Beckhoff TwinCAT The Windows Control and Automation Technology - - PowerPoint PPT Presentation

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Beckhoff TwinCAT The Windows Control and Automation Technology - - PowerPoint PPT Presentation

Jan 16, 2024 385 likes •722 views

Beckhoff TwinCAT The Windows Control and Automation Technology Beckhoff Industrial PC Beckhoff TwinCAT Beckhoff Lightbus Beckhoff Embedded PC Beckhoff Beckhoff Beckhoff PC Fieldbus Cards, Bus Terminal Fieldbus Box Switches Beckhoff

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SLIDE 1

10.02.2009 Beckhoff TwinCAT 1

Beckhoff TwinCAT

The Windows Control and Automation Technology

Beckhoff Industrial PC Beckhoff Drive Technology Beckhoff Lightbus Beckhoff TwinCAT Beckhoff Bus Terminal Beckhoff Fieldbus Box Beckhoff Embedded PC Beckhoff PC Fieldbus Cards, Switches Beckhoff EtherCAT

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SLIDE 2

10.02.2009 Beckhoff TwinCAT 2

PC control technology – PLC and NC on a PC

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SLIDE 3

10.02.2009 Beckhoff TwinCAT 3

Contents

  • PC based automation
  • TwinCAT
  • verview
  • I/O
  • control (plc)
  • motion (nc ptp)
  • interpolated motion (nc-i, cnc)
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SLIDE 4

10.02.2009 Beckhoff TwinCAT 4

CPU NC E/A

Evolution in control

Hardware

  • Software

Mechanic

  • Electronic

Slots/CPUs

  • Tasks
  • par. Connect
  • Fieldbus

Comm.

  • direct Access

IPC Prog. Tool HMI IPC Komm. Fieldbuses Prog. Tool HMI Router PLC 1 NC E/A Mapping .. RT-Kernel PLC 2

PC based automation: development

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SLIDE 5

10.02.2009 Beckhoff TwinCAT 5

What is TwinCAT ?

TwinCAT is an automation package comprising engineering and runtime software for

  • sequence control (Software PLC),
  • motion (Software Motion Control),
  • communication over all components (ADS),
  • technological function (controllers,

communication, OS functions, etc...) and all this in HARD REALTIME on Windows NT/2000/XP as well as on Windows NT/XP Embedded and CE.NET.

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SLIDE 6

10.02.2009 Beckhoff TwinCAT 6

TwinCAT architecture

TwinCAT on a PC platform TwinCAT

  • does not modify Windows
  • needs no special hardware
  • turns standard Windows to a real-time OS
  • Floating Point Unit (FPU) fully supported
  • full access to Windows user interface via OCX, Dll
  • remote access via TCP/IP

PC platform

  • standard hardware, best performance
  • use of PC resources
  • use of mainstream operating system (Windows)
  • easy integration into office networks
  • pen field bus communication
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SLIDE 7

10.02.2009 Beckhoff TwinCAT 7

Windows NT, 2000, XP

Fieldbus Card Drivers ADS Router I/O Server I/O Mapping PLC Server I/O NC Server

  • ther

i.e. CAM SysMan ADS PLC Control Diagnose i.e. Scope User HMI User HMI OPC OCX/Dll

TCP/IP

Kernelmode Usermode ADS ADS ADS OPC ADS ADS ADS ADS I/O I/O TwinCAT System Realtime Server

Platform PC

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SLIDE 8

10.02.2009 Beckhoff TwinCAT 8

TwinCAT real-time

  • developed by Beckhoff
  • needs no extra hardware other

than PC

  • cycle times as low as 50 µs
  • preemptive scheduling
  • latency time < 15 µs (PIII)
  • adjustable real time ratio to Windows

(patented)

  • message if latency time is too high
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SLIDE 9

10.02.2009 Beckhoff TwinCAT 9

TwinCAT PC system key features

Safe operation

  • TwinCAT real-time systems survive a BSOD

(blue screen of death)

  • motherboard diagnosis for fan/temperature

Performance

  • fast closed loop control, cycle time down to

50 µs Vertical and horizontal integration

  • ADS routing (local or via TCP/IP)

Retain data/restart behaviour

  • UPS support (serial and Beckhoff)

Event tracking

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SLIDE 10

10.02.2009 Beckhoff TwinCAT 10

TwinCAT on a CX1000/CX1020/CX9000 platform

TwinCAT

  • pure software solution
  • uses Windows CE real-time
  • cyclic storage of Retain Data
  • programming display

