TwinCAT 2 Manual v3 0 1

Beckhoff New Automation Technology
TwinCAT 2
Revised: November 8, 2013

Brian McClure
b.mcclure@beckhoff.com
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Preface
This Manual is intended for anyone who is interested in the TwinCAT software. From
electricians, to electrical engineers, and even computer scientists; all levels of experience can benefit
from the material covered in this manual.
The material is a result of the combined efforts of many engineers within Beckhoff Automation.
We have reviewed and revised the information in an effort to make it as precise and correct as possible;
however, nothing is perfect. But, we would like for it to be. If you find any issues, or items that you think
need more explanation, please let us know by contacting the author at b.mcclure@beckhoff.com.
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Revision Notes
V3.0.0
Added – Chapter Digital I/O
This chapter covers the first section of “The Inspection Conveyor” utilizing Digital Inputs
and Outputs to control the conveyor.
Index Added
Table of Contents and Page numbering modified
V3.0.1
Added – Code Changes to PLC Overview
Added – Lamp Test to Trouble shooting
Index Updated
Page Number Wrapping Fixed
Added - Labs
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I. Contents
II. TWINCAT OVERVIEW 11
1. OVERVIEW 11
2. SYSTEM SERVICE 18
3. SYSTEM MANAGER 26
4. PLC CONTROL 44
III. TWINCAT SOFTWARE INSTALLATION 45
5. TWINCAT VERSIONS 45
6. SOFTWARE, DOWNLOAD & INSTALLATION 47
7. LICENSING AND REGISTRATION 62
IV. PLC OVERVIEW 64
8. IDE 64
9. PROGRAMS 68
10. DATA TYPES AND CONVERSIONS 69
11. VARIABLES 72
12. LANGUAGES 77
13. FUNCTIONS 83
14. FUNCTION BLOCKS 87
15. ACTIONS 96
16. STRUCTURES 97
17. ENUMERATIONS 99
18. ARRAYS 102
19. BOOT PROJECT 106
20. SOURCE CODE DOWNLOAD 108
21. CODE CHANGES 112
V. PLC PROGRAMMING “THE INSPECTION CONVEYOR” 130
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22. MACHINE CONTROL WITH TOP-DOWN PROGRAMMING 130
23. DIGITAL I/O 206
VI. TROUBLE SHOOTING 241
24. LAMP TEST 241

25. CODE SEQUENCING 256
26. BREAK POINTS 260
27. FLOW CONTROL 265
28. GLOBAL SEARCH 271
29. CROSS REFERENCE 277
30. SCOPE VIEW 283
VII. LABS 290
31. LANGUAGES 290

32. LINEAR SCALING USING A RATIO 301
33. LINEAR SCALING USING AN EQUATION 302
VIII. CAMMING 305
34. PREFACE 305

35. INTRO TO TCMC2.LIB 306
A. OVERVIEW 306
B. MIGRATION FROM TCMC TO TCMC2 310
C. STATUS INFORMATION 313
36. WHEN TO USE A CAM TABLE 314
A. OVERVIEW 314
B. GEARING 315
C. LINEARLY INCREASING GEAR RATIO (DYNAMIC) 316
D. CAM TABLE 317
37. CREATING A CAM TABLE WITH FUNCTION BLOCKS 318
A. OVERVIEW 318
B. DEFINING THE POINTS ON THE CAM TABLE 318
I. MOTION FUNCTION POINT 318
II. SAMPLE CODE: 320
38. DEFINING THE CAM TABLE IN THE PLC 322
A. OVERVIEW 322
B. MC_CAM_REF 322
I. EXAMPLE 1: POSITION TABLE STRUCTURE DESCRIPTION 322
II. EXAMPLE 2: STRUCTURE DESCRIPTION OF A MOTION FUNCTION 323
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C. MC_TABLETYPE 324
I. SAMPLE CODE: 324
39. CREATING THE CAM TABLE 325
A. OVERVIEW 325
B. MC_CAMTABLESELECT 325
I. SAMPLE CODE: 326
40. IMPORTING A CAM TABLE FOR VERIFICATION 327
A. OVERVIEW 327
B. CREATING A BLANK TABLE 327
C. IMPORTING THE CAM TABLE 330
41. CAMMING THE TWO AXES TOGETHER 333
A. OVERVIEW 333
ONCE THE CAM TABLE HAS BEEN DEFINED, VERIFIED, AND CREATED; THE TWO AXES ARE NOW READY TO BE CAMMED
TOGETHER. 333
B. MC_CAMIN 333
I. SAMPLE CODE: 335
42. CHANGING A TABLE POINT VIA THE PLC 336
A. OVERVIEW 336
B. MC_WRITEMOTIONFUNCTIONPOINT 336
C. MC_SETCAMONLINECHANGEMODE 337
D. MC_CAMACTIVATIONMODE 339
I. SAMPLE CODE: 340
43. MOTION FUNCTIONS VS. POSITION TABLES 342
A. POSITION TABLES 342
B. MOTION FUNCTIONS 344
C. DEFINITION OF A POINT 345
D. POINT STRUCTURE 345
E. POINT TYPES 346
44. CAM DESIGN TOOL 347
A. OVERVIEW 347
B. CREATING A CAM TABLE 348
I. MASTER TAB 353
II. SLAVE TAB 354
C. GRAPHIC WINDOW 355
D. TABLES WINDOW 357
I. FUNCTION TYPES 358
II. COMMANDS 359
45. CAM TABLE SCALING 361
A. OVERVIEW 361
B. MC_CAMSCALING 361
C. MC_CAMSCALINGMODE 363
I. EXAMPLE: 364
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II. SAMPLE CODE: 366
46. CYCLIC CAM PLATES WITH LIFT 367
A. MC_STARTMODE 369
47. CAM OUT AND RESTARTING 371
A. OVERVIEW 371
B. MC_CAMOUT 372
C. MC_HALT 373
48. MC_CAMIN APPENDIX 375
A. AXIS COUPLING WITH CAM PLATES 375
B. LINEAR CAM PLATES 375
C. CYCLIC CAM PLATES WITHOUT LIFT 377
D. CYCLIC CAM PLATES WITH LIFT 378
E. UNCOUPLING AND RE-COUPLING FOR CYCLIC CAM PLATES WITH LIFT 379
49. DIAGNOSTICS 380
A. OVERVIEW 380
B. ERROR FORMAT 380
IX. REMOTE CONNECTIONS 385
50. EMBEDDED CONTROLLERS 385
X. APPENDIX I – VARIABLE NAMING CONVENTION 398
51. SCOPE 398

52. PROGRAMMING SYSTEM SETTINGS 399
A. FONT 399
B. TAB WIDTH 399
53. NAMING 400
A. GENERAL 400
B. CASE SENSITIVITY 400
C. VALID CHARACTERS 400
D. PREFIX TYPES 401
E. SCOPE PREFIX 402
F. TYPE PREFIX 403
G. PROPERTY PREFIX 405
H. POU PREFIX 407
I. STRUCTURES 408
J. LIST TYPES 409
K. LIBRARIES 410
54. GOOD PROGRAMMING PRACTICES 411
A. COMMENTS 411
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B. ARRAY INDEXING 411
C. PROGRAM CALLS 411
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II. TwinCAT Overview
1. Overview
The Windows Control and Automation Technology
 The Beckhoff TwinCAT software system turns 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 fieldbuses
 PC interface support
 data communication with user interfaces and other programs by means of open
Microsoft standards (OPC, OCX, DLL, etc.)
Architecture
 TwinCAT consists of run-time systems that execute control programs in real-time and the
development environments for programming, diagnostics and configuration. Any Windows
programs; for instance, visualization programs or MS Office programs, can access TwinCAT data
via Microsoft interfaces, or can execute commands.
A practical oriented software solution
 TwinCAT offers a precise time base in which programs are executed with the highest
deterministic features, independently of other processor tasks. The real-time load on a PC is set
with TwinCAT; defined operating behavior 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 defined
Chapter: TwinCAT Overview
computing capacity for the operating programs and for Windows NT/2000/XP/Vista. If this
threshold is exceeded, a system message is generated.
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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 indicator of
the real-time jitter, giving administrators an easy way to evaluate the hardware and software. A
system message during operation can draw attention to incorrect states.
Start/Stop behavior
 Depending on the setting, TwinCAT is started and stopped manually or automatically. Since
TwinCAT is integrated into Windows NT/2000/XP/Vista and Windows 7as 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 programs and remnant data. To back up
data and to shut down Windows NT/2000/XP/Vista and Windows 7 correctly, a UPS
(uninterruptible power supply) is of great value.
World-wide 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 integrated via serial interfaces and fieldbuses (EtherCAT, Lightbus, PROFIBUS DP, CANopen,
RS232, RS485, Ethernet TCP/IP).
World-wide 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 capacity and
timeout periods for the supervision of communications. OPC provides a standardized means for
accessing many different SCADA/MES/ERP packets.
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PLC and Motion Control on the PC
TwinCAT I/O – universal I/O interface for all common fieldbuses
 Many PC fieldbus cards from various manufacturers are supported. It is possible to operate
more than one fieldbus card per PC. Master and slave functionality is supported, depending on
the selected fieldbus card. The fieldbus cards can be configured and diagnosed conveniently via
the TwinCAT System Manager. TwinCAT I/O includes the TwinCAT real-time system for
operating the fieldbuses and a DLL interface to application programs.
TwinCAT PLC – the central pillar of automation software
 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),
 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 controllers, only TwinCAT run-time is available. Program modifications are
implemented via network-capable powerful communication with the run-time system.
Programming can be done
 locally,
 via TCP/IP or
 via the fieldbus (BXxxxx and BCxxxx).

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IEC 61131-3 – advanced programming standard for all Beckhoff controllers
 The TwinCAT PLC is programmed in accordance with IEC 61131-3 independently of the
manufacturer. TwinCAT supports all the IEC 61131-3 programming languages with convenient
editors and a fast, effective compiler, so that the development cycle for the creation even of
large PLC programs of several megabytes can be short. Incremental compilation prevents long
turnaroand times. Only genuinely new sections are compiled. Powerful editor features, such as
“autoformat”, “autodeclare” or “find” and “replace” enable fast programming. For all
programming languages, the project comparison function facilitates differences to be identified
and accepted if appropriate. If a project (comments, directories, etc.) is to be translated into a
language other than the original 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 “instantiation” of function blocks, in which each instance is associated with
its own data, leads naturally to object-oriented and structured programming styles. All common
data types specified in IEC 61131-3 are supported. Multi-dimensional fields and structures are
possible, as are enumeration and subrange types.
 TwinCAT PLC is certified for the languages IL and ST (base level). The online change function can
be used for code and/or data modifications 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 protection,
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 the BC
and BX series fieldbus controllers from Beckhoff. Program development and debugging proceed
in the same working environment, regardless of which unit is executing the program.
Extensive supplementary libraries

 As an extension to the blocks defined 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
libraries, system libraries for message outputs, write/read files, control technology blocks, etc.
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Helpful practice tools
 Extensive fault finding functions in TwinCAT PLC facilitate the solution of problems either on site
or via remote maintenance. For this purpose, the PLC programming environment in TwinCAT
offers:
 Online Monitoring
 Power Flow (flow control)
 Break Points
 Sampling trace of PLC variables
 Single step
 Watchlist
 Call hierarchy
 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 fieldbus
 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 fieldbus.
Central NC positioning on the PC

 The computing capacity of a PC enables axis motion simultaneously with the PLC, whereby the
position controller is usually calculated on the PC: The computing 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.
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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 coordinated. A
range of different regulation 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
communication between the two packages is a pure software/software channel with minimum
delay times. The NC functionalities are called from the PLC program via standardized, PLCopen-
certified function blocks.
 Axis movements can be simulated without hardware; the actual value is instructed to ideally
track the set value, and the complete machine flow is checked. TwinCAT ScopeView is helpful
for commissioning and maintenance. It records all axis variables such as position, speed,
acceleration and jerk.
Convenient commissioning
 Commissioning is simplified significantly by the configuration 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 couplings, 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.
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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 each involving two or three drives. The system includes interpreter,
set value generation and position controller. PLC functionality is integrated, as is the connection
of the axes with the fieldbus.
 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.
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 programming 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 difficult motion tasks to be solved.
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2. System Service
 The TwinCAT System Service is represented by the TwinCAT icon in the Windows system tray.
 The TwinCAT System Service can be accessed through the TwinCAT icon in the windows system
tray (Right-Click and Left-Click provides the same menu)
 From this menu the other parts of the TwinCAT system can be accessed and the TwinCAT
System Properties can be changed
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 The General tab of the system properties provides the version number and registration
information of TwinCAT
 Note that the 30 day counter has started and the Reg. Key is empty
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 The upper half of the System Tab shows which TwinCAT servers are installed
 The lower half provides settings for how TwinCAT will act when windows boots up
 Auto Boot:
 Disable – The TwinCAT System Service will boot in Stop Mode
 Enable – The TwinCAT System Service will boot in Run Mode
 This would be the preferred setting on a running machine
 Config Mode – The TwinCAT System Service will boot in Config Mode
 ADS services are running, remote communication is possible

 Auto Logon:
 Enabling this option and providing a User Name and Password will allow for the
Windows Logon screen to be bypassed, this is ideal for a running machine but not for a
development laptop as this information is stored in plain text in the windows registry.
Note: See the security section for protecting the windows registry.
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 AMS Router – Automation Machine Specification
 AMS Router – Automation Machine Specification
 The AMS Router is the communication router for TwinCAT
 Every piece of information that travels from one piece of software to another must go
through the AMS Router
 AMS NetID xxx.xxx.xxx.xxx.1.1
 The address of the local TwinCAT Service
 Every address on the network should be unique

 The default address is generated by the IP address of the network card with an
additional .1.1 added to the end
 The first four octets of the address can be changed to any number between 0 and 255.
They do not have to match the IP address
 The last two octets should not be changed as .1.1 represents the external address and
other values are used internally
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 Remote Computers
 The lower section provides a list of remote computers than have been previously
configured for AMS communication
 Remote Computers can be manually added or removed from here
 The list of computers is loaded when TwinCAT enters either Config or Run mode,
therefore if a computer is added or removed from here, TwinCAT must be restarted to
update the list of Target Computers in the System Manager
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 PLC
 Up to 4 PLC Run-Times can be configured
 The path of the Boot Project can be changed
 The selection to enable the Boot Project and Retain Data can be made
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 Registration
 The System ID is needed for licensing
 It is advised that on a running machine the customer should record the System ID and
Registration Key. In the event of a Hard Disk failure these two numbers and the new
System ID can be used to generate a new Registration Key Otherwise the original PO is
needed to generate a new Registration Key
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 The System Manager and PLC Control can also be accessed through this menu or the Windows
Start menu
 Additionally the local TwinCAT System can be placed into its different modes
 Stop Mode
 The system is not capable of communication and no services are running
 Config Mode
 The ADS Router is running and communication is possible
 Scanning of hardware is done is this mode only
 I/O values are updated at the hardware level
 Run Mode (Requires License beyond 30 day Trial)
 All services are enabled and running if configured to do so (i.e. Boot Project)
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3. System Manager
 The TwinCAT System Manager is used to configure the links between Hardware and
Software
 I/O Configuration – All Fieldbus Hardware
 PLC Configuration – PLC Run-Times (up to 4)
 NC Configuration – Axes (real and virtual), Cam Tables, Interpolation Channels
 System Configuration – Properties of the Target System and Real-Time Usage
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Menus and Controls
 File Menu – Allows for creating a new file or opening a saved file.
 Additionally provides a way to open the CurrentConfig.tsm file from the Boot folder, by
using ‘Open from Target’ also referred to as ‘The Red Folder’.
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 Actions – Any time a change is made to the System Manager, the ‘Activate Configuration’ must
be done to implement this change into the running system.
Note: The first 6 commands in the ‘Actions’ menu will be sent to the Target system either local
or remote.
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The tree view on the left provides access to the configurations of the system manager. When an
item on the left is selected its information will be displayed on the right. Items can be added to
the System Manager be ‘Right-Clicking’ on an existing item. Become familiar with this, almost
every item you wish to add in both the system manager and the PLC will be done by ‘Right-
Clicking’ and select ‘Add...’ or ‘Append…’
 System Configuration – Provides information and settings for the overall TwinCAT System
 The settings available from the ‘Properties’ of the TwinCAT icon can be accessed from here on a
remote system.
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General – The TwinCAT version is provided here in bold
The ‘Choose Target…’ button can be used to access a remote TwinCAT system.
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 Boot Settings – can be used to set the TwinCAT Mode on startup and the Auto Logon
 When pointed to a remote system these setting will be applied to the remote system. The
‘Apply’ button must be used, and an Administrator level user name and password must be
provided.
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 Real-Time Settings
 Settings – Here the Base Time is set; no task can be set to a faster interval than the base time.
 The CPU limit of 80% means that TwinCAT will consume no more than 80% to run all of its tasks.
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 Online – The ‘Real Time Usage’ is graphed and the limit from the ‘Settings’ tab is indicated by
the thick green line
 System Latency should be no more than 5 micro seconds
 Note: Image taken from a laptop with power save features and CPU throttling enabled, both of
these create latency problems.
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 Priorities – The list of tasks and their priorities can be seen here
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 Additional Tasks
 Task 1 (added by ‘Right-Clicking’ on ‘Additional Tasks’)
 These additional tasks are used by C++ code to talk to variables that are linked to hardware I/O
 They can also be used for simulation
35
When used for simulation the ‘Auto start’ must be checked
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 Route Settings
 Current Routes – The Remote Computers shown in this list are the same as in the ‘Properties’ of
the TwinCAT icon.
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 NC Configuration (Numerical Control) – This is the software based motion controller of TwinCAT.
The software side of all axes are configured here.
Axes – The software limits the total number of axes to 255, the real limit is the amount of CPU and
RAM in the computer.
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The ‘Online’ tab provides an overview of the status of all axes
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 Axes 1 – Online
 The ‘Online’ tab of each axis provides a useful interface to setup and troubleshoot an axis
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 PLC Configuration
 IEC Project – The PLC editor will create a “.tpy” file that contains addressed variables that can be
linked to hardware. The name of the PLC project file is shown directly below the ‘PLC-
Configuration’
 The ‘IEC1131’ Tab shows the path of where the “.tpy” file was located when it was added to the
project. If addressed variables are added to the PLC program the ‘ReScan’ button can be used to
update the list of variables in the System Manager
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 Standard Task – The default task in the PLC is the ‘Standard’ task and runs every 10ms
 Inputs of the PLC Program – Input variables have a yellow icon, Output variables have a red icon
42
Once a variable has been linked (connected) to hardware the icon changes as below
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4. PLC Control
 The PLC Control provides the user with a combination of tools.
 The IEC 61131-3 Language editors
 A Visualization Editor
 Task Configuration Utility
 The Beckhoff Compilers specific to the Target Hardware (BC, BX, CX-ARM, X86)
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III. TwinCAT Software Installation
5. TwinCAT Versions
There are several builds within each version
New builds are released primarily to accommodate new hardware
New versions are released when features are added
A Brief History
 TwinCAT 2.6 Build 315 August 2, 1999
 TwinCAT 2.7
 TwinCAT 2.8
 Change from wsm to tsm
 Use of XML for system configuration
 Config Mode for scanning hardware
 TwinCAT 2.9
 TwinCAT 2.10
 TcMC2.lib
 TwinCAT 2.11 Build 1552
 TwinCAT 2.11 R2
 Change in preparation for TwinCAT 3
 Required for CX5000

Chapter: TwinCAT Software Installation
 TwinCAT 2.11 R3
45
Release Notes:
Changes from 2.10 to 2.11

TwinCAT Base System
 Integration of MDP (Modular Device Profile – a generic interface for device information)
 Integration of configuration tool for AX5xxx drives
 Optimized behavior for use with Windows Vista and Windows 7
 Optimization for TwinCAT running on Quad-core and Octo-core CPUs
 Time synchronization with EL6692 (EtherCAT bridge)
 Time synchronization with EL6688 (IEEE 1588/Precision Time Protocol)
 New modular structure of I/O drivers
 Base for new supplement products like TwinCAT Kinematic Transformation
In addition to the features available in 2.11, the following new features were implemented in Release 2 (2.11 R2):
 support for CX50xx controllers

 support for CU2508 (port multiplier)
 support for AX5805 (safety card for AX5xxx)
 support for EP1908
 new Motion Control feature: multi-cam
 extended slave error handling for NC
 multi-linear coupling (multi-GearIn)
In addition to the features available in 2.11 R2, the following new features were implemented in Release 3 (2.11
R3):
 CX50xx, additional interfaces like EtherCAT Slave

 EL7201 support (NC PTP)
 Supports new PCIe fieldbus adapters
 New Phasing functionality for NC PTP
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6. Software, Download & Installation
 The TwinCAT software can be downloaded from www.beckhoff.com
 Select ‘Download’ from the top of the page
47
 Scroll down to the Software section and select TwinCAT 30 days version
 Select TwinCAT
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 The form must be filled in with a valid email address
 Below the form you can select the version and build of TwinCAT you would like to download
 After selecting the “Registration” button an email will be sent; to the address provided,
containing a link to download the software
49
 Selecting the link in the email will start the download
 Double-Click the exe file to start the installation process
 The file name will match the version number and build that you selected during the registration
process
50
 If you receive the following warning select Run
 Select your preferred language and then select next
51
 The InstallShield Wizard will begin the install process
52

