axes and
controlled spindles that can be
distributed across up to twelve
CNC channels. In a CNC channel,
up to 32 axes can be interpolated
simultaneously, enabling even
the most difcult motion tasks to
be solved. Apart from the classic
linear, circular and helical inter-
polations, TwinCAT CNC offers
convenient spline interpolation,
optionally based on Akima or
B-splines. Real-time transforma-
tions enable complex machine
kinematics to be realised without
problem.
HSC technology
(high-speed cutting)
Advanced HSC cutting technol-
ogy requires CNC control tech-
nology with optimised solutions
for Motion Control in order to
achieve optimum results in terms
of processing time while at the
same time offering maximum
accuracy and workpiece surface
quality.
The TwinCAT CNC HSC pack
offers the following options:
velocity and acceleration
control across blocks for
optimum utilisation of axis
dynamics and therefore
higher achievable path
velocities
high surface quality through
smoothed dynamics and
associated reduction of
vibrational excitation of
the machine
effective control of specied
contour tolerances
path programming via
splines with programmable
spline type (Akima spline,
B-spline) for reduction of NC
blocks for free-form surfaces
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