CX10xx/CX9000

  • embedded HW: 32-bit x86 comp. CPU 266 MHz
  • OS: Windows CE or Windows XP embedded (CX10xx)
  • no rotating media, fan less
  • direct access to terminal I/O
  • more than one field bus
  • master and/or slave
  • resolution from 320 x 240 to 1024 x 768
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SLIDE 11

10.02.2009 Beckhoff TwinCAT 11

TwinCAT CE system key features

Safe operation TwinCAT real-time systems survive a BSOD (blue screen of death) Motherboard diagnosis for fan/temperature Performance fast closed loop control, cycle time down to 50µs Vertical and horizontal integration

  • ADS Routing (local or via TCP/IP)

Retain data/restart behaviour UPS support (serial and Beckhoff) Event tracking

  • language independent messages
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SLIDE 12

10.02.2009 Beckhoff TwinCAT 12

TwinCAT on a BXxxxx platform

TwinCAT

  • downloads program
  • source code up/download
  • nline debugging/online change
  • remote access via field bus

BXxxxx

  • embedded hardware
  • Smart System Bus

(CANopen based)

  • display
  • navigation switches
  • embedded operating system
  • direct access to terminal I/O
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SLIDE 13

10.02.2009 Beckhoff TwinCAT 13

TwinCAT on a BCxxxx platform

TwinCAT

  • downloads program
  • nline debugging
  • remote access via field bus

BCxxxx

  • embedded hardware
  • embedded operating system
  • direct access to terminal I/O
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SLIDE 14

10.02.2009 Beckhoff TwinCAT 14

Test 1 : Bit / Byte / Int / Dint / Word / DWord Test 2 : Bit / Byte / Int / Dint / Word / DWord / Real / LReal / String

Performance Measurements

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SLIDE 15

10.02.2009 Beckhoff TwinCAT 15

TwinCAT I/O System

  • pen for all major field buses
  • PC hardware supported
  • easy setup and diagnosis
  • mapping from logical to

physical I/O I I O O Input Input Output Output I I O O I I O O TwinCAT process image field bus 1 field bus 2 field bus 3 Mapping

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SLIDE 16

10.02.2009 Beckhoff TwinCAT 16

TwinCAT Control

modular structure

  • max. 4 PLCs on a PC
  • 1 PLC on CX1000/BX/BC

timing

  • max. 4 task in one PLC

easy set up and maintenance

  • nline program change
  • full debugging features:
  • breakpoint, monitoring, power flow, scope

choose the favourite programming language

  • all IEC61131-3 languages

(IL, ST, FBD, LD, SFC)

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SLIDE 17

10.02.2009 Beckhoff TwinCAT 17

TwinCAT Motion

Migration from mechanical to electronic system mechanical cam

  • electronic cam

mechanical gear

  • electronic gear

mechanical clutch

  • electronic coupling

mechanical cam shaft

  • electronic cam shaft

flying saw Benefit greater flexibility when changing the finished product increase machine output reduce set up time – no mechanical modification decrease stock – no different mechanical parts Summary

  • shorten delivery/development time, decrease costs
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SLIDE 18

10.02.2009 Beckhoff TwinCAT 18

TwinCAT NC PTP

  • up to 255 axes
  • easy set up and maintenance
  • pen for all axis types
  • servos
  • stepper
  • switching axes
  • hydraulic axes
  • interfacing to drives via
  • digital interfaces:

Lightbus, Sercos, Profibus DP/MC, SSI, pulse train

  • analogue: +-10V
  • additional functionality: camming,

gearing, flying shear, superposition

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SLIDE 19

10.02.2009 Beckhoff TwinCAT 19

Hands on

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SLIDE 20

10.02.2009 Beckhoff TwinCAT 20

Interpolated movements: TwinCAT NC I

Interpolated movements for 3- axes plus 5 auxiliary axes programming in DIN 66025 Code technological features: bottleneck detection

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SLIDE 21

10.02.2009 Beckhoff TwinCAT 21

TwinCAT NC I

Linear, circular, helical interpolation in the main planes Look Ahead Interpolation functions DIN 66025 extension High-level language extensions Subroutine techniques CNC function blocks from the PLC CNC programming IEC 61131-3 PLC programming 255 31 3 path axes + 5 auxiliary axes