When prompted select next
53
 Accept the license agreement and select next
54
 Fill in the User Name and Company Name (This information will be viewable in the software)
 Use ‘DEMO’ for the serial number
55
 Selecting the level of TwinCAT to install (All levels are inclusive of lower levels)
 CP – Includes the ADS driver, used for OPC Server, Beckhoff Control Panels, and other
ADS communication
 I/O – Includes the system manager for configuring hardware, used when writing C/C++
code to control the I/O
 PLC – Includes the IEC 61131-3 PLC editor and the Beckhoff compilers
 NC PTP – Numerical Control for Point to Point motion with associated libraries
 NC – I Numerical Control for Interpolated motion with associated libraries
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 Registration Type
 30 Day demo – Full functionality for 30 days, after 30 days TwinCAT will no longer go
into run mode. Development and Remote connections are still possible. Re-installing
will provide another 30 days
 Register now – A System ID will be provided for you to call in with
 The recommended practice is to select the 30 Demo and then send screenshots of the
System ID via email. Licenses can be provided within 24 hours except weekends and
holidays
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 Select the additional features to install with TwinCAT
 The desired features should be selected here, afterwards select Next to continue
 TwinCAT I/O – Allows the direct access to IO via a DLL. Can be installed with TwinCAT
PLC or TwinCAT NC PTP.
 TwinCAT Scope View – A software Oscilloscope for monitoring variables in real time
 TwinCAT Cam Server – A Cam tool for setting outputs on Lightbus, has never been sold
in North America, replaced by newer technology
 TwinCAT EDS and GSD files – files for DeviceNet and Profibus hardware
 TwinCAT Remote Manager – For managing different versions of TwinCAT on one PC.
 TwinCAT Drive Manager – Used for Configuring the AX5000 servo drives
 TwinCAT BACnet/IP – BACnet Server for building Automation and HVAC systems.
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 Specify the path for the TwinCAT installation
 The default path is highly recommended, project files that the user creates can be
stored in any desired location
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 Specify the Program Folder for the TwinCAT installation
 The default path is highly recommended, project files that the user creates can be
stored in any desired location
 The installer will now install the needed components
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 You must reboot the PC after the installer has completed
 After rebooting the PC you will see the TwinCAT icon in the Windows System Tray
 TwinCAT is in ‘Stop Mode’ by default
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7. Licensing and Registration
Single left click the TwinCAT Icon in the system tray, and select properties
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Once properties is selected the ‘TwinCAT System Properties’ window will appear. Select the last tab
(Registration) on the top of the window. At this point you can take a screen capture of the current
System ID and report it to your Inside Sales Representative.
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IV. PLC Overview
8. IDE
The Integrated Development Environment (IDE) of TwinCAT provides a complete set of development
tools for the PLC. TwinCAT PLC Control puts a simple approach to the powerful IEC languages at
the disposal of the PLC programmer. Use of the editors and debugging functions is based upon
the proven development program environments of advanced programming languages.
The Left column provides four tabs at the bottom.
Chapter: PLC Overview
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POUs – Program Organizational Units – This will contain the code written by the programmer,
Programs, Function Blocks, and Functions
Data Types – Here the programmer can create Structures and Enumerations to be used in the PLC
code
Visualizations – Interface screens for use by Maintenance personnel or Operators can be created.
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Resources – The resources tab contains several items. The Global Variable Lists, Library Manager,
PLC Configuration, and Task Configuration are all accessible from this tab.
A POU is opened by double-clicking on it.
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The POU contains 2 parts, the Declaration section, and the Code section. The first line of the
declaration section defines the type of POU and the name of the POU. Following this is the local
variable declaration, the variables that are local to this POU are defined between the Keywords
VAR and END_VAR. Below the Declaration section is the Code section, this part of the window
will contain the PLC code of the POU.
Additionally there is a Message Window at the bottom.
The Message Window can be hidden or shown, from the ‘Window’ menu select ‘Messages’ or the
keyboard shortcut ‘Ctrl + ESC’
The Message window will show Errors, Warnings, and compile information.
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9. Programs
A program is a POU which returns several values during operation. Programs are recognized globally
throughout the project. All values are retained from the last time the program was run until the next.
Programs are called from either a PLC Task or another Program. If a one program calls another program,
and if the values of the program are changed, then these changes are retained the next time the
program is called, even if the program has been called from within a different program.
Programs can call all types of POUs, they can call Functions, Function Blocks, and other
Programs. By default when a new Project is started, a Standard Task is created that calls the Program
MAIN, from MAIN all other POUs are called. Because Programs are recognized globally, the local
variables declared inside of them will referenced by first using the name of the program and then the
name of the variable, separated by a dot ‘.’. In the below example; the variable bStart is defined with an
address as a local variable in MAIN, in the PLC-Configuration of the TwinCAT System Manager the
variable will be MAIN.bStart, whereas a variable defined globally will only show the name of the
variable.
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10. Data Types and Conversions
Elementary data types form the foundation of the programmer’s tools to represent and use
information.
The elementary data types within TwinCAT Plc Control are below.
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The BOOL data type is used to define a Boolean or Bit-wise variable.
The BOOL data type takes the value of either TRUE or FALSE at runtime.
The conversion operator BOOL_TO_INT may be used to convert a TRUE/FALSE into ‘1/0’,
respectively.
Declaration syntax:
VariableName : BOOL := InitialValue ;
Example:
pushButton01 : BOOL ;
Declaration with Initial Value:

drainValveOpen : BOOL := TRUE ;
Use the {BYTE, WORD, DWORD, SINT, USINT, INT, UINT, REAL, LREAL} data set to define
an appropriate value range for a variable.
Declaration syntax:
VariableName : DataType { := <Initial_Value } ;
Example:
(*Declares a double-word sized variable named ‘MyDWord’ with the initial value of ‘12345’*)
MyDWord : DWORD := 12345 ;
The data set {BYTE, WORD, DWORD} are considered bitwise data types; an individual bit of the data
type may be extracted using the following syntax:
VariableName.bitOffset
NOTE: bitOffset cannot be a variable e.g. it must be a constant
Example:
Declaration:
VAR
Status : WORD; (*Example Status Word*)
END_VAR
Use:
IF Status.6 THEN (* Evaluate Bit 6 of the WORD Status *)
(* Execute necessary logic *)
END_IF
Floating point number representation and subsequently numerical calculations are realized with the
{REAL, LREAL} data set. The Plc Control editor recognizes a number as an integer unless explicitly
defined as a REAL type. For example, “15/9” input into a typical calculator will result in 1.667; however,
the Plc Control editor evaluates such an expression in integer division resulting in the value 2. One must
explicitly code “15.0/9.0” or, equally, “REAL#15/REAL#9” to evaluate as a floating point calculation.
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The STRING data type is utilized to define and use ASCII character strings.
Declaration Example:
VariableName : STRING { := ‘StringValue’ } ;
(* Declares STRING-type variable MyString with initialized value of “This is my string” *)

MyString : STRING := ‘This is my string’ ;
A STRING always occupies a memory size equal to the string size plus one byte for a null termination
character. The default size for a STRING is 80 bytes + one byte for a null terminating character, the
maximum size is 255 bytes + one byte for a null terminating character.
The {TIME, TIME_OF_DAY, DATE, DATE_TIME} data set supports duration measurement and/or time
stamping. The necessary data type is selected depending on scope of measurement. For example,
DATE_TIME for a time stamp vs. TIME for, say, the duration of a timer.
The Standard attempts to remove a major source of errors compared to conventional Ladder-Language
PLC programming errors with a mandate of Strong Data Types. The Plc Program Compiler should be
able to detect when a programmer, for example, attempts to assign a WORD variable to another variable
of type TIME. As such, Conversion Functions are integrated within Plc Control to provide explicit
conversion from one elementary data type to another. The conversion operation is defined as a function.
The function returns the argument’s value as the desired, converted data type. The general scheme is
defined as DataType1_TO_DataType2 ( VariableToConvert ) Where DataType1 is the data type of the
variable being converted and DataType2 is the desired data type. For example, the code snippet
converts MyWordVariable from WORD to INT (integer).
WORD_TO_INT(MyWordVariable)
The variable, MyReturnedInt, is assigned to this converted value.

MyReturnedInt := WORD_TO_INT(MyWordVariable) ;
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11. Variables
 A Variable is a name given to a location in memory that stores a value
 A Variable has up to 5 properties
1. Name
2. Size (Defined by the Type)
3. Value
4. Memory Location
5. PLC Address
 In accordance with IEC 61131-3 a variable name must adhere to the following rules
1. Must begin with a Letter or an Underscore
2. Can followed by Letters, Underscores, or Numbers
 No distinction is made between Uppercase and Lowercase Letters
 Special characters cannot be used (!@#$%^&*)
 Blanks or Spaces are not allowed
 Repeated or Sequential Underscores are not allowed
Descriptive abbreviations aid in understanding the value that is held by the variable
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The use of abbreviated data types in the name of the variable help in the understanding of what the
variable is. By placing a lower case b in front of all BOOLEAN variables the person reading the program
will know that this variable is of type BOOL without having to refer to the variables declaration.
Additionally using a Capital letter at the beginning of each word in the variable name will aid in
understanding
For example:
bStartConveyor is much easier to read and understand than bstartconveyor
Declaration
 All variables must be defined between VAR and END_VAR
 Place the name of the variable to the left of the colon
 Place the data type to the right of the colon
 VariableName : VariableType ;
 bStart : BOOL ; (*bStart is of type BOOL*)

 iProductNumber : INT; (*iProduct Number is of type INT*)
 lrPressure : LREAL ; (*lrPressure is of type LREAL*)
Variable Scope
 Global Variables can be read and written to from anywhere in the PLC program
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 Local Variables can only be written to from within the POU where they are defined
 The local variable of any POU can be read by first accessing the POU instance that the variable is
defined in and then using the ‘.’ to access the local variables defined within that POU
 Local variables cannot be written to from another POU
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Initial Values
 All Variables have the option of assigning an initial value
 This value will be written to memory when the PLC starts, after which the code of the PLC will
control the value
 bStart : BOOL := FALSE ; (*bStart is of type BOOL and has an initial value of FALSE*)
 iProductNumber : INT := 1 ; (*iProduct Number is of type INT and has an initial value of 1*)
 lrPressure : LREAL := 2.3 ; (*lrPressure is of type LREAL and has an initial value of 2.3*)
It is also possible to assign an initial value to a variable in an instance of a function block
 fbTON1 : TON := (PT := T#1s) ; (*fbTON1 is of type TON and the PT input has an initial value of 1
second*)
Constants
 Variables defined as Constants cannot be written to by the PLC
 Constants are declared similar to initial values
 Use of the keyword ‘Constant’ at the beginning of the declaration section signals the compiler
that the variable is a constant.
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Remnant Variables
 Remnant variables can retain their value throughout the usual program run period. These
include Retain variables and Persistent variables.
 Retained Data
 These variables maintain their value even after an uncontrolled shutdown of the
controller as well as after a normal switching off and on of the controller or at the
command 'Online', 'Reset‘. When the program is run again, the stored values will be
processed further. A concrete example would be a piece-counter in a production line
that recommences counting after a power failure. Retain-Variables are reinitialized at a
new download of the program unlike persistent variables. Variables stored with RETAIN
are initialized after a "Rebuild all" of the PLC program. With a “Reset all” RETAIN
variables are initialized.
 Persistent Data
 These variables are stored with the complete symbol. Therefore symbol generation
must be selected. Persistent variables conserve their old values after a "Rebuild all" of
the PLC program. To initialize the PERSISTENT variables choose Reset all. On a TwinCAT
shutdown the persistent variables are written in a special file. This file contains the old
values of the persistent variables and is read on a TwinCAT start.
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12. Languages
The IEC 61131-3 specifies 5 languages for writing PLC code. TwinCAT provides these plus 1 extra
 IL – Instruction List
 LD – Ladder Diagram
 FBD – Function Block Diagram
 SFC – Sequential Function Chart
 ST – Structured Text
 CFC – Continuous Function Chart (Non-IEC)
IL – Instruction List
 IL has a similar structure to assembly language and is comparable to the statement list language
provided by Siemens.
 In IL only 1 command can be processed per line of code.
 The command is then followed by a variable or a literal value.
 For example the following will increase the variable Speed by a value of 5
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LD – Ladder Diagram
 LD was created with the intention of representing the electrical wiring diagrams of relay logic
 LD is a graphical language that displays a power rail on each side that represents the supply and
the common of the wiring diagram
 The below examples shows a common latching circuit in LD
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FBD – Function Block Diagram
 FBD is a graphical language that is similar to an electronic circuit diagram
 The below example has the same functionality as the above latching circuit
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SFC – Sequential Function Chart
 SFC; although defined as a language, is better thought of as a way to organize code and control
the sequence of operation
 Each Step and Transition in SFC has code inside of it that can be written in any of the other
languages including SFC
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ST – Structured Text
 ST is a high level language which looks similar in syntax to PASCAL
 ST is the most powerful and flexible of all the languages
 When using ST it is important to remember that the variable being written to (the output) is on
the left
 The below example provides the same latching circuit operation as the ones above
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CFC – Continuous Function Chart (Non-IEC)
 CFC is an additional language provided within TwinCAT, yet it is not a part of the IEC 61131-3
Standard
 CFC is a graphical language very similar to FBD
 The order of execution is determined by the number, and is able to be modified by the
programmer
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13. Functions
 A Function is a re-useable piece of code that will process the defined inputs and return a single
result
 AND, OR, SQRT, SIN, COS, GT, LE are all examples of Functions
 The programmer can also create their own Functions that normally involve more complicated
tasks, such as converting a temperature value from Celsius to Fahrenheit or scaling an analog
input value from 0-32767 to 0-10
 Functions can be called from any other POU type, but are only capable of calling other functions
 Note: Functions have no memory space and therefore they do not retain any values from one
PLC scan to the next. Each function starts new each PLC scan.
Declaration
 The Declaration of a Function contains 4 parts
 The Name of the Function
 The Return type of the Function
 The Variables to be passed into the Function
 The local variables used by the Function
 The Name of the Function
 Following the Beckhoff coding convention, the name of the Function starts with F_
 The same IEC rules for naming of variables apply to the naming of Functions
 Following the Name of the Function is the Return Type
 A Function can only Return one variable
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 The Variables to be passed into the Function
 In the below example iTempInCelsius is the Variable that is being passed into the
function
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Code
 The working code of the Function
 Tf := 9/5 * Tc + 32
 In the example code the integer value iTempInCelsius is converted to a real number.
This is a Function that is built into TwinCAT
 The literal values of 9 and 5 both have a decimal point to signify them as REAL numbers
and not integers.
 Before writing the calculated value to the output the number is converted back to an
integer. (Yes, this does cause inaccuracy due to rounding.)
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Implementation
 iTempC is declared as an INT with an initial value of 100
 iTempF is declared as an INT with no initial value
 In the code the Function F_CtoF is called and iTempC is passed into it.
 The result of the Function is then stored in iTempF.
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14. Function Blocks
 A Function Block is a re-useable piece of code that can have multiple inputs and outputs.
Function Blocks are instantiated; therefore each time a Function Block is used it must be
assigned a unique instance name. Each instance receives its own space in memory and
therefore will retain its values from one PLC scan to the next.
 TON, CTU, R_Trig, FB_FileOpen, ADSREAD, are just a few examples of Function Blocks
 The programmer can also create their own Function Blocks to perform a variety of tasks.
 Function Blocks can be called by Programs or other Function Blocks. Function Blocks can all
other Function Blocks and Functions.
 Note: It is possible to call a Program from a Function Block. Just because you can doesn’t mean
you should. TwinCAT provides you with the flexibility to do many things (some good, some not
so good), once you understand the inner workings of the software you will understand why
doing this can cause problems, all of which must be handled by the programmer.
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Declaration
 The Declaration of a Function Block contains 4 parts
 The Name of the Function Block
 The Variables to be passed into the Function Block
 The Variables to be passed out of the Function Block
 The Variables that are internal to the Function Block
 The Name of the Function Block
 Following the Beckhoff coding convention, the name of the Function Block starts with
FB_
 The same IEC rules for naming of variables apply to the naming of Function Blocks
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 The Variables to be passed into the Function Block
 Below the Enable, Time On, and Time Off values are being passed into the Function Block
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 The Variables to be passed out of the Function Block
 Below the Output variable has been added
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 The Variables that are internal to the Function Block
 Below the two timers to be used have been instantiated
 fbTON is of type TON
 fbTOF is of type TOF
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Code
 The working Code of the Function Block
 Below the two timers are called with their instance name
 The := symbol signifies that a value of the variable is being passed into the FB and the => symbol
signifies that a value of the variable is being passed out of the FB
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 The IN of fbTON is TRUE if bEnable is TRUE and fbTOF.Q is FALSE
 What is fbTOF.Q?
 Anytime the ‘.’ symbol is used it signifies that the variable on the right exists inside of the
variable on the left.
 Q is an output of a TOF, therefore calling the instance name fbTOF followed by ‘.’ will allow
access to the variables that are declared inside of fbTOF
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 Also notice that fbTON.Q is passed into fbTOF, this will cause the two timers to toggle based on
the values of tTimeOff and tTimeOn
 Finally the output of fbTOF is passed to bPulse. bPulse is the output of FB_Pulse
 This could have been done with the following
 bPulse := fbTOF.Q;
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Implementation
 fbPulse1 is of type FB_Pulse fbPulse1 is an instance of FB_Pulse
 bSwitch is passed into the bEnable input of fbPulse1
 tTimeOn and tTimeOff are assigned literal values in the proper TIME format
 bPulse is passed out of fbPulse1 into bLight1
 fbPulse2 is a second instance of FB_Pulse. It is coded differently but works exactly the same.
In the above example of fbPulse2 the input variables are first assigned; followed by a call of the Function
Block instance on line 6. This is extremely important to understand; if line 6 was removed from the code
then the Function Block would never run. The line of code that calls the instance name and uses the
parentheses is the line of code that updates the values inside of the Function Block.
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15. Actions
Actions are used to organize code. Both Programs and Function Blocks can use Actions (They are not
allowed with Functions).
Actions share their local declaration section with the POU they are attached to.
To add an Action to a POU, right-click on the POU and select ‘Add Action’
The name of the Action must follow the rules of the IEC Standard, the language can be of any type
In the below example the Program MAIN has four Actions. A_Enable is called from the code of
MAIN. The instance of fbMC_Power_Ax1 is called inside of the action A_Enable, but is declared
locally in MAIN
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16. Structures
 Structures are used to define elements of a larger item and are commonly referred to as custom
data types
 A temperature sensor; for example, is more than just the temperature value
 The status of the Analog input card, the scaling parameters, and the offset are all possible
elements that are directly related to the temperature sensor
 In order to keep these elements together and make the code more re-useable a structure of
these elements can be created
Declaration
 The structure is created with its element names and data types
 Initial values can be given
 A structure can also contain other structures
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Implementation
 A structure must be instantiated just like a Function Block
 After typing the instance name of the structure place a ‘.’ immediately after it and the intelli-
sense window will appear, showing what elements exist inside of the structure
 The elements in a structure can be written to and/or read from
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17. Enumerations
 Enumerations can be used to assign a variable name to a number.
 Enumerations can be used in two different ways; with or without being instantiated.
 If the Enumeration is not instantiated then the Enumeration works similar to a list of constants.
 If the Enumeration is instantiated then the instance of the enumeration will hold the variable of
the current value of the Enumeration
 When the Enumeration is defined the first variable in the list will be assigned a value of 0, the
variables following will be assigned their values in ascending order
 Manual = 0
 Semi_Auto = 1
 Auto = 2
 If a variable in the list is explicitly assigned a value then the following variables will be
incremented from this value
 Manual = 1
 Semi_Auto = 2
 Auto = 3
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 Manual = 1
 Semi_Auto = 2
 Auto = 3
 Maintenance = 10
 Unknown = 11
 Using Enumerations in this manner allows for easier understanding of the code when it is being
read
 In this Case statement the Variables in the Enumeration are used to represent the number
equivalent of iStep1.
 As iStep1 changes in value the Case statement will change states
 iStep1 can be assigned a numerical value or an Enumeration variable
 The displayed online value of iStep1 will always be an INT value because iStep1 is declared as an
INT
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 If an instance of the Enumeration is declared then the instance of the Enumeration holds the
variable name of the value of the Enumeration
 If iStep2 is of type E_Mode then iStep2 holds either ‘Manual’, ‘Semi_Auto’, or ‘Auto’
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18. Arrays
 An Array is a list of data, the data in the Array can be of any type
 An Array can contain more than one dimension
 Think of a notebook of graph paper
 The column on a single sheet of paper would be a 1 dimensional array
 The entire sheet with its rows and columns would be a 2 dimensional array
 The notebook with all of its sheets would be a 3 dimensional array
1 Dimensional Array
 The Array is defined from 1 to 10 of type INT
 This Array will hold 10 integer values
 The position in the Array is referred to as the index
 The Array name along with an index can be used just like any other variable
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2 Dimensional Array
 The Array is defined from 1 to 10 and 1 to 3 of type String
 This Array will hold 30 (3*10) String values
 The comma ‘,’ is used to denote the multiple dimensions of the array
3 Dimensional Array
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 Initializing each index of an array
 Initializing multiple indexes with the same value
 2(3) indicates that the first 2 Indexes will be given a value of 3
 The above 2 examples can be mixed together
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 Indexing through an Array with a FOR loop
 A FOR loop can be used to easily fill an Array or read the values in an array
 The following will set all values in the Array to 0
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19. Boot Project
 The TwinCAT Boot Project is used on a production machine as the PLC code to be run when
TwinCAT starts.
 The Boot Project must be enabled and also created.
Enabling
 Enabling the Boot Project is done through the TwinCAT System Service
 Right Click on the TwinCAT icon in the Windows system tray and select properties
 Click on the PLC tab and place a check mark in the Run-Time
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Creation
 To create the Boot Project: login with the PLC and select ‘Create Boot Project’ from the ‘Online’
menu
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20. Source code Download
 The use of the Source Code Download allows for a copy of the code to be placed on the device.
 This copy of the code can be opened later either directly on the PC or through a remote
connection.
 To create the Source Code Download file you must be logged in to the PLC
 From the ‘Online’ menu select ‘Sourcecode Download’
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 The Source Code file will be created in the C:\TwinCAT\Boot folder
 The name of the file will be TCPLC_S_x.wbp where x will be a number from 1 to 4 which
represents the runtime number.
 To open the Source Code Download file, Select Open from the File Menu
 On the Open file dialog select the ‘PLC’ button
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 Select the correct Target System Type
 Select the Run-Time on the Target
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 The files will be copied in to your local Upload folder
 C:\TwinCAT\PLC\Upload
 If any of the files already exist you will be asked if you would to overwrite these files
 The code will then open
 If the source code download has not been performed you will get the following error message
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21. Code Changes
To make changes on an existing system, use the following steps when making changes to a
PLC program to ensure the best results.
 Verify PLC program file matches running code
 Edit Code
 Compile Code
 Load Changes
 Save File
 Create Boot project
 Perform a Source Code Download
Verify the PLC Program
 To ensure the correct version of the code is being edited you should first verify the PLC
Program file matches the PLC Code that is running in TwinCAT.
 Open the file
 From the ‘Online’ menu select ‘Login’
 If the PLC Program goes online without prompt, then you can be certain that the code
matches exactly.
 You will also see in the bottom right corner of the PLC Control the current status of the PLC Chapter: PLC Overview
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 When logging in to the PLC, if you receive a prompt; pay close attention to the question
being asked, and the available options.
 ‘Online Change’
 Notice at the end of the question you are notified that this will be an (ONLINE CHANGE)
 Yes – This will perform the ‘Online Change’ described in more detail on next page
 No – Don’t use this option. If you accidentally press it, simply Log Out of the PLC
 Cancel – Cancels the operation
 Load all – Stops the execution of the PLC and Loads all of the Code including the changes.
The PLC must be started again.
Online Change
 The following is a description of the internal process for an Online Change that is only
suitable for your understanding. The actual process is much more intricate and complicated
 Imagine the below represents the RAM of the Computer and the programs that are
currently using it
 The PLC Code runs from the first line to the last line and then repeats.
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 When an Online Change is performed
 The New PLC Code is loaded into a separate memory location
 When the current scan of the PLC Code has completed, instead of looping back around. The
PLC will start running the New PLC Code on the next scan.
 The New code is now repeated each PLC Scan and the memory where the old code was
located is released, to be used by another process
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Load Changes
 The other possible option when logging in to the PLC is that the code is different enough
that the PLC is not able to do an ‘Online Change’
 In the below prompt notice that it does not say Online Change.
 It simply asks if you would like to ‘Download the new program?’
 Yes – Will stop the PLC and load the code. The PLC must be started after this.
 No - Don’t use this option. If you accidentally press it, simply Log Out of the PLC
 Cancel – Cancels the operation
 At this point we are still trying to verify that we have the correct version of the PLC program
 One of 3 possibilities have happened
1. The PLC logged in without prompt
2. Online Change
3. Download the Program
 If you are able to Login without a prompt then you can go to the next section about Editing
the Code
 If an Online Change or a Download of the Program is required then a couple of things need
to be considered.
 In both situations the first choice should be to look for another copy of the program.
 An ‘Online Change’ is required for many things. Anything from adding a variable to changing
the value of a timer.
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 If a change was made, but the PLC Program was closed without saving the change, then an
‘Online Change’ will be required to Login. However, this will be loading the older version of
the code.
 A ‘Download’ will be required if the computer has been restarted and the Boot Project was
not updated.
 Also, if the auxiliary files for the PLC Project do not exist (someone emailed only the .pro file)
then a ‘Download’ of the program will be required.
 Locating the PLC Project can be done by searching for the .pro file on the hard drive.
 Press the ‘Start’ button or the Windows key on the keyboard, then press the ‘F3’ key
 In the Search Box type in *.pro and press the ‘Enter’ key
 Depending on the size of the hard drive this might take a few minutes
Source Code Download File
 The last option is to open the Source Code Download file
 When created this file is saved in the C:\TwinCAT\Boot directory as TCPLC_S_1.wbp for the
first PLC Run-Time
 To open this file, open the PLC Control, then select ‘Open’ from the ‘File’ menu
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 In the Open File Dialog window, select the ‘PLC’ button
 Select the CPU type, and click ‘OK’
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 Select Run-Time1, and click ‘OK’
 Click ‘Yes, all’
 If the file exists it will be opened
 If this file has been kept up to date and matches with the PLC Code that is running inside of
TwinCAT, then you should be able to Login with this Code.
 If it does not match exactly then you will have to perform either an ‘Online Change’ or a
complete ‘Download’ of the PLC Program. Chapter: PLC Overview
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Edit the Code
 Now the we have a program that matches with the running code, we can make the required
changes.
 We will start with a simple Ladder program that needs a contact changed from ‘Normally
Open’ to ‘Normally Closed’
 Left-Click on the symbol of the Contact to select it. Notice the dotted selection box around
the symbol
 Hold the ‘Ctrl’ key and press ‘N’
 This will ‘Negate’ or invert the Contact
 This same command will work for changing a NC contact to NO
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 It is also possible to Right-Click on a symbol and select one of the options from the context
menu
 When making changes to code in FBD (Function Block Diagram) the same steps apply.
 In FBD the location of the cursor is extremely important
 The options in the context menu will change based on the location of the cursor
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 Cursor inside the box
 Changes here effect the box itself
 Cursor on the input of the box
 Changes here are for the way the input interacts with the box
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 Cursor on the right side of the box
 Changes here effect what will be to the right of the box, typically an Assignment to another
variable or another box
 Cursor on the Assignment
 Changes here will affect the specific output or add more outputs
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Compile Code
 Once the changes have been made, it is time to Compile the code and check for errors.
 From the ‘Project’ menu select ‘Build’
 This will compile the code
 In the message window you should see
 If you have any warnings they can typically be ignored.
 Note: If you use the ‘Rebuild All’ command, your ‘Retain Data’ will be initialized.
 If you have an error, press the ‘F4’ key
 The ‘F4’ key will take you to the location of the first error in the message window and also
open the code to the location where the error was found.
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 Sometimes error messages can be misleading. Most of the time 1 problem will cause
multiple error messages.
 The problem with the below line of code is that the ; is missing from the end of the line
 The error message says the problem is on Line 3. The reason for this is that the compiler
ignores spaces. After the variable c the compiler is expecting to find a ; (End of Line) or an :=
(Assignment). It doesn’t find it so it continues to line 2 and then line 3
 Line 3 is the last line of code so this is where the compiler is at when the error is detected
 The second error is caused by the first error
 When the first error is corrected the second error will no longer exist
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Load Changes
 Once all of the errors have been corrected, the changes can be loaded into the PLC
 From the ‘Online’ menu, select ‘Login’
 Click ‘Yes’ to perform an ‘Online Change’
 If additional changes need to be made
 First ‘Logout’ of the PLC and then repeat the process
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Save File
 When you are done making changes the new File should be saved
 From the ‘File’ menu, select ‘Save’
 This will replace the existing file on the hard drive with the current file and the changes
Boot Project
 Once all changes have been made, and before restarting TwinCAT a new ‘Boot Project’ must
be created.
 From the ‘Online’ menu, select ‘Create Boot Project’
 If a new Boot Project is not created, then the next time that TwinCAT is restarted or the
computer is rebooted, the old Boot Project will be loaded. If this happens then a ‘Download’
of the program will be required before you can log in again.
 It is extremely important that the ‘Boot Project’ be kept up to date and match the PLC
Program.
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Source Code Download
 From the ‘Online’ menu select ‘Sourcecode Download’
 This will create a file in the C:\TwinCAT\Boot directory that can be opened later
 If this file is kept up to date, and matches the ‘Boot Project’ then this file can also be used to
‘Login’ to the PLC
 This file is also useful for keeping a copy of the code on a CX device that only has the
TwinCAT Run-Time and not the full development
Options
 From the ‘Project’ menu, select ‘Options’
 In the left column select ‘Source download’
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 Implicit at load
 Create a new source code download file every time a change is loaded
 Notice at load
 Every time a change is loaded, ask the user if they would like to create a new source
code download
 Implicit on create boot project
 Each time a new boot project is created, also create an new source code download
 Note: If this option is selected then the source code download and the boot project will
always match
 Only on demand
 The source code download command must be manually given from the ‘Online’ menu
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 How much data should be placed in the file
 All Files
 This will place everything inside the file, including all bitmaps for any visualizations
 If you have enough room on the hard drive, then this is the best option
 Source code only
 This will only place the code and other auxiliary files needed for logging in to the PLC on
the hard drive
 Source code only(exclude compile info)
 Only the code
 A download must be performed to login to the PLC
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V. PLC Programming “The Inspection Conveyor”
22. Machine Control with Top-Down Programming
Intro
This section is going to cover the design and programming of a modular conveyor. With each
module a new concept and/or topic will be introduced. As the saying goes “Prior proper
planning, prevents poor performance”. With that in mind the first topic will cover the
overall machine control and the use of a state machine for automatic or manual operation.
The first conveyor module will be for adding product to the system using only digital Inputs
and Outputs. The second module will use an analog input to measure the size of the
product. Next an analog output will be added to control the conveyor speed using a Variable
Frequency Drive (VFD).
Machine Control/State Machine
There are many ways to do overall machine control and to implement a state machine, both
of which are outside the scope of this document. For the purpose of this document I have
chosen to use a state machine that best serves the purpose of learning to use the TwinCAT
software. The overall machine control will be handled in a CASE statement. The machine
will have the following States:
Undefined: When no State is defined by the PLC this will be the default State. This State is
not allowed to be set by the operator. This State will be used when the machine is first
Chapter: PLC Programming “The Inspection Conveyor”

powered on and when a problem in the PLC code occurs.
Maintenance: Used for making adjustments to the machine or for troubleshooting

individual components. Operations will be allowed in this State that could be harmful to the
equipment. Access to this mode will be restricted.
Manual: Used to start up the machine and prepare for operation, or to shut down the
machine after Automatic operation. Requires operator intervention for all functions of the
machine.
Automatic: Used for routine production. The machine will process product based on the
conditions of the I/O with minimal operator intervention.
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Modular Conveyor System
Each conveyor module will need to work as a standalone piece and also in conjunction with
other modules in front of and/or after it. Using a photo eye at each end of the conveyor will
aid in this process. For the programming of this system each conveyor module will be a
Function Block; therefore, if multiples of a module are needed they can be easily
instantiated. Additionally, standard data Structures for all conveyor modules will be used by
each of the Function Blocks to aid in communication between modules.
Machine data Structure: contains status information for the overall machine including the
current State.
Module data Structure: contains information about the configuration of the module,
including information about the previous and following module.
Creating the program
Open the PLC Control by selecting the TwinCAT icon in the Windows System Tray and the
select PLC Control
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From the ‘File’ menu, select ‘New’
For most of this project we will not be connecting to hardware. Therefore everything will
run in simulation on the computer you are using.
Note: The TwinCAT 2 Run-Time is only available on Windows 32-bit Operating Systems
In the ‘Choose Target System Type’ window, select ‘PC or CX (x86), then click on ‘OK’
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In the ‘New POU’ window the Type of POU should be a ‘Program’
The ‘Name of the new POU:’ should be ‘MAIN’
The ‘Language of the POU’ should be set to ‘ST’ for Structured Text
Note: Even if you are an experienced programmer in one of the other languages, it is my
recommendation that when starting a new project the MAIN program should always be
done in ST. This will allow the programmer to easily call other programs and also easily
comment out large parts of the program. Additionally I would advise that the MAIN
program never be done in SFC, doing so will make using the special SFC flags much more
difficult, if not impossible.
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You should now have the following
Place a semicolon on Line 1 of MAIN. This is the smallest program you can write.
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From the ‘Project Menu’, select ‘Rebuild All’
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In the ‘Message Window’ at the bottom, you should receive 0 Errors and 1 Warning.

The Warning is because we have not saved the file with a name.
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From the ‘File Menu’, select ‘Save As’
The file can be saved anywhere you would like. I would recommend against saving it on the
desktop, the PLC Control will also create other supporting files that will clutter your desktop
quickly. I have created a folder called ‘TwinCAT 2 Manual Samples’ directly on the root of my
C:\ drive.
Give your project a name and press the ‘Save’ button. I would recommend that you use the
same file name that I have used.
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Adding a version number to your project name is an easy way to have multiple versions of
the program, so that you can go back to a previous version later on.
You will now see that the file name of the project is placed across the top of the PLC Control
Before writing any real code we will first declare all known variables that will later be
connected to hardware.
Select the ‘Resources’ tab at the bottom of the left column
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Expand the ‘Global Variables’ folder by clicking on the + sign
In the ‘Global Variables’ folder there are two lists by default.
The ‘Global_Variables’ and the ‘Variable_Configuration’
The ‘Variable_Configuration’ list is only used for the BC line of controllers.
The ‘Global_Variables’ list is included by default; however, on large machines it is good

practice to create multiple lists to help organize the variables into smaller more manageable

lists. Therefore, we are going to start by creating a couple of Global Variable Lists.
Right Click on the ‘Global Variables’ folder, select ‘Add Object’
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Change the name of the list by adding ‘_IO’ to the end of the name, and then click on ‘OK’
Note: The name of this list must follow the IEC 61131-3 naming rules, the same as variable
names. If it does not, or the name has already been used the ‘OK’ button will be grayed out.
Double-Click on ‘Global_Variables_IO’
This will open the Global Variable list.
Place the cursor at the end of line 1 and press the enter key a couple of times.
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Between the key words ‘VAR_GLOBAL’ and ‘END_VAR’ is where we will declare our
variables.
Note: Please refer to Appendix I “Variable Naming Convention” for a better understanding
of the variable names used throughout this project.
Comments can be added to the code by placing (* at the beginning of the comment, and *)
at the end of the comment. All comments will turn green.
(*Machine Control*)
The following will be Boolean inputs of type BOOL, therefore when the hardware detects 24
Volts DC the PLC will represent this with TRUE, when the hardware detects 0 Volts DC the
PLC will represent this with FALSE.
gati_xMan_Auto_SS will be a two position Selector Switch between Manual and Auto. When
the switch is in the ‘Manual’ position the input will be off, when the switch is in the ‘Auto’
position the input will be on.
gati_xMaintenance will be a push button to request the State Machine to go into

‘Maintenance’
gati_xReset will be a push button for resetting faults
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(*Stack Lights*)
The use of Stack Lights allows everyone in the area of the machine to easily know the status
of the machine. The definitions of what the colors represent vary between industries and
countries.
For this project the following colors will be used as defined here:
‘Yellow’ will be used when the machine is in Automatic
‘Green’ will be used when the machine is in Manual
‘Red’ will be used when a Fault is active
‘Blue’ will indicate that the machine is in Maintenance
Between ‘Yellow’, ‘Green’, and ‘Blue’ only one of the can be on at any given time.
‘Red’ can be on in addition to any of the others
gatq_xAutoLight will be written with a value of TRUE when the machine is in Auto, thereby
applying 24 Volts DC to the output and turning on the light.
gatq_xManualLight will be written with a value of TRUE when the machine is in Manual,
thereby applying 24 Volts DC to the output and turning on the light.
gatq_xFaultLight will be written with a value of TRUE when the machine is Faulted, thereby
applying 24 Volts DC to the output and turning on the light.
gatq_xMaintenanceLight will be written with a value of TRUE when the machine is in

Maintenance, thereby applying 24 Volts DC to the output and turning on the light.
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Next we will create an Enumeration that will be used to represent the possible States of the
State Machine.
Select the ‘Data Types’ tab at the bottom of the left column
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Right-Click on the ‘Data Types’ folder and select ‘Add Object’
Type in ‘E_MachineState’ as the ‘Name of the new data type’, and click ‘OK’
You should now have the following
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Data Types always default to a ‘STRUCT’, this can be changed to an Enumeration by simply
removing ‘STRUCT’ and ‘END_STRUCT’ from lines 2 and 3 and replacing them with ();
When creating an Enumeration the first Variable will receive a value of zero by default, each
value after that will be incremented by one. The variables of the Enumeration must be
placed between ( and ) and each one separated by a comma ‘,’.
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Now would be a good time to save the changes that have been made. From the ‘File’ menu,
select ‘Save’. Or simply press and hold the ‘Ctrl’ key and the press the ‘S’ key.
Notice that the asterisk * and the end of the file name disappears. The asterisk is there to
indicate that changes have been made but not saved.
To check the Enumeration and the Global Variables for any possible typing errors go to the
‘Project’ menu, and select ‘Rebuild All’

If you have any errors, they should be fixed before moving on.
As an example I have removed the semicolon from the end of one of the Global Variable
declarations.
When preforming a ‘Rebuild All’ this generates 2 errors, which can be seen in the ‘Message
Window’
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Place your mouse at the top of the ‘Message Window’
Click and Drag the bar upwards to see more of the ‘Message Window’
It is best to start with the first error in the list, many times one problem will create others
for the compiler.
The easiest way to find the first error in the list is to press the ‘F4’ key. Repeatedly pressing
‘F4’ will go to the next error in the list. You could also scroll through the error list and
Double-Click on the error.
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When the error is selected, the location of the error will be shown, and the line of code that
has the problem will be highlighted. Repeatedly pressing ‘F4’ will go to the next error in the
list.
The full error message states that the complier is ‘Expecting the end of line character or an
assignment before seeing a new variable name. To the compiler the problem occurred on

line 9, the appropriate way to fix the problem is to find the variable declared before line 9
and place the semicolon at the end of the line.
After fixing any errors you may have had, preform another ‘Rebuild All’ from the ‘Project’
menu.
Once, you have zero errors, you will get 7 warnings. Generally speaking warnings can be
ignored. These 7 warnings are created by the use of %I* and %Q* variables. The warning
simply states that the VAR_CONFIG file has not been created for these variables. ‘F4’ will
scroll through the warnings. Ignore them for now and continue on.
Now would be a good time to ‘Save’ your project.
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Finally, it is time to write some code. Click on the POUs tab at the bottom of the left column.
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Double-Click on the MAIN program.
Note: You may or may not have the small blue arrow next to the icon for MAIN. This blue
arrow simply indicates that changes have been made to this POU that have not been
downloaded into the running PLC.
In the local declaration section of MAIN define a variable called eStep as of type
E_MachineState
The best way to do this is to first type in the new variable name eStep, then place a colon
after it, then press the F2 key which opens the Input assistant.
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Select ‘User defined Types’ from the left column and then E_MachineState, press ‘OK’
This will bring you back to the declaration section; place a semicolon at the end of the line.
By declaring eStep to be of type E_MachineState the value of the variable eStep will be the
text in the Enumeration. eStep will be used as the condition variable of the CASE statement
that will control the State Machine.
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The general layout of a CASE statement is as follows:
The variable between CASE and OF must use an integer value (INT,DINT,SINT,USINT).
Enumerations hold an integer value.
The numbers that follow on the next lines represent the possible values of that variable.
Therefore when iStep is equal to 0 the code between 0 and the next number will be run.
The code following all other numbers will not be run. For example if iStep is equal to 10 then
the code on lines 5 and 6 would be run the next line of code would be line 12, or the first
line after the END_CASE command.
The ELSE case is a safeguard, if iStep is ever set to a value that is not defined the code in the
ELSE command will be run.

The values of the condition variable are limited to integer values. In the above picture,
values are skipped to allow for the possibility to easily add steps in between. It is generally a
good practice to do this, otherwise when a step has to be added then all following steps
must be changed.
The value of iStep is set by conditions in the PLC code. The value can be changed from
within the CASE statement or from outside the CASE statement.
For our project the Enumeration is declared as having 4 possible values, therefore the need
for skipping numbers is not necessary. However the ELSE command should always be
included.
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Note: when using an Enumeration both of the above are valid; however, the use of the
variable name from within the Enumeration makes the code easier to read.
By default when the PLC starts all values are 0, unless given an initial value. To ensure that
our state machine starts at zero, an initial value will be placed on the variable eStep.
To do this, double-click on the variable eStep in the declaration section of MAIN. This will
highlight the variable name
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Press and hold the ‘Shift’ key then press ‘F2’. The ‘Declare Variable’ window will open
Place a zero in the ‘Initial Value’ box, and click ‘OK’
The declaration of eStep now has an initial value of 0.
The first thing we will setup is the control of the value of eStep.
We have a Selector Switch for Manual or Auto and a pushbutton for Maintenance.
With the initial value of eStep being 0 the case statement will be in E_Undefined. Inside this
step we will set eStep to go to E_Manual.
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However, we should also look at the condition of the Selector Switch. The input is negated
with the NOT command because the switch being in the ON position is for Auto.
Remember to use ‘F2’ for the Input Assistant to select gati_xMan_Auto_ss from the Global
Variables
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We now are able to put the machine into Manual Operation. From Manual, there needs to
be a way to go into either Maintenance or Auto.
Now would be a good time to ‘Save’ your project.
It would also be a good time to check for errors. Go to the ‘Project’ Menu and select
‘Rebuild All’
You should get one error. Press ‘F4’ to go to the error.
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Each value for the CASE statement must have some code in it. When the complier sees two
values for eStep with no code in between them it causes an error. The easy way to avoid this
is to place a semicolon after the colon. It should be removed later, but if you forget it won’t
hurt anything.
You will also need to do this after E_Auto and ELSE Chapter: PLC Programming “The Inspection Conveyor”
If you have any other errors, please address them before moving on.
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As the programmer it is your duty to ensure that all possible conditions are accounted for.
Currently it is possible to get into the Auto state but it is not possible to get out of it.
The selector switch will place the machine into the Manual state.
This is the same code that was used to go from E_Undefined to E_Manual.
From the Maintenance mode, pressing the Maintenance push button will place the machine
back into Manual.
In the ELSE command eStep will be set to E_Undefined.
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The entire body of MAIN, now looks like the following
Now would be a good time to check for errors using ‘Rebuild All’ from the ‘Project’ menu, Chapter: PLC Programming “The Inspection Conveyor”
and save your project.
At this point the control for the state machine is finished. Later in the section on ‘Fault
Handling’ we will add to the state machine for what needs to be done when a fault occurs.
The plan is to have a function block for each conveyor module. Each function block will be
capable of controlling the conveyor module in each possible machine state. Therefore the
machine state will be passed into the function block. Before creating the function blocks, we
will create the code that is going to call the function blocks.
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In the ‘POU’ column right click and select ‘Add Object’.
Name the POU ‘P_MachineControl’. Leave the Type as a Program and set the Language to
‘ST’ for Structured Text. Then click on ‘OK’
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Before writing any code in the new program we should call the program from ‘MAIN’.
Double-click on ‘MAIN’ to open it. Below the code for the CASE statement, place the cursor
and press ‘F2’.
In the ‘Input Assistant’ select ‘User defined Programs’ from the column on the left, select
‘P_MachineControl’ from the window on the right, then press ‘OK’.
This will call the new program every PLC scan. The open and close parenthesis are not
required but should be used to indicate that it is a POU call.
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Now double-click on ‘P_MachineControl’ in the ‘POU’ column. Later we will add code to this
program for calling the Function Blocks that will control the machine. For now add a
semicolon to prevent any build errors.
Next, add another program by right-clicking in the POU column and selecting ‘Add Object’
Name the new Program ‘P_MachineMonitoring’
In the Machine Monitoring program we will add some function blocks from a couple of
libraries, to monitor things going on in the background.
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First we will add the new library. From the ‘Window’ menu, select ‘Library Manager’.
The STANDARD.Lib is always included in every project by default. The Standard library
contains timers, counters, triggers, and other basic function blocks.
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Under the ‘STANDARD.Lib’ right click and select ‘Additional Library’.

The ‘Open’ dialog box will open to the default location of C:\TwinCAT\PLC\Lib
In this folder are all of the libraries that are included with the level of TwinCAT that you
installed.
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Add the ‘TcUtilities.lib’ by either scrolling to the right or typing the name into the ‘File
name:’ box, if you choose to type in the name, you will notice that windows filters the
results of possible options as you type.
After selecting ‘TcUtilities.lib’ press the ‘Open’ button.
TcUtilities requires the use of TcBase and TcSystem, therefore these libraries are included as
well.
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Select TcUtilities in the list of libraries.
Notice that libraries can contain POUs, Data Types, Visualizations, and Global Variables. In
the POU column of the TcUtilities library expand the ‘TwinCAT System’ folder and select
TC_CpuUsage. This will display a picture of the Function Block as it would appear in the FBD
language; it also displays part of the local variable declaration section for the Function Block.

If the ‘Beckhoff Information System’ is installed on your computer then it is possible to
highlight the name of the Function Block and press ‘F1’ to view the documentation for the
Function Block.
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The Tc_CpuUsage Function Block will monitor the percentage of the CPU that TwinCAT is
using.

In the POU column double click on ‘P_MachineMonitoring’.
Now place the cursor on line 0001 in the code window and press ‘F2’ to open the ‘Input
Assistant’
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From the ‘Input Assistant’ select ‘Standard Function Blocks’ from the left column and then
expand TcUtilities in the window on the right.
Scroll down to ‘TwinCAT System’ and expand that folder
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Select ‘Tc_CpuUsage’ and click ‘OK’.
This will add a generic version of the Function Block to the code.
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The name on line 1 is the ‘Implementation’ name of the Function Block’, everything
between the open and close parenthesis are variables that are defined inside of the
Function Block. When using large function blocks in Structured Text the variables are each
placed on their own line to make them easier to view. Each variable is followed by either an
input or output symbol and then a comma. The assignment statement := is used to indicate
that the variable is of type VAR_INPUT, the output assignment => is used to indicate that the
variable is of type VAR_OUTPUT.
Each use of a Function Block will receive its own memory space; therefore, each Function
Block must be given a unique instance name.
Add ‘fb’ to the beginning of the implementation name TC_CpuUsage.
When you click on any line other than line 1 the ‘Declare Variable’ window will appear.
The ‘Class’ drop down list will allow for the selection of where the variable is to be declared,
leave this on VAR to declare it in the local variable declaration section.
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Change the ‘Type’ from BOOL to TC_CpuUsage, this can be done by either typing in the type
or pressing the ‘Ellipse’ button.
When you press the ‘Ellipse’ button the ‘Input Assistant’ will open and allow you to select
the type from the list.
Select ‘Standard Function Blocks’ from the column on the left, then expand ‘TcUtilites’, then
‘TwinCAT System’, finally select TC_CpuUsage and click ‘OK’.
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The ‘Declare Variable” window should look like the following.
Press ‘OK’, and notice that the instance of the Function Block has been declared in the local
variable section.