  • Max. number of controlled axes
  • Max. number of independent channels
  • Max. number of simultaneously

interpolating per channel

TwinCAT NC I Properties

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SLIDE 22

10.02.2009 Beckhoff TwinCAT 22

TwinCAT NC I

Coordinate transformation Real-time transformations Analog/encoder axis interface via appropriate fieldbus Digital axis interface via Lightbus, Sercos, Profibus DP/MC, CANopen, real-time Ethernet Axis interface Lightbus fieldbus system, Profibus DP, CANopen, DeviceNet, Interbus, Sercos, real-time Ethernet, PC interfaces I/O system Path override Axis fault/sag compensation Gantry axes Tracking axes Auxiliary axes Master/Slave coupling variable factor Axis exchange via channels Online changes of configuration of the axes Online axis exchange with PTP axes Axis functions TwinCAT NC I Properties

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SLIDE 23

10.02.2009 Beckhoff TwinCAT 23

TwinCAT CNC

CNC path control for highest demands complete CNC functionality 32-axis interpolation coordinate and kinematik transformation 5-axis functionality spline interpolation

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SLIDE 24

10.02.2009 Beckhoff TwinCAT 24

TwinCAT CNC

Linear, circular, helical interpolation in the main planes/freely definable planes Look Ahead Spline interpolation Thread functions Interpolation functions DIN 66025 extension High-level language extensions Subroutine techniques User macros CNC programming IEC 61131-3 PLC programming 32 12 10 32 path axes/spindles

  • Max. number of controlled

axes/spindles

  • Max. number of controlled spindles
  • Max. number of independent

channels

  • Max. number of simultaneously

interpolating per channel

TwinCAT CNC Properties

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SLIDE 25

10.02.2009 Beckhoff TwinCAT 25

TwinCAT CNC

Coordinate and kinematic transformation 5-axis functionality Real-time transformations Analog/encoder axis interface via Lightbus Digital/encoder axis interface via Lightbus, Sercos, Profibus, DP/MC Axis interface Lightbus fieldbus system, Profibus DP, CANopen, DeviceNet, Interbus, Sercos, real-time Ethernet, PC interfaces I/O system Path override Axis fault compensation Gantry axes Tracking axes Auxiliary axes Master/Slave coupling Axis/spindle exchange via channels Spindle synchronisation Axis functions

TwinCAT CNC Properties

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SLIDE 26

10.02.2009 Beckhoff TwinCAT 26

Performance BCxxxx BXxxxx CX1010 PC Costs

f

  • r

a l l P l a t f

  • r

m s T w i n C A T : O n e T

  • l

T w i n C A T : P L C

TwinCAT PLC

CX9xxx CX1020/30

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SLIDE 27

10.02.2009 Beckhoff TwinCAT 27

Performance BCxxxx BXxxxx CX1010 PC Costs

f

  • r

a l l P l a t f

  • r

m s T w i n C A T : O n e T

  • l

T w i n C A T : N C P T P

TwinCAT NC PTP

CX9xxx CX1020/30

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SLIDE 28

10.02.2009 Beckhoff TwinCAT 28

Performance BCxxxx BXxxxx CX1010 PC Costs

f

  • r

a l l P l a t f

  • r

m s T w i n C A T : O n e T

  • l

T w i n C A T : N C I

TwinCAT NC I

CX9xxx CX1020/30

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SLIDE 29

10.02.2009 Beckhoff TwinCAT 29

Performance BCxxxx BXxxxx CX1010 PC Costs

f

  • r

a l l P l a t f

  • r

m s T w i n C A T : O n e T

  • l

T w i n C A T : C N C

TwinCAT CNC

CX9xxx CX1020/30

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SLIDE 30

10.02.2009 Beckhoff TwinCAT 30

Centraal vs Decentrale Motion Control

Centraal + Alle data (instellingen, status) op één locatie + Meerdere assen zijn eenvoudig te coördineren + Applicaties zijn eenvoudiger te multipliceren + Backups zijn eenvoudig te maken + Minder spareparts

  • Er is een krachtige CPU

nodig Decentraal

  • Alle data (instellingen,

status) verspreid over de diverse controllers

  • Meerdere assen zijn

moeilijk te coördineren

  • Applicaties zijn lastig te

multipliceren

  • Backups zijn lastig te

maken

  • Meer spareparts

+ Er is niet zo’n krachtige CPU nodig

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SLIDE 31

10.02.2009 Beckhoff TwinCAT 31

Voordelen Motion Control met TwinCAT

  • Geen dure hardware motion controller nodig
  • Alle informatie op één plek
  • Krachtige Scoop functie
  • Nagenoeg veldbus onafhankelijk
  • Geïntegreerde PLC (zelfs 4 PLC’s op één PC)
  • Motion Control Library volgens PLCopen
  • Software kan al met standaard PC ontwikkeld en

getest worden

  • Extreem flexibel
  • Van NC PTP via NCI naar CNC