Next the variables to be passed into the Function Block need to be added.
The ‘NETID’ is the AMSNETID of the TwinCAT Run-Time that is to be read. According to the
Documentation the variable type is ‘T_AmsNetID’, which is of type string with a length of 23
bytes.
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In this example we are going to read the local CPU Usage, therefore the local AmsNetID can
be provided. Click on your TwinCAT Icon in the windows system tray, the select ‘Properties’.
Select the ‘AMS Router’ tab
The AMS Net ID can be copied from here.
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In the code place an empty string after the assignment statement of NETID, then paste the
AMS Net ID in between the quotes.
When using the local AMS Net ID it is also possible to just use an empty string ‘’, internally
the Function Block will read the local AMS Net ID in this case.
When the ‘START’ input variable rises from False to True, internally the Function Block will
execute an ADSREAD one time. Each rising edge that is seen on the ‘START’ input will cause
another read of the CPU usage. For now add the variable ‘xReadCpuUsage’ to the ‘START’
input.
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When you click away from line 3 the ‘Declare Variable’ window will appear. Leave it defined
as a Local variable and a BOOL.
The ‘TMOUT’ variable is the amount of time to wait for a response, before throwing a
TimeOut error. If the input is left empty the default time of 5 seconds will be used. Time
values always start with T# and must end with time unit being used. Place a time value of
500 milliseconds in the ‘TMOUT’ variable.

We will now create local variables that the Function Block will write to.
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Use the following variable names for the outputs and declare them as shown below.
Now would be a good time to compile the code and check for errors, by selecting ‘Rebuild
all’ from the ‘Project’ menu. When there are no errors, save your project.
A commonly used Function Block is NT_GetTime. This Function Block will read the Windows
Clock each time the ‘START’ input is triggered. The time value can then be added to log

information.
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Place the cursor on line 11 and press ‘F2’.
Select ‘Standard Function Blocks’ from the left column, expand the ‘NT, W2K, XP, XPe, CE
Operating System’ folder.
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Select the NT_GetTime Function Block and press ‘OK’
The generic Function Block has now been added to the code.
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Change the name to fbNT_GetTime.
Click away from line 11 and declare the Function Block as a type NT_GetTime.
Set the NETID to local by using an empty string. (Two single quotes, with no space between

them.
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Set the ‘START’ variable to xGetTimeStart and declare it as ‘Type’ BOOL.
Set the ‘TMOUT’ to 500ms.
Set the output variables and declare them as they are below.
The local declaration section should have the following
Notice that ‘stGetTimeValue’ is of Type ‘TIMESTRUCT’. This structure is defined inside of the
TcUtilities library, and contains the following information.
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wYear : Specifies the year: 1970 ~ 2106;
wMonth : Specifies the month: 1 ~ 12 (January = 1, February = 2 and so on);
wDayOfWeek : Specifies the day of the week: 0 ~ 6 (Sunday = 0, Monday = 1 and so on );
wDay : Specifies the day of the month: 1 ~ 31;
wHour : Specifies the hour: 0 ~ 23;
wMinute : Specifies the minute: 0 ~ 59;
wSecond : Specifies the second: 0 ~ 59;
wMilliseconds : Specifies the millisecond: 0 ~ 999;
The out ‘stGetTimeValue’ will hold values similar to the following.
The previous two Function Blocks were provided by Beckhoff. It is also possible to create
your own. In order to get regular updates of the CPU Usage the ‘START’ input of the
TC_CpuUsage Function Block needs to toggle between TRUE and FALSE repeatedly. To do
this we will create a Function Block that pulses its output at a regular interval.

From the POU column right-click and select ‘Add Object’
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In the ‘New POU’ window, name the POU ‘FB_Pulse’. The Type of POU should be ‘Function
Block’. The language will be ‘ST’ for structured text. Click ‘OK’ to create the Function Block.
At the top of the declaration section you will see on line 1 that this is a Function Block not a
Program or Function, the name of the Function Block is also included on this line. Following
line 1 is the VAR_INPUT, VAR_OUTPUT, and VAR sections. In the VAR_INPUT section
variables will be declared that have values passed into them from the calling code, the
VAR_OUPUT section will declare variables that have their values passed out to the calling
code. The VAR section will declare values that are only used internally within the Function
Block.
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In the VAR_INPUT section declare the following variables
i_xEnable :BOOL; (*When TRUE the Function Block is Running, When FALSE the
Function Block is stopped all values a reset and the outputs are
FALSE*)
i_tTimeOn : TIME; (*Length of TIME for the Output to be TRUE*)
i_tTimeOff : TIME; (*Length of TIME for the Output to be FALSE*)
In the VAR_OUTPUT section declare the following variable
q_xPulse : BOOL;
In the VAR section declare the following variables
These are the two timers that will be used to control the output. They are in the STANDARD

library.
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In the code, window use ‘F2’ to place the two timers in the Function Block.
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Now change the name of the TON and TOF to match the declaration section.

The TON will start when the i_xEnable input is TRUE and the TOF output is FALSE.
The i_xEnable variable can be added by placing the cursor between the := and the ,
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Then press ‘F2’, in the left column of the Input Assistant select ‘Local Variables’, then select
i_xEnable from the right window.

Next, add the code to monitor the output of fbTOF
If you type in the code, notice that once you have added the dot ( . ) after fbTOF a drop list
will appear that contains all of the variables declared inside of the TOF.
Red icons indicate VAR_OUTPUT, Yellow icons are for VAR_INPUT, and Purple icons are for
VAR.
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When the drop down list appears you can either continue typing to filter the list or use the
arrow keys to move the cursor up and down. If you use the arrow keys, both the ENTER key
and the space bar will select the variable and add it to the code.
You code should now look like the following
Next, add the TIME variable to PT:=
Note: this is the tTimeOff variable
Again, use ‘F2’ and select the variable from the ‘Local Variable’ list.
The input for fbTOF will be the output of fbTON
This time to add the i_tTimeOn variable do not use the ‘F2’ key, instead place the cursor
after the := and before thecomma ( , )

Now press the dot ( . ) key
This list includes every variable in the project, including libraries. If you know the beginning
of the variable name this can be an easy way to access it and still guarantee that typos are
not made. After pressing the . press the ‘i’ key.
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Pressing the down arrow will show the next variable in the list, which is the one we want to
use.
Also notice that if you hover the mouse over the variable name in the list, that the comment
from the declaration section appears as a tool tip.

With i_tTimeOn highlighted, press the ‘Enter’ key.
Next add the output q_xPulse to the Q output of the fbTOF
If you use the . and select the variable from the list, when selecting an output the . is not
removed as it was on the input variable, the . must be removed or the compiler will throw
an error.
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Note: The following code would provide the exact same result
Now would be a good time to compile the code by selecting ‘Rebuild all’ from the ‘Project’
Menu and then save the file.
When viewing code online that was written in Structured Text the code window is split, the
left side shows the code as it appears offline, the right side show each variable and its value.
Using the above as an example i_xEnable, fbTOF.Q, and i_tTimeOff will all be listed on the
same line
In order to make the code easier to read it is possible to place each variable on its own line.
The common practice is to place the instance name of the Function Block and the open
parentheses on the first line, then on each following line place one variable leaving the
comma at the end of the line. The easiest way to do this, is place the cursor after each
comma and press the ‘Enter’ key, resulting in the following
Using the ‘TAB’ key to indent the lines of code that are part of the Function Block helps in
reading the code, this allows the person viewing the code to easily see the beginning of each
Function Block.
The width of the displayed variables in the right window can be adjusted by single clicking
on the variable and then grabbing the right edge of the box click and drag to adjust the size.
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It is also possible to select ‘Monitoring Options’ from the ‘Extras’ menu, then set the
‘Distance of two variables value.
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A pulsing output can be used for many different things, flashing stack lights or other
indicator lights, or triggering a function block to start repeatedly.
We will now add the new Function Block to the Machine Monitoring code and use the
pulsing output to trigger the TC_CpuUsage Function Block.
In the POU column double-click on P_MachineMonitoring.
Place the cursor on line 20 and press ‘F2’. From the ‘Input Assistant’ select ‘User defined
Function Blocks’ from the left column and the ‘FB_Pulse’ from the window on the right.
Then press ‘OK’
This will add the generic code for the Function Block to the program. Chapter: PLC Programming “The Inspection Conveyor”
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Replace the name FB_Pulse with a specific instance name of fbPulseCpuUsage.
After clicking away from line 20 the ‘Declare Variable’ Window will appear. Change the
‘Type’ to FB_Pulse by either typing it in or using the ‘Ellipse’ button and selecting it from the
list of ‘User defined Function Blocks’. Click ‘OK’
The declaration section should now contain the following
Before assigning variable name to the inputs and outputs format the code for easier
reading.
Add the following values to the inputs of the Function Block.
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For the output use the variable that was used on the TC_CpuUsage ‘START’ input.
Now when the code is running the output will toggle on and off at a rate of 1 second. By
writing to xReadCpuUsage the fbTC_CpuUsage ‘START’ input will toggle and read the CPU
Usage every other second.
Creating logging information can be done in several ways. There is a File Read and Write
Function Block in the TcSystem library for interacting with a text file, there is also Database
and XML supplements for working with those file types. Beckhoff also provides the
possibility to write logging information to the Windows Application Log. Using the
ADSLOGSTR Function it is possible to write custom string values from the PLC into the
Windows Application Log.
For this example we will create a log message every time the Machine State changes based
on the value of E_MachineState.
We will be creating a Function Block to monitor the variable eStep which holds the current
value of the State Machine. When the value changes the code needs to create the message
to be logged, and then log that message.
Start by adding a new Function and name it FB_LogStateMachine
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Declare the following in the local variable declaration section

i_eState will be the current value of the State Machine control by the ‘MAIN’ POU
q_udiErrID will be the output result of the ADSLOGSTR Function
ePreviousState will be updated at the end of the code and hold the value of i_eState from
the previous PLC scan
fbRT_StateChange is a Rising Trigger, the R_TRIG Function Block monitors its CLK input and
when it changes from FALSE to TRUE the Q output will be on for one PLC scan
sStateLog will be the STRING representation of the State Machine
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Add the below code to the Function Block.
Note: The Function on Line 8 (F_StateMachineLookup) does not yet exist. When the ‘Declare
Variable’ window appears press the ‘Cancel’ button.
The ‘IF’ statement on line 1 uses the not equal to <> operator to compare the previous state
to the current state
If they are not equal then the CLK input of the Rising Trigger is set to true (Line 2), else it is
set to false (Line 4).
Note: Any time a variable is set to TRUE inside an ‘IF’ statement, code must be added to set

that variable to FALSE. When using a Rising Trigger Function Block the input must see the
transition from FALSE to TRUE, if lines 3 and 4 were not included the Function Block would
only work once.
This code could also be done by using the following instead of lines 1 through 5
The ‘IF’ statement on line 7 monitors the Q output of the Rising Trigger. When the output is
TRUE lines 8 through 14 will be executed and when the Q output is false line 16 will be
executed.
Line 8 passes the value of i_eState into the F_StateMachineLookup Function.
Lines 10 calls the ADSLOGSTR Function in the TcSystem library.
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Calling a Function is different from calling a Function Block. A Function Block requires an
instance name and is assigned its own memory space. A Function does not have an instance
name and does not have its own space in memory. Functions do not retain any values from
one PLC scan to the next. For Example a Timer or Counter must be a Function Block and not
a Function. Additionally Functions only return a single result. The most basic Functions are
the Math Operators: ADD, SUBTRACT, MULTIPLY, DIVIDE, etc. each of these are a function
and return a single result.
When calling a function the result of that function must be stored into another variable, for
example adding two numbers together would be done in the following manner
The + sign represents the ADD Function
Functions that are not common Math Functions are called in a different manner.
The following line of code does not compile however for the sake of explanation let us
assume that it would.
The variable ‘a’ is assigned a value of
Call the ADD function and pass in the value of the variables b and c
The single result of the ADD Function will be stored in the variable a

The ADSLOGSTR Function returns a UDINT (Unsigned Double Integer)
ADSLOGSTR has three inputs
msgCtrlMask : DWORD;
msgFmtStr : T_MaxString;
strArg : T_MaxString;
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msgCtrlMask is used to define the parameters of the logged event
HINT , WARN , and ERROR are the type of Message
LOG will write the message to the Windows Application Log
MSGBOX will display a pop up box that shows the message
msgFmtStr is a string that contains the text of the message and ends with %s
Note: the text in the sample code and the %s are inside of single quotes

strArg is also a string, the value that is passed into the Function will replace the %s in
msgFmtStr
The code sets the Control Mask to Hint and Log
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The message in the log will be Machine State Changed to: Auto if sStateLog has
a value of Auto
Note: The ADSLOGSTR should always be called conditionally using a Rising Trigger Function

Block; otherwise it will create a log message every PLC scan.
q_udiErrID will hold the value of the result of the ADSLOGSTR Function, these values are
ADS Return Codes, any value other than 0 is an error.
Line 19 copies the value of i_eState into ePreviousState so that on the next PLC scan the two
values can be compared and a change can be detected.
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Now would be a good time to ‘Rebuild’ the code and save the file. However the call to
F_StateMachineLookup is going to throw an error. To prevent this and check the code place
comment markers around the code on Line 8
Now, ‘Rebuild all’ and save the project.
Let’s now add the code for F_StateMachineLookup.
The Purpose of this Function will be to pass in the current value of the machine state and
then convert that to a string value.
Right-Click in the POU column and select ‘Add Object’
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Define the Function as below.
In the declaration section add the Input Variable
Note: Because Functions only have one output there is no VAR_OUTPUT section. The Name
of the Function is the output variable, and its type is defined on line 1 of the declaration
section. If you forget to change the type in the ‘New POU’ window, it can be changed on

line 1.
The Input Variable eState holds the STRING representation of the Enumeration. This
Function will convert this value to an actual STRING that can be passed into the ADSLOGSTR
Function.
There are several ways to do this, the most common way would be to create nested IF
statements as below.
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Using nested IF statements in this manner will allow for the code to jump to the END_IF
after the correct value of eState has been found and its code has been run.
Let us assume that eState has a value of 2, representing ‘Manual’.
On line 1 eState will be compared to 0, this will return FALSE and the code will then go to
line 4.
On line 4 eState will be compared to 1, this will return FALSE and the code will then go to
line 7.
On line 7 eState will be compared to 2, this will return TRUE and the code will continue to
line 8.
On line 8 the output variable F_StateMachineLookup will be set to a value of ‘Manual’.
Line 9 is empty

Line 10 is another ELSIF, because line 7 return a TRUE the code is now looking for the
END_IF statement and will skip all lines until it is found.
On line 13 the END_IF statement is found
The code will continue to run until the end of the Function and then return to the calling
code and write the value of F_StateMachineLookup in the variable sStateLog
The above code will work as needed however there is a more efficient way to do this.
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The use of a CASE statement will allow for only the minimum amount of code to be run.
The traditional use of a case statement would not work correctly inside of a function.
Remember that a Function does not hold any data from one PLC scan to the next, and a
CASE statement takes one PLC scan to change to the next step.
Even in this very simple example it would be on the 4th PLC scan that iStep would have a
value of 3.
This code would never work inside of a Function.
However if the variable to be evaluated is the variable that is passed into the Function as a
VAR_INPUT then the one step that is equal to the value of the variable that was passed in,
that one step will run.
In the below code eState is passed into the Function
eState is then evaluated by the CASE statement to determine which part of the CASE
statement to run
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When the Function is called and eState has a value of 2
Line 1 will evaluate the value of eState and determine that it is 2
The code will then go to line 7 where it finds 2: and then run the code until it finds the next
number that is followed by a : and then jump the END_CASE on line 12.
By using a CASE statement in this way, the amount of code to be processed is less than the
above example of IF and ELSIF statements, therefore the amount of CPU usage is reduced.
Place the code for the CASE statement into the body of the Function
Now would be a good time to ‘Rebuild all’ and ‘Save’ your project.
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You might notice that F_StateMachineLookup is grayed out in the POU column. This is
because the Function is not being used.
The comment markers need to be removed from the FB_LogStateMachine.
Do another ‘Rebuild all’ and then ‘Save’.
After the ‘Rebuild all’ F_StateMachineLookup should now be in black
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At this point we have covered the following:
1. Starting a new project

2. Creating Global Variables with addresses
3. Adding Comments to Variable names.
4. Using a CASE statement to create a state machine
5. How to call a Program from another Program
6. Adding an existing library
7. Using Functions and Function Blocks from a library
8. Creating custom Functions and Function Blocks and the using them.
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23. Digital I/O
The purpose of this section is to introduce the first mechanical part of the Inspection Conveyor.
We will be adding code to the program that allows the conveyor to be loaded and material to
enter the system. The first conveyor will be manually loaded by an operator and then index the
box along the conveyor. We will start by creating a PROGRAM to control a single conveyor, and
then we will convert this PROGRAM to a FUNCTION BLOCK so that we can create multiple
instances of it.
We will start by adding a call to the P_MachineControl program from MAIN.
Left click at the end of line 33 in MAIN. This will place the cursor on that line. Then press the
‘Enter’ key twice.
The cursor is now on line 35
Press the ‘F2’ key to open the ‘Input Assistant’
In the left column select ‘User Defined Programs’, in the window on the right, select
‘P_MachineControl’. Then press ‘OK’.
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‘P_MachineControl’ will now be called and scanned after ‘P_MachineMonitoring’.
Double-click on P_MachineControl in the POUs column.
From ‘P_MachineControl’ we will be adding code to call the control program of the conveyor.
Eventually there will be several specialized conveyors in our conveyor system. For now let us

create the ‘Infeed Conveyor’.
Right-Click in the POUs column and select ‘Add Object’.
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Create a ‘Program’ and ‘Name’ the ‘POU’ ‘P_InFeedConveyor’.
Double-Click on P_MachineControl and use the ‘F2’ key to call the ‘P_InFeedConveyor’ program
from ‘P_MachineControl’.

In keeping with ‘Top-Down’ programming principles we will add some ‘code’ that is more
descriptive than functional.
To prevent the ‘Declare Variable’ window from popping up we will create all of this as
comments
The first comment will be a general overview of what the code in this POU does.
By placing (* at the beginning and *) at the end, all text in between is ignored by the compiler.
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The next thing to do is add comments for what we expect to need the program to do. These are
not in any specific order and more might be added later, but this gives us a place to start.
This program will control this conveyor in all modes of operation; Auto, Manual, and
Maintenance.
There are several ways to do this, we could set up a selection statement and write code for what
to do when in each mode or each command (output) could monitor each mode and decide what
to do.
It is best to only write to an output in one location. If you attempt to control an output from
more than one location then the last one to write to the outputs will determine its final state.

As a simple example let us consider the following:
When in Auto a light should flash at 1Hz, when in Manual the same light should flash at 2Hz.
We could try the following:
Note: (eMode = E_Manual) in the code will compare the two values and return either a TRUE or
FALSE value.
However, both of these Function Blocks are writing to the same output (bLight) every PLC Scan;
therefore, the Function Block fbPulseAuto always has control of the output.
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The following ‘IF’ statement could be used to properly select which Function Block to call
Only one of the two Function Blocks will be called at a time; therefore, only one of them will be
attempting to control the value of bLight.
With only two possibilities (Auto or Manual) an ‘IF’ statement works well; however, a ‘CASE’
statement is more efficient. The following provides the same functionality as above:
Both of these examples have an inherent issue, however. Because we are writing to the same
output from two different Function Blocks when the transition happens the value of the output
might not be what we expect.
Let us assume the current value of eMode is E_Manual, after a period of time eMode changes to
E_Auto. The light has changed from a 1Hz pulse to a 2Hz pulse. However in the code shown
there is nothing to reset the fbPulseManual Function Block, the code just stops calling the

Function Block. The value of all of the variables have been ‘frozen’, either the TON or the TOF
was in the process of timing. Internally the TON and TOF Function Blocks do not need to
increment each PLC scan, they record the start time and compare that to the current time to
calculate the elapsed time. Therefore, it is not possible to ‘Pause’ a timer. When eMode changes
back to E_Manual the elapsed time (ET) will jump. For a light this probably will not cause a
problem; however, if the output is something more critical it could be a serious issue.
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In order to remove this problem we can use one Function Block to write to the output, but
adjust the time value based on eMode:
In the above example the value of tTime will change based on the value of eMode. The time
value will be loaded into the TON and TOF inside of fbPulseLight on the same PLC scan. If eMode
has a value of E_Auto and the active timer has an ET of greater than 500ms then when eMode
changes to E_Manual that timer will instantly be done and the Q output of the timer will be
TRUE.
In the below example the Pulse Function Block is called and the Enable input is set to FALSE
when the value of eMode Changes
In this scenario both the TON and TOF will be restarted when the value of eMode changes.
With the exception of the first example, all of these samples do the same thing. The difference
between them is how the output reacts on the PLC scan where the value of eMode changes, it is
ultimately up to the programmer to choose the implementation that best fits the specific
implementation.
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When writing a PLC program the above situation can cause many problems for new
programmers. The small changes that can happen in one PLC scan can create unexpected
results that are difficult to detect and troubleshoot. If the output was not controlling a Light, but
instead being used as an input to a Rising Edge or Falling Edge trigger, the R_Trig and F_Trig
Function blocks will see this transition but you may never see it simply by visually looking at the
code. This is where a program like Scope View can be used to detect these short pulses.
If we look at a simple conveyor that has an Entry and Exit Photo Eye (PE), and one Motor Starter,
when a box is placed on the conveyor, the Entry PE is blocked which causes the Motor Starter to
energize and the conveyor moves forward. Once, the box has reached the Exit PE the Motor
Starter is de-energized and the conveyor will stop. I would like to explore some options for how
to write this control code before moving on to our slightly more complex example with a Middle
PE.
The below code uses the EntryPE to start the conveyor and the ExitPE to stop the conveyor, this
would achieve the desired result; however, if both Photo Eyes are blocked, what happens? In
this case the ExitPE is looked at last and therefore the MotorStarter would be set to FALSE. If the
two ‘IF’ statements were reversed and both PEs were blocked, the conveyor would continue to
run.

To fix this problem, and try to optimize the code we could also do the following.
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This does a couple of things. The ExitPE will have a value of FALSE when there is not a box
blocking the PE. Therefore anytime a box is present at the ExitPE the nested ‘IF’ statement to
look at the EntryPE will not be executed. This makes the code more CPU friendly and also
ensures that any time the ExitPE is blocked (TRUE) the conveyor will stop.
The last option I want to explain will be the most difficult to understand; however, it will provide
the most flexibility, and as PEs or other conditions are added to the system it will be the easiest
to manage and change. Although as a programmer it is good to optimize your code, remember
that at some point in the future, you or someone else is going to have to read your code. Finding
a balance between efficiency and readability is always a difficult task. Normally as efficiency
increases, readability decreases and vice versa.
Truth Tables are used to describe a Boolean function that has multiple inputs and one output.
Our conveyor has two PEs and one Motor Starter. The Truth Table for our conveyor would look
like the following.
Each of the two inputs can only be either TRUE or FALSE. The first line shows them both being
FALSE, the second line shows that the EntryPE is FALSE and the ExitPE is TRUE, the third line

shows the EntryPE is TRUE and the ExitPE is FALSE, the fourth line shows that both inputs are
TRUE. This covers all possible input situations. In the Motor Starter column is the state of the
output that we would like, based on the input conditions. Notice that the only situation where
the Motor Starter will be TURE is when the Entry PE is true and the ExitPE is FALSE. The numbers
on the far left are decimal numbers starting at 0; notice that the numbers under the Input
conditions are the binary equivalent to these decimal numbers.
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To translate this into code we will start by converting the Boolean inputs and combining them
into an integer number.
Let us assume that iStep is declared in the PLC as an integer. If we then assign the ExitPE to the
first bit of iStep and the EntryPE to the second bit of iStep, iStep will represent the decimal
equivalent of the status, of the two PEs.
We can then control the output based on the value of iStep. iStep has four possible values 0,1,2,
and 3
When iStep is 0, 1, or 3 the Motor Starter is False. When iStep is 2 the Motor Starter is True.
We can now use a ‘CASE’ statement to control this:
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It is also possible to combine the CASES where the code is the same, simply separate the values
with a comma.
Although we are writing to the variable in multiple places, because they are inside of a ‘CASE’
statement only one of them will be written to in a given PLC scan. If the value of iStep was to
change, it will be the next PLC scan before the ‘CASE’ would change.
This also gives us the flexibility to easily add more functionality based on the status of the
inputs. If you wanted to start a timer when the ExitPE was blocked and the EntryPE was not,
you could simple add that code to ‘CASE’ 1, which would be much easier than trying to add it to
the ‘IF’ statements in the first examples.
Adding the MiddlePE to the system will be simple in the ‘CASE’ statement; however, I would first
like to repeat the first two ‘IF’ statements to show why and how this method becomes more

complicated.
The below could be used, but if all three PEs are on then the PLC is writing to the output in two
places, within the same PLC scan.
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In the next example the code has been made more efficient and the PLC is only writing to the
output once during the PLC scan, but it is more complicated to follow, and therefore more
difficult to debug.
If the ‘CASE’ statement is used then we will see how flexible it really is.
Previously there were two PEs, to add a third PE, simply add a third bit, copy and adjust which
inputs are copied to which bits.
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Expand the ‘Truth Table’ to include the new possible combinations
From the ‘Truth Table’ we now see that the Motor Starter will be energized when iStep is equal
to 2, 4, or 6
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This can be reduced to:
For an example of how to use a Truth Table and Boolean Algebra for the most efficient coding of
this example please refer to Appendix II – Truth Tables and Boolean Algebra.
For this program we will use the ‘CASE’ statement as it is easier to make changes to.
I have changed the variables names to match the naming convention.
xConvRunEnable is defined as a local BOOLEAN. This variable will be used to know when the Chapter: PLC Programming “The Inspection Conveyor”
Photo Eyes are in the correct states to start the conveyor. It will not be used to directly start and
stop the conveyor.
The xConvRunEnable will provide one of the start commands, each Photo Eye will provide a stop
command. If we start with the following code we will see that the code gets locked up, because
any time the middle PE is blocked the Conveyor cannot move. Therefore we need to monitor
the PE and select when it will have an effect on the conveyor.
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There are several ways to do this; the simplest is to use a Rising Edge Trigger ‘R_Trig’ from the
‘Standard’ libray. The PE will provide the input and the output will be TRUE for one PLC scan.
This will allow the program to know that a new boxed has arrived, and the Q output of the
‘R_Trig’ can be monitored for stopping the conveyor while the PE itself is ignored.
Add the three R_Trig functions blocks to the code below the CASE statement. The Q outputs of

the function blocks were removed, because they will not be used on this line of code. It will be
used later to stop the conveyor.
In order to start the conveyor the enable needs to be TRUE and we are also going to pause the
conveyor for 5 seconds each time a PE is blocked, this will allow the operator to place a new box
at the Entry PE.
The timer needs a condition that will stay TRUE for the duration of the PT (Preset Time). If the IN
goes FALSE then the timer will reset and start again with an ET (Elapsed Time) of zero. When a
box reaches a PE the conveyor should stop, 5 seconds later the conveyor should start again.
Using each PE to stop the conveyor, then a 5 second timer to pause the conveyor, then
monitoring the xConvRunEnable will give us everything we need. This sequence of steps is easily
handled in a ‘CASE’ statement.
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The basic framework of the ‘CASE’ statement will look like the following.
Each step has a comment that describes what will happen in that step. Each step number also
increases by a value of 10, this allows for steps to be added without having to change all of the
step numbers.
The ‘Init’ step is there because it is a good habit to start, most ‘CASE’ statements are going to
need to use it; therefore, I always include it. As an example we will be adding a TON (Timer On)
in step 20, this timer will be reset in the ‘Init’ step.
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Below is the entire ‘CASE’ statement.
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Step 0 is the ‘Init’ step; here we set all Function Blocks that are going to be used within the
‘CASE’ statement to FALSE. The last command of the step is to increase the value of
iStepSequence by 10. On the next PLC scan step 10 will be executed.
Step 10 monitors the xConvRunEnable from the previous ‘CASE’ statement. IF the PEs are in
their correct state, then iStepSequence will be increased by 10. On the next PLC scan step 20 will
be executed.
Step 20 calls the timer with a FALSE command; this will reset the ET of the timer to 0. Next the
same timer is called with a TRUE command and given a time value of 5 seconds. Then
iStepSequence is increased by 1. On the next PLC scan step 21 will be executed.
Step 21 calls the timer and monitors the Q output of the timer. After 5 seconds has elapsed the
Q output will be TRUE, the timer will be reset with a FALSE command and the value of
iStepSequence will be set to 30.
The reason for the extra step is to ensure that the timer is reset before being used, because the
timer is reset in step 20 we must go to another step to wait for it to finish. If the code stayed in
step 20 the timer would be reset every PLC scan and therefore it would never complete.
Step 30 sets the Motor output to TRUE and increases iStepSequence by 10.
Step 40 monitors the outputs of the three R_Trig Function Blocks, when any one of them is TRUE
the motor output is set to FALSE and iStepSequence is set to 0.
The process will then repeat.
The ELSE step is a good practice, if for some reason a change is made to the code and
iStepSequence is given a value that is not defined then the commands in the ELSE step will be
executed. Without the ELSE step the code would get stuck. Additionally iErrStepNumber is

given a value of iStepSequence to help find what the value of iStepSequence was that sent us to
the else statement, this is purely used for debugging purposes.
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Also notice how the code is indented using the ‘TAB’ key. This is done to help make the code
more readable. If we look at step numbers, it is easy to move downward and find the next step
number. Also the IF and END_IF have nothing in between them, which makes the END_IF easy to
locate. Compare the two pictures below to see the difference this makes.

If nothing ever went wrong our conveyor would be mostly complete at this point; however, if it
can go wrong it will. It is unlikely that you as a programmer will think of every possible situation
that could cause a problem. Over time you will start to learn the most common problems. One
of them is the possibility of a glitch in the Photo Eye. When using a very sensitive PE it is possible
that the PE will transition from FALSE to TRUE at times other than when a box appears in front
of it on the conveyor. Let us assume that a fly is in the building and it crosses in front of the
path of the PE, depending on the hardware of the PE it may or may not be detected. If it is
detected then the conveyor is going to stop as if a box was present. To prevent this type of
problem we can add a ‘De-bounce circuit’ to the code. The idea of a ‘De-bounce circuit’ is to
detect that a BOOLEAN condition has changed and stayed at its new state, and not bouncing
between TURE and FALSE. There are a couple of ways to do this; all of them deal with timing.
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We will start with an obscure example because it makes for good sample code.
In the above example when the PE is TRUE iCount will increase by a value of 1 each PLC scan. If
the PLC scan is 10ms then after 100ms (iCount >= 10) xInputDebounced will be set to TRUE. We
would then have to monitor xInputDebounced in our code and possibly look at other conditions
for setting it to FALSE and set iCount back to 0.
The above example inherently uses the PLC cycle time as the timer. If this was done on the
machine and then for some other reason the PLC task time needed to change, then all of the
places in the code where we de-bounced an input would need to change. In my opinion using
the PLC scan to control your code is never a good idea.
For another version of the above, please refer to Appendix III – De-bouncing and Input.
When de-bouncing an input that involves motion the speed at which the product is moving
needs to be considered. Imagine we have a simple conveyor with a PE on the end of the

conveyor. The box should stop at the end of the conveyor without stopping erroneously, but
also should not allow boxes to fall into the floor. If the conveyor is moving extremely slow then
the code could wait for the PE to be True for 1 second before stopping the conveyor. However
as the conveyor increases in speed the 1 second wait might cause the box to move to far before
stopping the conveyor. This would be another reason not to use the above counter and rely on
it to work in all situations. If there is a way to know the velocity of the conveyor then we can
calculate the precise time we need to ensure a box is present and still stop the conveyor before
it falls off.
D=R*T
Distance = Rate of travel * Time
If the box is 10 inches long and we want to limit it so that no more than 25% of the box moves
past the PE then our Distance will be 2.5 inches
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The Rate of travel will be the speed of the conveyor. We will assume that out conveyor is
moving at 1 foot per second (fps).
Our reaction is now
Time = Distance / Rate of travel
Time = 2.5 inches / 1fps
Time = 2.5 seconds
Therefore we could implement the following code with a simple timer
Note: The above sample will not compile, Distance / Rate will return a LREAL value which cannot Chapter: PLC Programming “The Inspection Conveyor”
be stored in a variable of type TIME
When the input is True for tTime (2.5 seconds) the output will then be True. The output will turn
False immediately when input turns False.
To make this more flexible and reusable we will place this into a Function Block and allow the
values of Distance and Rate to adjusted by a variable.
Add a Function Block with a name of FB_DebounceInputFalseToTrue
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Declare the follow in the Function Block

Add the following code to the body of the Function Block
The LREAL_TO_TIME conversion will convert the 2.5 into T#2.5ms, multiplying by 1000.0 before
converting will result in tTime having a value of T#2.5s
Open P_InFeedConveyor and use the Function Block to de-bounce the 3 PEs on the Conveyor.
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xExitPE, xMiddlePE, and xEntryPE are declared as local variables of type BOOL.
In the Check if clear to advance and the Conveyor Advance sections we are using the real inputs
in the code, these must be replaced by our new de-bounced inputs.
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In review of where we started
We see that the following sections of code have been completed.
De-bounce, Check if clear to Advance, and Conveyor Advance
The On/Off delay was built into the CASE Statement for Conveyor Advance, so it can be
removed.
The next thing to implement is Jam Detection.
The jam detector on this conveyor will detect when a box leaves either the Entry or Middle PE
and does not reach the next PE.

Because there will be two Jam Detectors we will implement this as a Function Block.
This basic idea for the code is as follows
If both PEs are False then start a Timer. If the timer completes within the given amount of time
then this will indicate that the Box is stuck on the conveyor.
A few things to consider:
We don’t want the Jam Detector to cause an error if there are no boxes on the conveyor.
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We need to know how long it is supposed to take for the box to get from one PE to the Next. We
can do a calculation similar to the one we used for the de-bounce D=R*T.
The last thing to keep in mind is what happens if the conveyor starts and the box gets jammed
before clearing the first PE. Therefore, instead of using the NOT PE we will use the command for
the Conveyor to start moving.
Create a Function Block with the following name FB_JamDetection
Declare the following in the Function Block.
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Add the following code to the body of the Function Block.
Lines 1-5
A rising edge of i_xStart will be used to start Jam detection (xJamDectectEnable).
Line 7
Calculate the amount of time that can pass before turning on the error (q_xJamDetected).
Line 9
Call the timer.

Lines 11-16
If the destination is reached, disable the Jam Detection, disable the timer, and set the Jam
Detected output to False.
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Place the following in P_InfeedConveyor
fbJamDetection_MiddlePE and fbJamDetection_ExitPE are defined locally as type
FB_JamDetection
xJamDetectedMiddlePE and xJamDetectedExitPE are defined locally as type BOOL
We are using the destination as the Jam Detection PE. Therefore the Function Blocks are for the
Middle and Exit PEs.
The variable gatq_xMotorOn will be used to start the monitoring for a Jam.
The destination PE will stop the monitoring.

A distance of 50 with a Rate of 1 will make the timer run for 50 seconds before turning on the
Jam Detected output.
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Mode Handling
In the Program ‘MAIN’ we created a CASE statement that would select the Mode based on the
input selector switches, which were defined in ‘Global_Variables_IO’.
eStep was defined locally in MAIN. We will need to change this to a global variable.
Cut eStep :E_MachineState :=0; from the local declaration in MAIN, and Paste it into
‘Global_Variables’. Use the Resources tab to see the Global Variable lists.
MAIN should now have no local variables.
‘Global_Variables’ should now have eStep.
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The current code inside of P_InfeedConveyor is for how we want it to operate when machine is
in Auto. We still need code for Manual, and Maintenance.
In order to organize the code we will use ‘Actions’. One Action will be created for each possible
state of E_MachineState. To review E_MachineState has four possible values: E_Undefined,
E_Maintenance, E_Manual, and E_Auto.
To add an ‘Action’, Right-Click on P_InfeedConveyor and select ‘Add Action’ from the context
menu.
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Name the ‘Action’ A_Auto, and set the language to ‘ST’. Then click ‘OK’.
Notice tha P_InfeedConveyor is now expandable, and the Action is shown when it is expanded.
If you Double-Click on the Action, you will notice that it does not have a local variable
declaration section. It only has a code window. Actions will use the same local variable list from
the POU in which it is contained.
Create actions for the other possible Modes of E_StateMachine, E_Maintenance, E_Manual,
and E_Undefined.
Place a semicolon ; in each of the Actions. Preform a Project-> Rebuild All to compile the code. Chapter: PLC Programming “The Inspection Conveyor”
You should get 1 error.
Double-click on the error and look at the code
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In P_MachineMonitoring we were looking at the status of eStep, which was previously declared
in MAIN. Since we have now moved eStep to a Global Variable we need to correct this line of
code. Simply remove ‘MAIN.’ In front of eStep.
Preform another Project -> Rebuild All, and then Save your program.
We now need to move parts of the code from P_InfeedConveyor into the A_Auto Action
De-bouncing the Input PEs, Jam Detection, and Faults are not mode dependent and will stay in
P_InfeedConveyor.
‘Check if clear to advance’ and ‘Conveyor advance’ could happen in both Manual and Auto, but
the code was written for Auto, and the code for Manual will be different.
Copy and Paste the ‘Check if clear to advance’ and ‘Conveyor advance’ code from
P_InfeedConveyor to A_Auto.
Starting at line 40

Ending at Line 97
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We must now call the Action A_Auto (and the other Actions) from P_InfeedConveyor.
We will create a new CASE statement that selectively calls the Actions based on the value of
eStep.
The code in A_Auto is complete for now.
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In A_Manual we will add code for Jogging the Conveyor.
Declare gatq_xJogConveyor as a Global Input
For now A_Maintenance and A_Undefined have no use. Leave them with only a semicolon ; in
them.
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Fault Handling
Creating faults for every possible situation is a never ending task. We will create some faults for
the most obvious conditions that could happen in our program.
Starting with Jam Detection, create a fault for each of the two Function Blocks
Create a new Global Variable list called Global_Variables_Faults
Declare the two new Fault Variables

In the Fault section of P_InFeedConveyor place the following code.
This code will turn on the two fault variables when a Jam is detected.
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Add the following code to reset the faults.
Note: This reset code will only reset the fault variable, if the fault condition still exists, then the
fault variable will set back to True.
In the CASE statement that handles the conveyor in Auto we created an Error Step Number
variable called iErrStepNumber.
Add the following code to create a fault when this error happens.
gxConveyorAutoSequenceErr, giConveyorAutoSequenceErrID, and

gsConveyorAutoSequenceErrMsg are defined in the Global_Variables_Faults list
When the variable iErrStepNumber has a value other than zero three types of faults will happen.
gxConveyorAutoSequenceErr is a BOOL that will be set to TRUE.
giConveyorAutoSequenceErrID is an INT that will hold the value of the Error Step.
gsConveyorAutoSequenceErrMsg will hold a STRING that gives a description of the error and the
Error Step number.
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These Errors should be Reset by use of the variable gati_xReset. However, there is currently no
code to change iErrSStepNumber back to 0. We could do this somewhere in the CASE statement,
but there could potentially be a problem caused by the PLC scan. Instead we will set it back to
zero when the Reset button is pressed.
Add the following code
As we expand upon our Faults in further chapters we will explore more efficient was to handle
Faults, and resetting them.
At this point our conveyor is complete. I would like to remind you of a point I made earlier. The
more efficient the code is, the more difficult it is to read. However the easier it is to read the
harder it is to program when changes have to be made.
The core of the program we just created could be summed up in 1 line of code

However, this program is not flexible. Not IF, but WHEN someone decides that the machine
needs to be modified it will be more difficult to do. Comparing the above line of code with the
program that we created gives the impression that we wrote a bunch of code for no reason.
However as we expand the machine, the power of this modular approach using Functions and
Function Blocks will become very obvious.
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VI. Trouble shooting
24. Lamp Test
One of the key points of trouble shooting any system is knowing where to dissect the
system. If you know where to break the system apart and what to look for then the problem
can be more easily isolated.
In the below picture is a simple circuit consisting of a power supply, a push button, and a
LED. If the LED is not illuminated then the first step is to decide where to start searching for
the problem. Test the power supply, if it is good then test the continuity of the wire, if that
is good, then test the push button, and so on.
With a PLC the method of trouble shooting does not change. Over the next few pages we
will look at how the hardware is wired and how the communication happens when using a
PLC to control our simple system.
Chapter: Trouble shooting
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 The Power Rail is powered by an external source. The I/O cards receive their power from
the cards to their left, and then pass power to the cards on their right.
 Be aware that not all cards use and/or pass the power rail.
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 The push button will be wired from Connection Point 2 on the EL1002 through the push button,
and then back to Connection Point 1 on the EL1002.
 When the contacts are closed power is sent from the positive connection to the input.
 The LED will be wired from Connection Point 3 on the EL2002 through the LED, and then back to
Connection Point 1 on the EL2002.
 When the output is turned on, the LED will illuminate.
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 The EtherCAT Coupler must be powered for communication to occur.
 Note: This power should be supplied separately from the power rail.
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 The EtherCAT Coupler is connected to a network port on the Controller by an EtherCAT Cable.
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 The Controller will communicate with the I/O through the coupler. When the Input is true this
will be sent to the controller to be processed by the PLC. The PLC will then send a command to
the output to turn on the LED.
 Note: The Coupler power and power rail power are supplied separately.
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 In the TwinCAT System Manager the EtherCAT Coupler can be found under the I/O
Configuration
 I/O Devices – Device 1 EtherCAT – Term 1 EK1100

(These are the default labels, they will probably be different on your machine.)
 The I/O Terminals can be found under the Coupler
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 In the TwinCAT System Manager the Hardware is linked to the PLC variables.
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 In the PLC the variables are declared with addresses so that they may be linked to the hardware
 When the code is run, Light1 will have the same value as Switch1
 Power passes from the supply through the power rail and to the Push Button, when the button
is pressed power is supplied to the input
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 When the EtherCAT update happens the status of the input will be given to the EtherCAT packet
 The EtherCAT card in the PC will pass the data directly to the PCs memory where it can be read
by the System Manager
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 The system manager will then pass the data from the I/O Configuration to the PLC Configuration
 The PLC will then process the code
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 The system manager will then pass the data from the PLC Configuration back to the I/O
Configuration
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 The EtherCAT card in the PC will read the data directly from the PCs memory and send out the
EtherCAT packet over the network.
 When the data reaches the Output card the output will be energized and the LED will illuminate.
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 Electricity and Data flow “downstream”
 From the Push Button to the LED
 Along the path there are several places where the signal can be tested and/or monitored
 At the wiring connection of the card, in the I/O or PLC configuration of the System Manager and
in the PLC Code itself.
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 When testing hardware it is possible to “Write” and to “Force” data into the system
 A “Write” is applied one time and then control is given back to the system
 A “Force” in the System Manager is applied before each update of the I/O or PLC task
 If a Write is applied to a variable that is not linked then nothing in the system will tell that
variable to have any other state
 When Writing or Forcing in the system manager the Flow of data must be taken into
consideration
 If the Force is applied to an Input in the I/O Configuration then everything downstream will react
accordingly, just as if the Push Button had been pressed
 However, if the Output in the PLC Configuration is Forced then only the hardware will be
effected. The PLC Code will have no idea that the output has been energized.
 When a variable is Forced inside the PLC, the Force is applied and then the PLC Code is allowed
to run as it normally would. The Force is then applied again at the end of the PLC Scan.
 Here b has been Forced to a value of 1 and a is assigned a value of b + 1 or 2
 Here b has also been forced to a value of 1
 However, the first line of code assigns a value of 2 to b
 This will result in a being assigned the value of 3
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25. Code Sequencing
 TwinCAT can control up to 4 PLC Run-Times
 Each Run-Time can have up to 4 Tasks
 This allows for up to 16 tasks each with their own update rate.
 In the Task configuration of the Resources Tab you will find the Default ‘Standard’ task with its
call to the program ‘MAIN’
 Task ‘Standard’ is configured here with a Priority of 0 and an interval of 10ms
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 The below tasks are configured with a ‘SlowTask’ at 50ms and a Priority of 2, task ‘Standard’
runs at 10ms with a Priority of 1, and the task ‘FastTask’ has an interval of 1ms and a Priority of
0
 The highest Priority ‘0’ should always have the fastest interval time
 In this configuration the ‘Standard’ task calls the program ‘MAIN’
 ‘MAIN’ will then call its subsequent POUs
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 In the below example ‘MAIN’ is calling the other programs
 The first line of code in ‘MAIN’ calls the program ‘Manual’
 ‘Manual’ will run its code from top to bottom and then return to ‘MAIN’
 ‘MAIN’ will then call ‘Semi_Auto’
 ‘Semi_Auto’ will run its code from top to bottom and then return to ‘MAIN’
 Note: To view the Call Tree, right click on a POU and select ‘Show Call Tree’
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 If a Function Block is called from a program the same process applies
 When the last line of code in ‘MAIN’ is reached the PLC will return to the first line and repeat the
process
 Below is an online view of ‘MAIN’
 The dark gray lines are code that is running, line 6 is the last line of code
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26. Break Points
 WARNING!
 A Breakpoint will stop the PLC
 Note: If a breakpoint is set by accident the fastest way to remove it is to ‘Logout’ of the PLC
(F12), but with the PLC running every 10ms you probably won’t make it in time.
 Breakpoints are enabled and disabled in the Project -> Options menu
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 In the left column select ‘TwinCAT’
 Select ‘Enable breakpoints’ then click ‘OK’
 Breakpoints can be used to aid in debugging the PLC code
 When the line is selected where the Breakpoint is to happen the PLC code will run until that line
of code is reached
 When the breakpoint is reached the PLC will stop running and the status of variables can be
seen in their current state
 This will allow the checking of the code to determine if the code is executing properly
 Note: Breakpoints can NOT be set in an instance of a function block they must be set in the
implementation of the function block and therefore each instance of that function block will
stop when the breakpoint is reached.
 To set a breakpoint, click on the rung or line number where you wish the PLC to stop
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 Here the breakpoint has been set on line 4. bSwitch is currently TRUE and therefore the PLC is
still running
 Also note that the breakpoint indicator is set in the bottom right corner of the PLC Control
 When bSwitch turns FALSE the breakpoint on line 4 will stop the PLC
 The code on line 4 is not executed
 We can also see in the status bar that the PLC is no longer running
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 The Online menu provides the programmer with a list of options
 The Run (F5) command will start the PLC again and it will run until it hits a breakpoint
 The Toggle Breakpoint(F9) command will remove or add a Breakpoint at the line where the
cursor is currently located
 Step over (F10) will execute the line of code and go to the next line of code. If a call to another
POU is on the line of code being executed, the POU will run in its entirety
 Step in (F8) will perform the same action as Step over with the added functionality of opening
the called POU and stepping through its code line by line
Note: The Step in command will not open a POU inside of a library
 Single Cycle (Ctrl+F5) will run the PLC to the next breakpoint.
If only one breakpoint is set then the PLC will run from the breakpoint thru the last line of code, upon
the next Single Cycle command the PLC will run from the first line of code up to the breakpoint.
Note: Once a breakpoint has been reached the Single Cycle command will still stop at the breakpoint
even if the code would not normally execute the line of code where the breakpoint exists.
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 The Breakpoint Dialog command opens the below window
 From here you can see a list of all breakpoints that exists in the PLC
 Breakpoints can also be added and removed from here
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27. Flow Control
 Flow control allows you to see which lines of code are being executed
 In the sample lines 1 and 4 are running because 1 is greater than 0
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 Flow Control can be turned on thru the ‘Online’ menu or with the keyboard shortcut Ctrl+F11
 Flow Control may appear at times to not be working, there are 3 possible reasons for this.
1. You must be ‘Logged In’ to the PLC
2. The program you are monitoring is not being called
3. The task that is responsible for calling the program you are monitoring must be set to the
‘Debug Task’
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 In this example when ‘a’ is greater than ‘b’ the program Light_On is called
 First take note that the code for Light_Off will only show the flow control if the program
Light_Off is being called and you can see from ‘MAIN’ that it is not being called unless a is not
greater than b
 Secondly note that only the selected window will display the flow control
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 The debug task can be set in the Task configuration when you are logged in to the PLC
 Right click on the Task name and set it as the ‘Debug’ task
 Flow Control is only displayed for the ‘Debug’ task
 Warning!!!
 Flow control should never be used inside of a function block
 Only use Flow control in a Program
 If Flow Control is on inside of a Function Block it will display the values and status of the first
instance of that Function Block
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 In the below picture you see that the second instance of the Function Block indicates that it is
running even though it is not being called from ‘MAIN’
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 Notice in this picture that bPulse is blue indicating that it has a value of TRUE
 However fbPulse2 is not being called from ‘MAIN’ and bPulse in the local delaration has a value
of FALSE
 NEVER use Flow Control inside of a Function Block
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28. Global Search
 The Global Search tool allows for the search of anything inside of any part of the project or the
entire project
 A Global Search can be started in 3 different ways
 Project -> Global Search
 Ctrl+ Alt + S
 Tool Bar Icon
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 Selecting Global Search from the Project Menu will open the following window
 Ctrl+Alt+S will open the same window
 From here the sections of the program to be searched can be selected
 Holding the Ctrl key will allow for selecting multiple sections
Note: Using the Tool Bar icon skips this selection window and will search the entire project.
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 Once the sections have been selected press the ‘OK’ button
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 From this dialog box type in the search phrase
 If text was selected (highlighted) before starting the Global Search it will appear in the box
 Set the filter options for ‘Match whole word only’ and ‘Match Case’
 The ‘Find Next’ button will search for the first occurrence of the search phrase, and each time
the button is pressed it will go to the next occurrence
 ‘Cancel’ will close the search box
 ‘Message Window’ will search for all occurrences and list them in the message window.
 Note: If you are Logged In to the PLC, the message window is hidden by default. Selecting
‘Message Window’ from the ‘Window’ menu or pressing Shift+Esc on the keyboard will open the
Message Window
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 Searching for the letter ‘a’ will return everywhere the letter ‘a’ is used in the sections selected
 The first line shows the search phrase
 The last line shows how many times the search phrase was found
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 The second line below is stating the following
 Double Clicking a line in the Message Window will take you to that line of code in the program
 When using the search tools on a structure remember that the Global Search will search for
anything and the Cross Reference needs an exact variable name
 The Global Search tool can be used to search for an element within a structure, the instance of
the structure or both
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29. Cross Reference
 The Cross Reference tool allows for searching specific items in the PLC
 Variable
 Address
 POU
 The tool can be started 2 ways
 Project -> Show Cross Reference
 Ctrl+Alt+C
 Note: The code must compile with no errors before a cross reference can be done. Additionally
if a Build has not been done since the last change was made the cross reference could return
incorrect results
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 The variable name must me entered exactly as it is used in the PLC code
 Selecting the text before opening the tool will place the selected text in the ‘Name’ box.
 Get References’ will start the search
 After selecting an item in the POU column ‘Go To’ will open the POU to the line of code where
the variable is used. Double clicking the POU name will also go to where the variable is used
 ‘Cancel’ will close the search window
 ‘To message window’ will send all of the search results to the message window. The format will
be done the same as a ‘Global Search’
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 The ‘List of References’ shows the following
 The POU and line where the variable was found
 The name of the variable
 The address of the variable (if it has one)
 The scope of the variable Global or Local
 The Variable access (Read or Write)
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 When searching by address the full address must be entered
 Only the address entered will be searched, overlapping memory addresses will not be found
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 The POU search is limited, but when multiple tasks are used this will tell you which task to set as
the ‘Debug Task’ for displaying the ‘Flow Control’
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 When looking for where a POU is in the POU list, click somewhere in the POU list and start
typing the name of the POU
 This will bring up a dialog box that will narrow down the results as you type
 Select the POU name from the list and then select open
 This will open the POU and also highlight it in the POU list
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30. Scope View
 Scope View is a software oscilloscope for monitoring variables in the PLC
 Scope View is an optional component that can be installed when TwinCAT is installed
 From the Windows Start menu select Programs, TwinCAT System, TwinCAT Scope View
 Right click on Scope and select Add Scope View
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 Leave the defaults and select OK
 Right click on Scope View 1 and select Add Channel
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 Give the Channel a descriptive name and press OK
 On the Acquisition Tab of the Channel press the Change button
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 In the Edit Acquisition window select the correct Server Port and press the Reload Symbols
button
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 Select MAIN.BSWITCH and press OK
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 Press the Start button
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 When the PLC variable changes state the change can be seen in the Scope
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VII. Labs
31. Languages
Assignment:
Write a program that will monitor an Analog Value and energize an output if the value is
within a specific range.
Thoughts:
We have 1 output to control.
The output will be energized if the value is within range. A range is defined as having an
upper value and a lower value.
Therefore we have 2 conditions that determine if the output is energized. The first condition
is that the value is greater than the low end of the range, and the second condition is that
the value is less than the upper end of the range.
If both conditions are TRUE then the output will be energized.
Condition1 is that the value of the analog input is greater than the lower end of the Range.
We will assume the lower end of the range is defined as 0.
Therefore Condition will be TRUE is the value is greater than 0.
Condition2 is that the value of the analog input is less than the upper end of the Range. We
will assume the upper end of the range is defined as 10,000.
Therefore Condition will be TRUE is the value is less than 10,000.
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Here is the Ladder Diagram (LD) Code to solve the problem
Chapter: Labs
291
Here is the Function Block Diagram (FBD) Code
It could also be written this way
Chapter: Labs
292
In Continuous Function Chart (CFC) it will look very similar to the second FBD example.
Notice that iPot is only used once, and then connected to both inputs. Also notice the order
of operation in the gray box. If this order of operations is incorrect, it will require multiple
PLC scans to fully execute the code.
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For Instruction List (IL) the same ideas still apply, but we now work with 1 simple instruction
at a time, and we work with a ‘Holding Register’
The below code works like this:
The LD command will load the value of the following variable into the holding register.
The AND command will perform the AND function on the value of the following variable and
the value stored in the holding register. It will then store that result in the holding register.
The ST command will read the value from the holding register and store it in the following
variable.
Load the value of Condition1
AND it with Condition2
Store the result in xLight1
For the comparison we do the following
Load the value of iPot
If it is Greater Than 0 then store a TRUE, else store a False
Store the result in Condition1
Load the value of iPot

Chapter: Labs
If it is Less Than 10,000 the store a TRUE, else store a FALSE
Store the result in Condition2
294
In some of the previous example I started with the output first. This was only done for
planning and explanation. It should be noted that you should always set your Conditions
before you evaluate them. However, when writing code it is a common practice to work
backwards to find a solution. Starting with the Output and then working back towards the
input conditions that control the state of that output.
We started with the xLight1, and the 2 conditions required to energize it. We then looked at
the values of iPot that were needed to set the conditions.
Although we wrote that conditions last, they should be analyzed first.
Below are the full solutions:
Ladder Diagram (LD)
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295
Function Block Diagram (FBD)
Or
Continuous Function Chart (CFC)

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Instruction List (IL)
The last language option is Structured Text (ST)
In the previous examples I started with the output first, and wrote the code that would
control that output. In ST we will do the same; however, we will apply this literally. In ST the
line of code will always start with the variable that we would like to assign a value to.
The above line of code reads as
xLight1 is assigned a value of Condition1 and Condition2
The := is an assignment statement. Anytime you would like to assign a value to a variable
this symbol will be used.
In Structured Text the semi-colon is a separator. It indicates that a given statement is

separate from the one that follows. It actually has little to do with being at the end of each
line of code other than we humans like to put it there. As long as it appears somewhere
before the next statement, it will be fine. The semi-colon is for the compiler, not the human.
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These two lines of code:
xMyOutput:=true
;xMyOtherOutput:=false;
Are equally valid as these two lines of code:
xMyOutput:=true;
xMyOtherOutput:=false;
In the case of a block statement like IF-THEN, CASE-OF or WHILE-DO, the compiler already
knows how to parse it via predefined delimiters such as END_CASE, ELSE, ELSIF, END_WHILE,
et cetera. Therefore a semicolon becomes unnecessary in a block statement except to parse
the separation of the individual lines inside the block statement.
IF myValue > 9 THEN
xMyOutput:=true;
xMyOtherOutput:=false;
END_IF
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Now we add the code to control the Conditions.
Parentheses aid in understanding and controlling the order of operation.
Condition1 is assigned a value of: (iPot > 0) end of line
Greater Than > is a function. Pass in 2 values and it will return either TRUE or FALSE.
If iPot is greater than 0 then the function will return a TRUE, and Condition1 will be set to
TRUE.
If iPot is not greater than 0 then the function will return a FALSE, and Condition1 will be set
to FALSE.
If the value of iPot is less than 10,000 then the function will return TRUE, and Condition2 will
be set to TRUE, else the function will return FALSE, and Condition2 will be set to FALSE.
When looking at these three lines of code together, notice that each of them ends with a ;
this tells us that each of them are their own lines of code.
Each line of code has an assignment instruction, and there is either an evaluation or
instruction that must happen to determine the value that will be assigned to the output.
Similar to the other languages, there are many ways to write the code and obtain the same
result.
This line of code simply compresses the above into one line.
Chapter: Labs
IF iPot is greater than 0 and iPot is less than 10,000 then xLight1 will be TRUE, else xLight1
will be FALSE.
299
The IF instruction will selectively call parts of the code. It is similar to a jump instruction.
Between IF and THEN the code must simplify down to either TRUE or FALSE
IF iPot is greater than 0 and iPot is less than 10,000 then xLight1 will be TRUE, ELSE xLight1
will be FALSE.
The code of the ELSE condition will only be executed if the IF statement returns a FALSE.
IF TRUE THEN
Run This Code
ELSE
Run This Code
END_IF
Every IF instruction requires an END_IF
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32. Linear scaling using a Ratio
Assignment:
Create a function the will scale a value between 0 and 32767 to a value between 0 and 100.
Thoughts:
Because both scales start at 0 we can simply divide the maximum scale-to value by the
maximum scaled-from value.
This will give us a ratio that we can multiply by the input and it will give us the scaled value.
The formula will be
Ratio := MaxOutput / MaxInput;
ScaledValue := InputValue * Ratio;
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33. Linear scaling using an equation
Assignment:
Create a function that will scale a value between any two numbers to a value between any two
other numbers.
Thoughts:
This is similar to converting temperature from one scale to another. The numbers can go both
positive and negative. For any given value on 1 scale there is exactly 1 possible value on the
other scale. 32 degrees F = 0 degrees C and 212 degrees F = 100 C
Think of the Celsius scale as the X-axis and the Fahrenheit scale as the Y-axis.
The Formula to convert from Celsius to Fahrenheit is:
TempF = 9/5 * TempC + 32
The +32 is the offset of the line, because it does not cross the Y-axis at 0.
The 9/5 comes from the step required to get from one position on the line to the next.
For each increase of 9 degrees in Fahrenheit, you must increase 5 degrees in Celsius.
An increase on the Y-axis is referred to as Rise, an increase on the X-axis is called a Run.
So we have a Rise of 9 and a Run of 5. This can be calculated using the two known positions
100,212 and 0,32. The difference in the values will give us the change in Step.
Chapter: Labs
212-32 / 100-0 = 180 / 100 = dividing both numerator and denominator by 20 will reduce the
fraction to 9/5
Step = Y2 – Y1 / X2 – X1 = 212-32/100-0 = 9/5
302
Because the step is actually a ratio it is referred to as the slope of the Line, in the formula we will
use the letter m.
The formula needed to do our conversion is
y=mx+b
m = Y2 – Y1 / X2 – X1 = 212-32/100-0 = 9/5
x = Temp in Celsius
b = 32 the Y-Intercept, the location where the line crosses the Y-axis
y = 9/5 * TempC + 32
TempF = 9/5 * TempC +32
Using this formula we can now convert from any scale to any other scale
y = mx + b
m = Y2 - Y1 / X2 - X1
b = How do you calculate b if you don’t have a graph?
b = y1 – ( x1 * m )
If we know two points on the graph 0,32 and 100,212 we can calculate everything else in the
PLC
Chapter: Labs
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Chapter: Labs
304
VIII. Camming
Creation of Cam Tables with or without TC Cam Design Tool, with the new MC2 PLC Open Standard
34. Preface
This document is mostly compiled with information and screen shots directly from the Beckhoff
Information System version 01/2010. The current version can be downloaded from here. If you prefer
not to download and install the Beckhoff Information System you can also access it on the web.
However please keep in mind that the links in the document only work if you have the Information
System installed locally in the default location. The links in the document will open a web page showing
the Information System article on the specific topic and not the entire Information System. Additionally
the documentation for the specific topics covered and referenced in the article can be downloaded
using the following: TwinCAT Cam Design Tool TcMC2 Camming.lib Note: these are .chm files and you
must ‘UnBlock’ them before they can be opened.
This document covers a brief introduction to the new TcMC2 library; as defined by PLCopen, and
its differences from the previous TcMC library. TcMC2.lib has been included with TwinCAT NC PTP and
higher since version 2.10 build 1340. To download the TwinCAT development software please go here.
The registration form must have a valid email address and the requested version can be selected at the
bottom of the form. After ‘submitting’ the information a link to download the requested version will be
emailed to the email address provided.
The document then covers the creation of cam tables from either the PLC or the TwinCAT Cam
Design Tool. When using the PLC to create a cam table the TcMC2_Camming.lib is required. This library
is provided as a supplement to TwinCAT and must be purchased. This library is required for all camming
functionality, even if the TwinCAT Cam Design Tool is used. The TwinCAT Cam Design Tool is provided as
a supplement to TwinCAT to assist in the development of cam tables by giving a graphical
representation to the cam table and its elements. The TwinCAT Cam Design Tool must be purchased,
but can also be evaluated for 30 days by entering ‘DEMO’ when asked for a product key.
The use of Motion Functions as defined by the VDI 2143 Guidelines is covered in the document;
however the functions themselves are not covered. The current publication from the VDI is geared
toward mechanical cams and is only published in Deustch. The VDI does have plans to publish a new
document in English that will focus more on software camming; however no indication of when this
might occur has been given.
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35. Intro to TcMC2.Lib
a. Overview
The TcMC2 TwinCAT motion control PLC library includes function blocks for programming machine
applications and represents a further development of the TcMC library. TcMC2 is based on the revised
PLCopen specification for motion control function blocks V2.0 (www.PLCopen.org).
Compatibility
The TcMC2 motion control library contains enhanced and new functions. The function blocks are better
adapted to the requirements of the PLCopen specification and are not compatible with the first version
(TCMC). Users maintaining existing projects are advised to continue using the original TcMC library for
these projects, although TcMC2 should be used for new projects or revision of existing projects.
Main new features

A key feature of TcMC2 compared with TcMC is the so-called buffer mode. Buffer mode enables Move
commands to be queued in order to achieve a continuous positioning without intermediate stops. It
enables transition of two travel commands with a defined velocity at a certain position.
Move commands can be followed by further Move commands during execution. This makes adaptation
of target position or travel speed during the movement much easier.
TwinCAT Version
The TcMC2 library is available from TwinCAT version 2.10 build 1340. On remote programmable
controls, both systems, the programming PC and the control PC, must have installed an appropriate
version. Windows CE systems must have installed an image from version Windows CE 3.08.
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General rules for MC function blocks
For all MC function blocks the following rules apply, which ensure defined processing through the PLC
program.
Exclusivity of the outputs

The outputs Busy, Done, Error and CommandAborted are mutually exclusive, i.e. only one of these
outputs can be TRUE at a function block at any one time. When the Execute input becomes TRUE, one of
the outputs must become TRUE. Similarly, only one of the outputs Active, Error, Done and
CommandAborted can be TRUE at any one time.
An exception of this rule is, MC_Stop. MC_Stop sets Done to TRUE as soon as the axis is in standstill.
Busy and Active stay TRUE, since the axis is locked. After Execute is reset to FALSE, the axis is released
and Busy as well as Active are reset to FALSE.
Initial state
The outputs Done, InGear, InSync, InVelocity, Error, ErrorID and CommandAborted are reset with a
falling edge at input Execute, if the function block is not active (Busy=FALSE). However, a falling edge at
Execute has no influence on the command execution. Resetting Execute during command execution
ensures that one of the outputs is set at the end of the command for a single PLC cycle. Only then are
the outputs reset.
If Execute is triggered more than once while a command is executing, the function block will not execute
further commands and will not provide any feedback.
Input parameters
The input parameters are read with rising edge at Execute. To change the parameters the command has
to be triggered again once it is completed or a second instance of the function block must be triggered
with new parameters during command execution.
If an input parameter is not transferred to the function block, the last value transferred to this block
remains valid. A meaningful default value is used for the first call.
Position and Distance

The Position input denotes a defined value within a coordinate system, while Distance is a relative
measure for the distance between two positions. Position and Distance are specified in technical units,
e.g. [mm] or [°], according to the axis scaling.
Dynamic parameters
The dynamic parameters for Move functions are specified in technical units with second as time base. If
an axis is scaled in millimeters, for example, the following units are used: Velocity [mm/s], Acceleration
[mm/s2], deceleration [mm/s2], jerk [mm/s3].
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Error handling
All function blocks have two error outputs for indicating errors during command execution. Error
indicates the error; ErrorID contains a supplementary error number. The outputs Done, InVelocity,
InGear and InSync indicate successful command execution and are not set if Error becomes TRUE.
Errors of different type are signaled at the function block output. The error type is not specified
explicitly. It depends on the unique, system-wide error number.
Error types
Function block errors only related to the function block, not the axis (e.g. incorrect parameterization).
Function block errors do not have to be reset explicitly. They are reset automatically when the Execute
input is reset.
Communication errors (the function block cannot address the axis, for example). Communication errors
usually indicate incorrect configuration or parameterization. A reset is not possible. The function block
can only be triggered again after the configuration was corrected.
Axis errors (logical NC axis) usually occur during the motion (e.g. following error). They cause the axis to
switch to error status. An axis error must be reset through MC_Reset.
Drive errors (control device) may result in an axis error, i.e. an error in the logical NC axis. In many cases
axis errors and drive errors can be reset together through MC_Reset. Depending on the drive controller,
a separate reset mechanism may be required (e.g. connection of a reset line to the control device).
Behavior of the Done output

The Done output (or alternatively InVelocity, InGear, InSync, etc.) is set when a command was executed
successfully. If several function blocks are used for an axis and the running command is interrupted
through a further block, the Done output for the first block is not set.
Behavior of the CommandAborted output

CommandAborted is set if a command is interrupted through another block.
Behavior of the Busy output

The Busy output indicates that the function block is active. The block can only be triggered with a rising
edge at Execute, if Busy is FALSE. Busy is immediately set with a rising edge at Execute and is only reset
when the command was completed successful or unsuccessfully. As long as Busy is TRUE, the function
block must be called cyclically for the command to be executed.
Behavior of the Active output

If the axis movement is controlled by several functions, the Active output of each block indicates that
the axis executes the command. The status Busy=TRUE and Active=FALSE means that the command is
not or no longer executed.
Enable input and Valid output

In contrast to Execute, the Enable input results in an action being executed permanently and repeatedly,
Chapter: Camming
as long as Enable is TRUE. MC_ReadStatus cyclically updates the status of an axis, for example, as long as
Enable is TRUE. A function block with an Enable input indicates through the Valid output that the output
data is good. The data is updated continuously while Valid is TRUE.
308
BufferMode
Some function blocks have a BufferMode input for controlling the command flow with several function
blocks. For example, BufferMode can specify that a command interrupts another command (non-
queued mode) or that the following command is only executed after the previous command (queued
mode). In queued mode BufferMode can be used to specify the movement transition from one
command to the next. This is referred to as Blending, which specifies the velocity at the transition point.
In non-queued mode a subsequent command leads to termination of a running command. In this case
the previous command sets the CommandAborted output. In queued mode a subsequent command
waits until a running command is completed.
Only one command is queued while another command is executed. If more than one command is
triggered while a command is running, the command started last for queuing is rejected with an error. If
the last command is started in non-queued mode (Aborting), it becomes active and interrupts the
running and an already queued command.
BufferModes
Aborting : Default mode without buffering. The command is executed immediately and
interrupts any other command that may be running.
Buffered : The command is executed after no other command is running on the axis. The
previous movement continues until it has stopped. The following command is started
from standstill.
BlendingLow : The command is executed after no other command is running on the axis. In
contrast to Buffered the axis does not stop at the previous target, but passes through
this position with the lower velocity of two commands.
BlendingHigh : The command is executed after no other command is running on the axis. In
this position with the higher velocity of two commands.
BlendingNext : The command is executed after no other command is running on the axis. In
this position with the velocity of the last command.
BlendingPrevious: The command is executed after no other command is running on the axis. In
this position with the velocity of the first command.
Options input
Many function blocks have an Options input with a data structure containing additional, infrequently
required options. For the basic block function these options are often not required, so that the input can
remain open. The user only has to populate the Options data structure in cases where the
documentation explicitly refers to certain options.
Slave Axes
Chapter: Camming
Motion commands like MC_MoveAbsolute can be passed to slave axes if they are explicitly enabled in
the axis parameters. A motion command will then decouple the axis and move it afterwards. In this case
just Buffer-Mode Aborting can be used.
309
b. Migration from TcMC to TcMC2
The main differences and modifications between the TcMC motion control library and the extended
TcMC2 library are listed here, so that the effort for converting an existing project can be estimated.
Axis data structure

In the past an axis required two data structures for cyclic data exchange with the NC.
NcToPlc_Axis1 AT %I* : NCTOPLC_AXLESTRUCT;
PlcToNc_Axis1 AT %Q* : PLCTONC_AXLESTRUCT;
In most function blocks, including MC_MoveAbsolute, the NCTOPLC_AXLESTRUCT data structure was
transferred at the Axis input. Certain function blocks, including MC_Power, expected an additional
PLCTONC_AXLESTRUCT structure.
In the TcMC2 environment the axis structure was extended so that all required data are included in a
single structure, which is transferred to each MC function block.
Axis1: AXIS_REF;
The structure contains the cyclic input and output data for the NC plus additional status information. An
existing project generally accesses the content of the NcToPlc structure. The data are also available in
the Axis1 structure and can be used to adapt the application program.
Example:
TcMC : NcToPlc_Axis1.fPosSoll
TcMC2 : Axis1.NcToPlc.SetPos
Please note that the sub elements for the NcToPlc and PlcToNc structures now have English names in
view of the international market. For example, the current set position for an axis is no longer referred
to as fPosSoll, but as SetPos.
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Function blocks
The input and output configuration of the function blocks has changed slightly compared with TcMC.
The main new feature is support for MC_BufferMode in Move blocks. In addition, the blocks now also
support a Busy and Active output. These modifications generally only require little migration effort. The
following table contains a list of blocks with more extensive modifications.
TcMC TcMC2 Remark
MC_GearIn now accepts the gear ratio as a floating point

MC_GearInFloat MC_GearIn
value
The new BufferMode enables each Move block to be used

MC_NewPos to assign a new target for the axis or change the velocity.
MC_Move...
MC_NewPosAndVelo The NewPos function blocks are therefore no longer
required.
MoveAbsoluteOrRestart can be replaced with two

MC_MoveAbsoluteOrRestart MC_Move...
instances of a Move block (see BufferMode).
The new MC_CamIn function block deals with the

MC_CamIn
MC_CamIn function of the extended MC_CamInExt block. The input
MC_CamInExt
configuration was adapted accordingly.
Setting and resetting of the reference flag (axis is

MC_SetReferenceFlag MC_Home
referenced) can be achieved with the MC_Home block.
To set an axis position on the fly, MC_SetPosition can be

MC_SetPositionOnTheFly MC_SetPosition
used in relative mode (Mode=TRUE).
MC_SetActualPosition can be replaced with

MC_SetActualPosition MC_SetPosition MC_SetPosition. The new function block sets both, actual
and set position.
Motion commands like MC_MoveAbsolute can be passed

to slave axes if they are explicitly enabled in the axis
MC_GearOutExt MC_Move... parameters (from TwinCAT 2.11). A motion command
will then decouple the axis and move it afterwards. In this
case just Buffer-Mode Aborting can be used.
Chapter: Camming
MC_OrientedStop MC_MoveModulo MC_MoveModulo can be executed from standstill or in

motion. If started in motion, the block will behave like
311
MC_OrientedStop
MC_Halt stops the axis in a normal operation cycle.

MC_Halt,
MC_Stop MC_Stop is only used in a particular condition when the
MC_Stop
axis must be locked against further motion.
TcNC library
The previous TcMC library required declarations and functions from the TcNC library, so that this was
always integrated in a project. The new TcMC2 library no longer has this dependency. All required
declarations and functions are now included in TcMC2 library itself, so that the TcNC library is no longer
required. Nevertheless, the TcNC library can still be used for compatibility reasons.
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c. Status information
In existing motion applications axis status information was often determined via a function call
(AxisHasJob(), AxisIsMoving() etc.). While these functions can still be used if the TcNC library is
integrated, we now recommended a different approach:
The complete status information for an axis is included in the above-mentioned axis data structure
Axis1:AXIS_REF. However, this data must be updated cyclically by calling the function block
MC_ReadStatus or an Axis1.ReadStatus action at the start of the PLC cycle. Current status information is
then available at any point in the program during the PLC cycle.
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36. When to use a Cam Table
a. Overview
In many applications it is necessary to synchronize two or more axes. Axes can be coupled together in
the TwinCAT NC PTP. A master axis is then actively controlled, and the position of one or more coupled
slave axes is synchronously controlled by the NC.
The simplest type of coupling is linear coupling with a fixed ratio of transmission (an electronic gearbox).
Some applications require a more complex coupling of master and slave, one which cannot be described
by a simple mathematical formula. Such a dependency can be described by means of a table that
specifies an associated slave position for every master position.
The TwinCAT NC PTP offers the possibility of coupling a slave axis to a master axis by means of a table
(electronic cam plate). Here the table contains a certain number of prescribed reference points, and the
NC interpolates position and speed between them.
The TcMC2_Camming library contains function blocks for handling cam plates. Two types of cam plates
are supported.
One option is a cam plate in the form of a 2-column table containing master and slave positions
(standard table). The master column defines interpolation points via the travel path of the master,
ascending from a minimum position value to a maximum value. The associated slave position is
determined from the second column using the interpolation points of the table. Values between these
points are interpolated.
Another option is to define a cam plate as a so-called motion function. A motion function is a single-
column table of interpolation points. Each interpolation point not only contains a position, but a
complete description of the shape of the curve within a section (segment) of the cam plate. In addition
to the master and slave position at the start of the segment, the shape of the function; for example, is
specified up to the next interpolation point in the form of a mathematical function. Using this
procedure, a motion function requires only very few interpolation points. Despite this, each point
between the interpolation points are precisely defined through the mathematical function, and there
are no uncertainties due to interpolation.
Unlike a standard table, the points of a motion function can be manipulated at run time. The system
ensures that a manipulation only becomes effective once an alteration has no direct influence on the
slave. Position jumps are thus avoided.
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b. Gearing
With a 1:1 gear Ratio the two axes will move the tooling at a 45 degree angle.
With a 3.6:1 gear ratio the axes will move the tooling in a diagonal line as seen below.
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315
c. Linearly Increasing Gear Ratio (Dynamic)
Dynamically changing the gear ratio by a fixed increment each PLC cycle will create a curve. The math
for any other curve is long and complicated.
The key behind the cam table is that it is used when the slave position relative to the master position is
critical. For example if at 360 degrees both slave and master must be at 360 degrees, but when the
master reaches 720 the slave must be at 1080. This can be accomplished by having the gear ratio
doubled, but it is Time dependant and if the gear ratio is not changed at exactly the right time for
correct length of time the proper position cannot be reached. So gearing works well for linear changes
but not arbitrary changes. The cam table allows you to specify any point for the slave to be at any
position of the master, the mathematics of the cam table allow you to make the transition from one
point to the next as smooth as possible while guaranteeing that the slave will be at the specified point
when the master reaches its predefined position.
Linear and fixed gear ratios are no problem but determining a position based on adjusting the gear ratio
is time dependant and time is not necessarily under the control of the programmer, if the ratio is
changed too early or too late the target position will not be reached.
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d. Cam Table
With a Cam Table, Slave positions can be defined in the forward direction of the Master and TwinCAT
will do the math for you.
Cam tables can be made cyclical so that they repeat, typically a rotary axis will be the master and after
every 360 degrees of the Master the Cam Table will repeat.
In the below graph the Master is moving along the X-Axis from left to right. The Slave is moving along
the Y-Axis from bottom to top. As the Master position increases from 0 to 100 the Slave axis moves
from 0 to 100, and then as the Master continues towards 360 the slave will return to 0 and hold that
position until the next revolution of the Master. If only the points are defined on the table then
TwinCAT will calculate a straight line from one point to the next. If Motion Functions are used then
TwinCAT will use the VDI 2143 Motion Function standard to calculate a curve between the points.
Typically Polynomial 5 will be used. If a different curve is desired then the Cam Table can be setup to
use a different motion function to calculate the path from one point to another. Additionally the type of
points can be selected; these include Rest, Velocity, Return, and Movement.
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37. Creating a Cam Table with Function Blocks
Prerequisites:
TwinCAT NC PTP 2.10 Build 1340 or Higher
TcMC2_Camming.lib (From the TwinCAT NC Camming Supplement)
a. Overview
By the use of the TcMC2_Camming library a cam table can be created, implemented, adjusted, and used
directly from the PLC. Motion Function Points define the points on the table and the associated Motion
Function to be used with that point. The reference to the Cam Table by use of a pointer is created to
define the starting memory location and size of the Cam Table. Additionally the table type must be
defined. Each Cam Table will have a unique TableID from 1 to 255. This table ID will be used by the
programmer to reference the Cam Table when creating and/or selecting it for use. The use of the CamIn
procedure will couple the slave axis to the master axis with the given TableID as a reference. In order to
provide more flexibility, the individual points; and the properties of those points, on the Cam Table can
be adjusted after the coupling has been performed. The mode in which the Cam Table is to be activated
is also selectable.
b. Defining the Points on the Cam Table
i. Motion Function Point
A motion function point describes a start point of a motion function. The description includes
the point itself, a definition of the function type and a relative pointer to the end point of the motion
function segment.
The data structure MC_MotionFunctionPoint describes an interpolation point of a motion function. A
motion function is a one-dimensional list (array) of type MC_MotionFunctionPoint.
TYPE MC_MotionFunctionPoint :
STRUCT
PointIndex : MC_MotionFunctionPoint_ID;
FunctionType : MC_MotionFunctionType;
PointType : MC_MotionPointType;
RelIndexNextPoint : MC_MotionFunctionPoint_ID;
MasterPos : LREAL; (* X *)
SlavePos : LREAL; (* Y *)
SlaveVelo : LREAL; (* Y' *)
Chapter: Camming
SlaveAcc : LREAL; (* Y'' *)

SlaveJerk : LREAL; (* Y''' *)
END_STRUCT
END_TYPE
318
PointIndex: Absolute index of this interpolation point within the motion function. The point index of all
interpolation points must increase strictly monotonously and must have no gaps and be greater than 0.
Notes: The first point in a list must start AT any index > 0. All following points in the list add 1 to the
PointIndex. MC_MotionFunctionPoint_ID is of type UDINT.
FunctionType: Type definition for motion functions. Type MC_MotionFunctionType of the mathematical
function between this and the subsequent interpolation point.
Notes: The type Automatic motion function type used in the TwinCAT Cam Design Editor corresponds to
MOTIONFUNCTYPE_POLYNOM5_MM.
TYPE MC_MotionFunctionType :
( MOTIONFUNCTYPE_NOTDEF,
MOTIONFUNCTYPE_POLYNOM1 := 1, (* 1: polynom with order 1 *)
MOTIONFUNCTYPE_POLYNOM3 := 3, (* 3: polynom with order 3 (rest <-> rest) *)
MOTIONFUNCTYPE_POLYNOM5 := 5, (* 5: polynom with order 5 (rest <-> rest) *)
MOTIONFUNCTYPE_POLYNOM5_MM := 15, (* 15: polynom with order 5 (motion <-> motion) *)
MOTIONFUNCTYPE_BESCHLTRAPEZ_RT := 22, (* 22: acceleration trapezoid (rest <-> turn) *));
END_TYPE
PointType: Type MC_MotionPointType of this interpolation point.

TYPE MC_MotionFunctionPoint:
( MOTIONPOINTTYPE_IGNORE, (* Ignore point *)
MOTIONPOINTTYPE_REST := 16#0001, (* Rest point *)
MOTIONPOINTTYPE_VELOCITY := 16#0002, (* Velocity point *)
MOTIONPOINTTYPE_TURN := 16#0004, (* Turn point *)
MOTIONPOINTTYPE_MOTION := 16#0008, (* Motion point *)
MOTIONPOINTTYPE_ADD := 16#0F00, (* Adding of segments *)
MOTIONPOINTTYPE_ACTIVATION := 16#2000 (* 1: activation point *));
END_TYPE
RelIndexNextPoint: Relative reference to the subsequent interpolation point (usually 1).
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319
ii. Sample Code:
Below is a really bad graphical representation of the Points on the Cam Table below.
Point3 Point4
X--------X
/ \
/ \
/ \
/ \
------X--------X X-------------X
Point1 Point2 Point5 Point6
(*Point 1*)
VM_MotionFunctionPoints[1].PointIndex := 1;
VM_MotionFunctionPoints[1].FunctionType := 15;
(*MOTIONFUNCTYPE_POLYNOM5_MM*)
VM_MotionFunctionPoints[1].PointType := 1;
(*MOTIONPOINTTYPE_REST*)
VM_MotionFunctionPoints[1].RelIndexNextPoint := 1;
(*1 = Increment PointIndex by 1 to get to Next Point, must be 0 for the last point on the table*)
VM_MotionFunctionPoints[1].MasterPos := 0;
VM_MotionFunctionPoints[1].SlavePos := 0;
(*Point 2*)
(*Point 3*)
(*Point 4*)
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320
(*Point 5*)
(*Point 6*)
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321
38. Defining the Cam Table in the PLC
a. Overview
Within the PLC a Cam Table can be defined by providing a starting memory location, size, and table type.
b. MC_CAM_REF
TYPE MC_CAM_REF :
STRUCT
pArray : UDINT;
ArraySize : UDINT;
TableType : MC_TableType;
NoOfRows : UDINT;
NoOfColumns : UDINT;
END_STRUCT
END_TYPE
The data structure MC_CAM_REF describes the data memory of a cam plate in a further PLC variable
(array).
The first parameter pArray is a pointer to a data structure containing the cam plate data. The data
structure depends on the table type TableType. The number of rows is entered in the component
NoOfRows, the number of columns in NoOfCols (usually 1 or 2).
i. Example 1: Position table structure description
pArray: Address of a two-dimensional array. The first column contains an ascending list of master
positions. The second column contains the associated slave positions. The address can be assigned with
the ADR function.
Example:
Table1 : ARRAY[0..360, 0..1] OF LREAL;
pArray := ADR( Table1 );
ArraySize : Storage capacity of the two-dimensional array, which can be determined with the SIZEOF
function.
Example:
ArraySize := SIZEOF( Table1 );
TableType: The table type is MC_TABLETYPE_EQUIDISTANT, if the master positions have the same
distance, or MC_TABLETYPE_NONEQUIDISTANT it the distance is variable.
Chapter: Camming
NoOfRows: The number or rows corresponds to the number of table points.
NoOfColumns: The number of columns is 2.
322
ii. Example 2: Structure description of a motion function
pArray: Address of a two-dimensional array. The first column contains an ascending list of master
positions. The second column contains the associated slave positions. The address can be assigned with
the ADR function.
Example:
Table1 : ARRAY[0..360, 0..1] OF LREAL;
pArray := ADR( Table1 );
ArraySize : Storage capacity of the one-dimensional array, which can be determined with the SIZEOF
function.
Example:
ArraySize := SIZEOF( MotionFunction );
TableType: The table type is MC_TABLETYPE_MOTIONFUNCTION.
NoOfRows: The number or rows corresponds to the number of table points.
NoOfColumns: The number of columns is 1.
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323
c. MC_TableType
TYPE MC_TableType :
((* n*m tabular with equidistant ascending master values *)
MC_TABLETYPE_EQUIDISTANT := 10,
(* n*m tabular with strictly monotone ascending master values (not imperative equidistant) *)
MC_TABLETYPE_NONEQUIDISTANT := 11,
(* motion function calculated in runtime *)

MC_TABLETYPE_MOTIONFUNCTION := 22 );
END_TYPE
i. Sample Code:
(*Cam Table Data*)
VM_MotionFunctionPoints : ARRAY [1..6] OF MC_MotionFunctionPoint;

(*The size of the Array determines the number of points in the Cam Table*)
CamTable_Slave : MC_Cam_Ref;
(*MC_Cam_Ref contains the location, size, and type of the Cam Table*)
(*Provide MC_Cam_Ref with the data of the CAM Table*)

CamTable_Slave.pArray := ADR(VM_MotionFunctionPoints);
CamTable_Slave.ArraySize := SIZEOF(VM_MotionFunctionPoints);
CamTable_Slave.TableType := MC_TABLETYPE_MOTIONFUNCTION;
CamTable_Slave.NoOfRows := 6;
CamTable_Slave.NoOfColumns := 1;
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324
39. Creating the Cam Table
a. Overview
The Cam Table Select block enables the programmer to create a Cam Table by providing the Master and
Slave axes along with the ID of the Cam Table to be used, and the reference to the Cam Table.
b. MC_CamTableSelect
With the function block MC_CamTableSelect, a table can be specified and loaded into the NC. The block
creates a new table and simultaneously fills it with data provided by the PLC.
MC_CamTableSelect does not have to be used, if a table created with the TwinCAT cam plate editor is to
be used. In this case, simple coupling with MC_CamIn is sufficient.
Inputs
Execute: The command is executed with a rising edge at input Execute.
Periodic: Periodic is TRUE if the cam plate is repeatedly cyclically.
MasterAbsolute: Absolute interpretation of master positions.
SlaveAbsolute: Absolute interpretation of slave positions.
CamTableID: ID of the cam plate used for coupling.
Outputs
Done: becomes TRUE, if the cam plate was created successfully.
Busy: The Busy output becomes TRUE when the command is started with Execute and remains TRUE as
long as the command is processed. When Busy becomes FALSE again, the function block is ready for a
new command. At the same time one of the outputs, Done or Error, is set.
Error: Becomes TRUE, as soon as an error occurs.
ErrorID: If the error output is set, this parameter supplies the error number.
Input/Outputs
Master: Axis data structure of the master
Slave: Axis data structure of the slave
Chapter: Camming
CamTable: The data structure of type MC_CAM_REF describes the data storage for the cam plate in the
PLC.
325
i. Sample Code:
(*Axes*)
VM : Axis_Ref;
Slave : Axis_Ref;
(*Triggers*)
bCamTableSel1 : BOOL; (*MC_CamTableSelect*)
(*FB Error Info*)

bErrorCamCreate : BOOL;
iErrorIDCamCreate : UDINT;
fbMC_CamTableSelect1 : MC_CamTableSelect;
(*Create the Cam Table*)

fbMC_CamTableSelect1(
Execute:= bCamTableSel1,
Periodic:= TRUE,
MasterAbsolute:=TRUE ,
SlaveAbsolute:=TRUE ,
CamTableID:=1 ,
Master:=VM ,
Slave:=Slave ,
CamTable:=CamTable_Slave ,
Done=> ,
Busy=> ,
Error=>bErrorCamCreate ,
ErrorID=>iErrorIDCamCreate );
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326
40. Importing a Cam Table for Verification
a. Overview
Without a license for the TwinCAT Cam Design Tool, the Cam Table created by the PLC can be viewed
but changes will not be saved. Once the Cam Table has been uploaded changes can be made to tweak
the table, and then corresponding changes can be made to the PLC code.
b. Creating a Blank Table
Under the NC-Configuration, right click on Tables and select Append Table…
Leave the defaults and select OK.
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327
If you do not have a license for the Cam Design Tool you will receive the following message. Select OK.
Right click on Master 1 and select Append Slave…
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328
You should now see an empty Cam Table.
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329
c. Importing the Cam Table
On the Slave Tab verify that the Table ID matches the Table ID used in the PLC program.
If it does not match then right click on the Slave and select Change ID.
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330
Change the ID: and select OK.
After verifying the Table ID, select Upload.
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331
Your Cam Table should now look like the following.
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332
41. Camming the two Axes together
a. Overview
Once the Cam Table has been defined, verified, and created; the two axes are now ready to be cammed
together.
b. MC_CamIn
The function block MC_CamIn activates master-slave coupling with a certain cam plate. In addition it is
possible to switch to a new cam plate in coupled state. The switching rules, in particular the time or
position, can be specified.
The status flag Axis.Status.CamTableQueued can be used to check whether a cam plate is queued for
switchover.
Inputs
VAR_INPUT
Execute : BOOL;
MasterOffset : LREAL;
SlaveOffset : LREAL;
MasterScaling : LREAL := 1.0;
SlaveScaling : LREAL := 1.0;
StartMode : MC_StartMode;
CamTableID : MC_CAM_ID;
BufferMode : MC_BufferMode;
Options : ST_CamInOptions;
END_VAR
Execute: The command is executed with a rising edge at input Execute

Chapter: Camming
MasterOffset: Offset to the master position of the cam plate

SlaveOffset: Offset to the slave position of the cam plate
MasterScaling: Scaling of the master position of the cam plate
StartMode: StartMode determines whether the cam plate position is interpreted absolute or relative to
the coupling position.
StartMode can be relative or absolute for master (X coordinate) and slave (Y coordinate).
333
CamTableID: ID of the cam plate used for coupling
BufferMode: currently not implemented
Options: Data structure with further coupling and switching options:

ActivationMode: ActivationMode specifies the switching time or position at which cam plate
coupling or switchover takes place.
ActivationMode can also be specified when a slave is coupled for the first time.
ActivationPosition: Optional master position at which a cam plate is switched, depending on the
ActivationMode.
(not required for first coupling.)
If ActivationMode MC_CAMACTIVATION_ATMASTERCAMPOS is used, the position refers to the
non-scaled cam plate. If the position in the application refers to the scaled cam plate, it can be
divided by the MasterScaling before the function block is called.
MasterScalingMode: Optional Scaling mode for the master position of the cam plate
SlaveScalingMode: Optional Scaling mode for the Slave position of the cam plate
InterpolationType: Interpolation type for position tables. Not required for motion functions
Outputs
VAR_OUTPUT
InSync : BOOL;
Busy : BOOL;
Active : BOOL;
CommandAborted : BOOL;
Error : BOOL;
ErrorID : UDINT;
END_VAR
InSync: Becomes TRUE, if the coupling was successful and the cam plate is active.
new command. At the same time one of the outputs, InSync, CommandAborted or Error, is set.
Active: Active indicates that the command is executed. For cam plate switching Active becomes TRUE, if
the coupling command was executed successfully but the cam plate is still queued. If the cam plate is
activated depending on the ActivationMode, Active becomes FALSE and InSync is set.
CommandAborted: Becomes TRUE, if the command could not be fully executed. The axis may have
become decoupled during the coupling process (simultaneous command execution).
Inputs/outputs
Chapter: Camming
VAR_IN_OUT
Master : AXIS_REF;
Slave : AXIS_REF;
END_VAR
334
i. Sample Code:
(*Couple the Axes using the Cam Table*)

fbMC_CamInSlave(
Execute:=bExectueCamInSlave ,
MasterOffset:= ,
SlaveOffset:= ,
MasterScaling:= ,
SlaveScaling:= ,
StartMode:=MC_STARTMODE_ABSOLUTE ,
CamTableID:=1 ,
BufferMode:= ,
Options:= ,
Master:=VM ,
Slave:= Slave,
InSync=> ,
Busy=> ,
Active=> ,
CommandAborted=> ,
Error=>bErrorCamIn ,
ErrorID=>iErrorIDCamIn );
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335
42. Changing a table point via the PLC
a. Overview
While the Cam Table is in operation it may be necessary to adjust the location and/or properties of the
points. Although the point before and after the current Slave position cannot be adjusted every other
point can be. The way the change is to be implemented can also be defined.
b. MC_WriteMotionFunctionPoint
The function block MC_WriteMotionFunctionPoint can be used to write the data of a motion function
interpolation point.
Inputs
VAR_INPUT
Execute : BOOL;
PointID : MC_MotionFunctionPoint_ID;
END_VAR
Execute: The command is executed with rising edge.

CamTableID: ID of the loaded table.
PointID: Point ID of the first point of the motion function to be read.
Outputs
VAR_OUTPUT
Done : BOOL;
Busy : BOOL;
Error : BOOL;
ErrorID : UDINT;
END_VAR
Done: Becomes TRUE, if the data were written successfully.

ErrorID: If the error output is set, this parameter supplies the error number
Chapter: Camming
Inputs/Outputs
VAR_IN_OUT
Point : MC_MotionFunctionPoint;
END_VAR
336
Point: Data structure containing the data of a motion function interpolation point
Motion Function Point: Refer to Creating a Cam Table with Function Blocks
c. MC_SetCamOnlineChangeMode
The function block MC_SetCamOnlineChangeMode specifies the mode for write access to cam plate
data. The function block can also be used to specify when the data is read into the cam plate. If
activation of the data is to be delayed until the master reaches a certain position, the system will initially
queue the written data and activate them at the master position.
The status flag Axis.Status.CamDataQueued can be used to check whether data has been queued (i.e.
written but not yet activated).
Cam plate can be modified at run time via the PLC (see MC_WriteMotionFunction,
MC_WriteMotionFunctionPoint). The function block MC_SetCamOnlineChangeMode is used to specify
when and how these changes take effect. The set mode affects all subsequent write operations. It is
therefore not necessary to call the block before each write access.
This function specifies the activation mode for modifications but does not affect a change or change-
over of cam plates.
Inputs
VAR_INPUT
Execute : BOOL;
ActivationMode : MC_CamActivationMode;
ActivationPosition : LREAL;
MasterScalingMode : MC_CamScalingMode;
SlaveScalingMode : MC_CamScalingMode;
END_VAR
Execute: The command is executed with rising edge.

Chapter: Camming
ActivationMode: Defines when and how scaling takes place. (MC_CamActivationMode)

ActivationPosition: Optional master position at which scaling is carried out (depending on
ActivationMode). If ActivationMode MC_CAMACTIVATION_ATMASTERCAMPOS is used, the position
refers to the non-scaled cam plate. If the position in the application refers to the scaled cam plate, it can
be divided by the MasterScaling before the function block is called.
337
MasterScalingMode: Type of master scaling. (MC_CamScalingMode)
SlaveScalingMode: Type of slave scaling. (MC_CamScalingMode)
CamTableID: Table ID.
Outputs
VAR_OUTPUT
Done : BOOL;
Busy : BOOL;
Error : BOOL;
ErrorID : UDINT;
END_VAR
Done: Becomes TRUE, if the data were written successfully.

ErrorID: If the error output is set, this parameter supplies the error number
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338
d. MC_CamActivationMode
TYPE MC_CamActivationMode :
(
MC_CAMACTIVATION_INSTANTANEOUS, (* instantaneous change *)
MC_CAMACTIVATION_ATMASTERCAMPOS, (* modify the data at a defined master position referring
to the cam tables master position *)
MC_CAMACTIVATION_ATMASTERAXISPOS, (* modify the data at a defined master position referring
to the absolute master axis position *)
MC_CAMACTIVATION_NEXTCYCLE, (* modify the data at the beginning of the next cam table
cycle *)
MC_CAMACTIVATION_NEXTCYCLEONCE, (* Not Yet Implemented! Modify the data at the beginning
of the next cam table cycle, activation is valid for one cycle only *)
MC_CAMACTIVATION_ASSOONASPOSSIBLE, (* modify the data as soon as the cam table is in a safe
state to change its data *)
MC_CAMACTIVATION_OFF, (* don't accept any modification *)
MC_CAMACTIVATION_DELETEQUEUEDDATA (* delete all data which was written to modify the cam
table but is still not activated *)
);
END_TYPE
MC_CamActivationMode specifies the timing and type of change for a cam plate. Changes can be
affected through scaling, modification of the cam plate data, or switching of cam plates.
The following modes are possible:
MC_SetCamOnlineChangeMode is used to specify when modified cam plate data become active (see
also MC_WriteMotionFunction and MC_WriteMotionFunctionPoint).
In both cases the following modes are possible:
MC_CAMACTIVATION_INSTANTANEOUS: The change takes effect immediately.

MC_CAMACTIVATION_ATMASTERCAMPOS: The change takes effect at a certain cam plate position
(master position within the cam plate). The command must be issued ahead of this position.
The position refers to the non-scaled cam plate. If the position in the application refers to the scaled
cam plate, it can be divided by the MasterScaling before the function block is called.
MC_CAMACTIVATION_ATMASTERAXISPOS: The change takes effect at a certain absolute position of
the master axis. The command must be issued ahead of this position.
MC_CAMACTIVATION_NEXTCYCLE: For a cyclic cam plate, the change takes effect at the transition to
the next period.
MC_CAMACTIVATION_ASSOONASPOSSIBLE: Modified cam plate data take effect as soon as system
dynamics allow.
MC_CAMACTIVATION_OFF: Changes in cam plate data are ignored.
MC_CAMACTIVATION_DELETEQUEUEDDATA : Queued cam plate data are deleted. Data are queued if
Chapter: Camming
the change was requested at a certain master position or at the end of the cycle, for example.
339
i. Sample Code:
(*New data for point 5 of the Cam Table*)
(*Buffer the Data for Point 5*)

fbMC_WriteMotionFunctionPoint5_1st(
Execute:=TRUE ,
CamTableID:=1 ,
PointID:=5 ,
Point:=VM_MotionFunctionPoints[5] ,
Done=> ,
Busy=> ,
Error=>bErrorWritePoint_1st ,
ErrorID=>iErrorIDWritePoint_1st );
(*Use new Data for Point 5*)

fbMC_SetCamOnlineChangeModeTable1_1st(
Execute:= TRUE ,
ActivationMode:=MC_CAMACTIVATION_ATMASTERAXISPOS ,
ActivationPosition:=370 ,
MasterScalingMode:=MC_CAMSCALING_AUTOOFFSET ,
SlaveScalingMode:=MC_CAMSCALING_AUTOOFFSET ,
CamTableID:=1 ,
Done=> ,
Busy=> ,
Error=> bErrorChangeMode_1st,
ErrorID=>iErrorIDChangeMode_1st );
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340
(*New data for point 5 of the Cam Table*)
(*Buffer the Data for Point 5*)

fbMC_WriteMotionFunctionPoint5_2nd(
Execute:=TRUE ,
CamTableID:=1 ,
PointID:=5 ,
Point:=VM_MotionFunctionPoints[5] ,
Done=> ,
Busy=> ,
Error=>bErrorWritePoint_2nd ,
ErrorID=>iErrorIDWritePoint_2nd );
(*Use new Data for Point 5*)

fbMC_SetCamOnlineChangeModeTable1_2nd(
Execute:= TRUE ,
ActivationMode:=MC_CAMACTIVATION_ATMASTERAXISPOS ,
CamTableID:=1 ,
Done=> ,
Busy=> ,
Error=> bErrorChangeMode_2nd,
ErrorID=>iErrorIDChangeMode_2nd );
Chapter: Camming
341
43. Motion Functions vs. Position Tables
a. Position Tables
General Table Conventions
Tables only contain binary data. Table can be read from an ASCII file but you have to parse the file.
A table consists of a header (the first line) and the table data (the remaining lines).
The header contains two numbers of type unsigned short. The first column contains the number of lines
(without header), while the second column contains the number of columns (for table-slave tables this is
always 2). There are no separating characters between the data.
Apart from the header, the table only contains data of type double.
The first column (with the exception of the header line) contains the master positions, while the second
column contains the associated slave positions (both in mm). There are no separating characters
between the data.
The quantity of data is restricted to 64 KB (TwinCAT Version 2.6). (This might be greater in newer
versions)
A position table is a 2D array that provides a slave position relative to the master position. The
downside of a position table is that the segments between defined points are calculated in a straight line
between the points. Therefore the more points on the table the shorter the segments and the better
the motion. Most 2D tables contain at least 1000 points and are commonly generated by 3rd party
software using a mathematical formula (similar to a motion function) to create a table of 1000+ points.
Chapter: Camming
342
Below are the points generated by using Motion Functions from our above sample code. The values
highlighted in yellow are the master. The values highlighted in red are the defined points. If this was a
table of points the Slave axis values would increase linearly.
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343
b. Motion Functions
A motion function (MF) describes a cam disc via mathematical functions. It sub-divides the curve into
appropriate segments (sections), for which different motion laws, i.e. special mathematical functions,
can be used (for cam examples see: Cam design tool examples). The motion laws for mechanical cams
are defined in VDI guideline 2143 and other documents. The electronic cams in TwinCAT use these
functions, among others. The motion functions realize these motion functions directly in the real-time
driver of the NC. Unlike classic table couplings that only transfer discrete steps (scatter plots) in the form
of larger data quantities to the NC, the complete information is stored in the NC in very compact form.
Problems originating from data granularity (position reference points) in the table are thus eliminated.
The realization of motion laws in the NC has a further crucial advantage: A motion diagram, i.e. the
complete description of the motion of a slave axis, can now simply and clearly be defined and modified
from the PLC. Associated PLC function blocks make the application of this functionality very convenient.
Users can influence not only the complete motion description, but also individual segments or sub-
sections.
In order to ensure that the drive system can actually implement a cam in practice, the system calculates
characteristic values (such as maximum and minimum position values, velocity and acceleration etc.),
which the user has to analyze. The resulting dynamic limit values ultimately depend on the motion of
the master and relate to constant master velocity. The characteristic values are thus calculated with the
idealized assumption of constant master velocity. In addition, the mean velocity and the effective
acceleration are calculated. These values may be used, for example, for calculating the effective torque
or the operating point PA (nm ; Meff) in the torque/speed diagram of the motor. The PLC can access the
current characteristic values of the NC via function blocks.
In the cam design tool (TwinCAT Cam Design Editor) the decision whether to use classic table couplings
(scatter plot) or motion functions can be configured via an associated selection. Subsequently, either the
position tables or the motion function points are generated when the configuration is activated. If
motion functions are used, these points can subsequently be modified individually by the PLC.
It is possible to modify individual values or complete sections of the motion functions online according
to associated rules, i.e. while the cam is active. Very flexible cams can thus be realized.
Chapter: Camming
344
c. Definition of a Point
The information contained in the cam design tool table is sufficient for defining the motion in the NC.
However, closer inspection of this MF table reveals the presence of redundant data. Because the motion
is described in segments (sections), for motion diagrams with simple interrelationships the end point of
a section is identical to the starting point of the next segment. The more complex point types offered by
the cam design tool, such as slide point, are not yet implemented. In addition, users want to be able to
deactivate individual points in a particular motion diagram (MOTIONPOINTTYPE_IGNORE, referred to as
IGNORE below) at a later stage. These requirements lead a description that in addition to the starting
point of a segment, including the point information (velocity, acceleration, point type), also contains the
segment information (function type, symmetry value).
d. Point structure
PointIndex UINT32 Point index

FunctionType UINT16 Function type
PointType UINT16 Point type
Relative index of the end point (default: 0, subsequently corresponds
RelIndexNextPoint INT32
to 1)
MasterPos REAL64 Master position
SlavePos REAL64 Slave position at this reference point
SlaveVelo REAL64 Slave velocity at this reference point
SlaveAcc REAL64 Slave acceleration at this reference point
Slave jerk at this reference point or symmetry value of the segments
SlaveJerk/Symmetry REAL64
for rest in rest motion laws
In this structure, a relative index is used to refer to the point index of the end point of this segment.
In order to keep the definition simple for motion diagrams with simple interrelationships, the IGNORE
points are indeed ignored completely. The relative point index is therefore automatically adjusted
internally.
Chapter: Camming
The default value of the relative point index may therefore be zero, although for a standard list with
simple link the value should be ‘1’. The user therefore does not have to update this information. The
possible point types of the cam design tool therefore includes the IGNORE point.
345
e. Point types
MOTIONPOINTTYPE_IGNORE 0x0000 Ignore point Ignored point
MOTIONPOINTTYPE_REST 0x0001 Restpoint Rest point
MOTIONPOINTTYPE_VELOCITY 0x0002 Velocitypoint Velocity point
MOTIONPOINTTYPE_TURN 0x0004 Turnpoint Reversal point
MOTIONPOINTTYPE_MOTION 0x0008 Motionpoint Movement point
MOTIONPOINTTYPE_REST v=0, a=0

MOTIONPOINTTYPE_VELOCITY v=?, a=0
MOTIONPOINTTYPE_TURN v=0, a=?
MOTIONPOINTTYPE_MOTION v=?, a=?
At Rest the velocity and acceleration will be 0.

A Velocity point will have 0 acceleration and the velocity will be defined by the Cam Table or the user.
A Turn point will have a velocity of 0, and the acceleration will be calculated by the Cam Table or the
user.
A Motion point is the default type in which the velocity and acceleration will be calculated by the Cam
Table.
Since no points can be added while the MF is active, the IGNORE point type enables associated points to
be included. These can be activated online at a later stage by specifying the associated values (point
type not equal IGNORE).
Warning:
The master position has to be either strictly monotonic rising or falling. Otherwise it is rejected with an
associated error message.
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346
44. Cam Design Tool
a. Overview
A cam design editor is used to design the movements for a cam plate. A cam design editor is integrated
into TwinCAT, and it can be found in the System Manager under the NC Configuration, under the Tables
item. The cam design editor is a flexible tool that provides the user with optimum support and only the
minimum of restrictions. Therefore, responsibility for the choice of parameters lies with the user. The
user, for instance, should carefully check whether the starting and end points correspond exactly to
requirements. On the other hand, the user is offered the best possible assistance for checking velocity,
acceleration and jerk through the graphic display facilities.
With all these options, however, the user must remember that it is physics that sets the limits to the
possible movement.
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347
b. Creating a Cam Table
Right click on Tables and select Append Table…
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348
Right click on the Master and select Append Slave…
It is possible here to insert additional masters, and to enter corresponding slaves under. If you then click
the master in the structure tree, the property pages can be used to set the properties not only of the
master, but also of the associated slaves.
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349
Chapter: Camming
350
The general procedure for developing a design of a cam is based on VDI (Verein Deutscher Ingenieure)
Guideline 2143. The rough design of the movement - the movement plan - defines the starting and end
points of the movement section. The editor, however, does not make a distinction between the
movement sketch and the movement diagram containing the detailed description of the movement,
they will show the same data.
The user's interface to the cam design editor is graphic. Following interactive graphic entry of the points
in the graphic window, the co-ordinates of the points are displayed in the table window above it. New
points can only be inserted in the graph, and it is only possible to delete existing points via the graph.
The properties of the points - the co-ordinate values or their derivatives - can also be interactively
manipulated in the table window.
Chapter: Camming
351
Not just the position, but also the velocity, acceleration and jerk can be displayed in the graphic area.
The mode of the display can be changed by a right mouse click in the graphic window, which opens the
following menu:
Chapter: Camming
Thus a separate Graphic Window is opened for each derivative.
352
i. Master Tab
The minimum and maximum master positions can be specified.

The Normed switch allows you to choose between a normalized display and a physically oriented display
in which the velocity, acceleration and jerk of the slave are shown against time. The normalized display
refers these displays to the master position.
The velocity of the master is needed for the physically oriented display; it is necessary, first of all, to
distinguish here between a linear and a rotary axis (angular values quoted in degrees). When the data is
transferred to the NC, the choice between a linear and a rotary axis specifies whether the table type is
linear or cyclic.
For a rotary Master, the first and second derivatives at the end are set equal to the corresponding
values at the start of the movement cycle, if the starting and end positions of the slave correspond to
the minimum and maximum positions of the master.
The increment specifies the increment of the master position used for output of the table into a file. If
an equidistant table is to be generated, the total length (the actual maximum minus the minimum)
should be divisible by the increment. When the project is saved in the registry, the information required
to generate and transfer the tables with this increment is created in the NC.
The Rounding Value rounds the master position in the graphic input with the given value.
Fixed Table / Motion Function: When exporting the cam table to a .csv file this option will either
generate a straight line (Fixed Table) or calculate the points using the Motion Function.
Chapter: Camming
353
ii. Slave Tab
Maximum and minimum values can be specified for position, velocity, acceleration and jerk. These
values can be used as initial specifications when the graphic window is first displayed. Adjustment to the
current values in the diagram can be performed in the relevant graphic window with the Adjust to
Extreme Values command.
The Rounding Value rounds the slave position in the graphic input with the given value.
Export allows the slave's values to be stored in an ASCII file in the form of master position, slave
position, on one line each. The master position increment is specified in the master's property page.
Import allows files in the format just described to be read in. The values can then be displayed as cubic
splines. The type of the spline still needs to be adjusted in the table, according to the values.
The Table Id provides a unique identifying number (1..255) for the table, with the aid of which the table
data is stored in the NC. It can be changed to using a right mouse click in the menu with the Change Id...
command.
Chapter: Camming
354
c. Graphic Window
The slave's position and derivatives are each shown in separate graphic windows.
The associated toolbar includes both buttons that are only related to the graph as well as the special
commands for the cam plate editor.
When the Overview Window is switched on, it is not only possible to see which section the graph
window is looking at, but this section can be moved, or it is possible to zoom to a new section.
The horizontal and vertical Scrollbars can be used to shift the Graphic Section; the horizontal scrollbar
acts on all the graphic windows at the same time.
If you're using an IntelliMouse with a ScrollWheel you can zoom with the ScrollWheel.
Chapter: Camming
355
The toolbar and its commands can be displayed or hidden via the menu that is opened by a right mouse
click (in the graphic window).
This window also has a Horizontal Scrollbar if the Horizontal Scrollbar option is activated. All the
horizontal scrollbars are synchronized.
The Cross on Point option causes the starting and end points of a movement section to be indicated by a
cross.
The Show Online Data displays the table data that is currently in the NC, with the associated table ID as
a cubic spline. Currently this can result in a distorted display; because the linear tables are displayed as
natural splines (second derivative at the edges equals 0). The data is displayed in the same color, but
somewhat darker.
The data is automatically transferred by ADS, as soon as Online Mode is switched on. The current data
can be read by switching the mode on and off.
When the project is saved in the registry (Activate Configuration), the information required to generate
and transfer the tables is created in the NC.
Chapter: Camming
356
d. Tables Window
The values for the movement section are displayed in the table window:
The values can be altered via the keyboard, remember that restrictions are applied arising from the
choice of function type or other boundary conditions for the points.
Since movement sections are normally continuous; except for Slide Points, the end point and its
derivatives at the end of the section are equal to the corresponding values at the start of the following
movement section. For this reason it is normally always the initial values that should be manipulated. In
addition to this, if any inconsistencies are seen in the graph of a completed movement diagram, the
agreement of the initial and end points should be checked. If certain values in the table cannot be
changed, consideration should be given to the boundary conditions applying to the points. It may be
appropriate to change them. The boundary conditions limit the scope of the functions in sections in
accordance with their type.
The symmetry of the functions can only be changed for the following types: Polynom3, Polynom5,
Polynom8, Sinusline, ModSinusline, Bestehorn, and AccTrapezoid. Normally the inflection on the curve
(acceleration = 0) at 50 % = 0.5. This value can be changed in the table or in the diagram of the
Chapter: Camming
acceleration (Example 6).
357
i. Function Types
In addition to the standard types (synchronous/automatic), which can be changed by command on the
graph, the function type can also be modified in the combo box. When the combo box; or a field in the
first column, is first clicked, a rectangle is temporarily shown in the position window, with the initial and
end points of the section at its corners. As soon as another field in the table window is activated, either
the rectangle for this one is shown, or no rectangle is displayed at all.
The types correspond to those of VDI Guideline 2143; additionally, there are the cubic splines, with the
boundary conditions of natural, tangential and periodical.
Changing the type of spline at the first point implies that the spline type as a whole is changed, including
that of the end point.
If Spline Tangential is chosen as the spline type, the boundary conditions (first derivative at the starting
and end point) should be modified.
Chapter: Camming
At the Motion functions with fit to boundary values the R is for Rest, V for Velocity, T for Turn, and M for
Motion.
358
ii. Commands
The cam design editor offers the following commands, and these may be called up through the toolbars
on the relevant graphic window:
All these commands are only applicable to the associated window.
Adjustment to the Extreme Values

The window's coordinates are adjusted to the extreme values of the movement.
Measurement of Distance
The horizontal and vertical distance to the current point from the point first clicked with the left mouse
button is displayed at the top right hand corner of the window (please hold the mouse button down for
this).
Current Position
The absolute horizontal and vertical position of the point currently clicked with the left mouse button is
displayed at the top right hand corner of the window (please hold the mouse button down for this).
Horizontal Shift
Moves the selected point horizontally
In the velocity window for synchronous functions: shift along a straight line in the position window.
The left-hand edge of the graphic area can be temporarily moved in this way, so that the scale can be
more easily read.
Vertical Shift
Moves the selected point vertically
In the velocity window for synchronous functions: adjustment of the position in the position window to
the velocity.
In the acceleration window for automatic function: adjustment of the acceleration.
Shift
Moves the selected point.
Chapter: Camming
359
The following commands only apply in the graphic window for position:
Insert Point
Inserts a point at the cursor position.
Synchronous Function
The chosen section is passed through with a synchronous function.
Automatic Function
An optimum function is selected automatically for the chosen section including adjustment to the
boundary values.
Delete Point
The selected point is deleted, as is the corresponding section.
The following four items define specific boundary conditions for the points:
The point type is correspondingly displayed in front of the point in the table window. This restriction can
mean that the end value of a section does not agree with the initial value for the following section.
Rest Point
The selected point is defined as a rest point (boundary condition: v=0, a=0).
Velocity Point
The selected point is defined as a velocity point (boundary condition: a=0).
Reversal Point
The selected point is defined as a reversal point (boundary condition: v=0).
Movement Point
The selected point is defined as a movement point (no boundary conditions).
Slide Point
The starting position of the following section or the end position of the previous section is set at the
cursor position, without changing the selected section.
The point can then be moved on to the section using horizontal shift.
Chapter: Camming
Delete Slide Point

The slide point is deleted and the sections are joined together as they were previously.
360
45. Cam Table Scaling
a. Overview
As required by the application the scale of the Cam Table can be adjusted. Master and Slave offsets can
also be given to provide more flexibility to the programmer.
b. MC_CamScaling
A cam plate coupling can be scaled with the function block MC_CamScaling. The raw table data of the
cam plate are not affected, the scaling refers to an existing master/slave coupling. The following
parameters can be modified, scaling factors for master and slave, and offsets for the cam plate within
the coordinate system.
Optionally, the modification will only take effect from a certain master position, enabling precise scaling
during the motion. Caution when scaling during motion! The slave position at the time of scaling should
only be affected slightly by the change.
The status flag Axis.Status.CamcalingPending can be used to check whether a scaling procedure is
queued.
Inputs
VAR_INPUT
Execute : BOOL;
ActivationMode : MC_CamActivationMode;
ActivationPosition : LREAL;
MasterScalingMode : MC_CamScalingMode;
SlaveScalingMode : MC_CamScalingMode;
MasterOffset : LREAL;
SlaveOffset : LREAL;
Chapter: Camming
MasterScaling : LREAL := 1.0;

SlaveScaling : LREAL := 1.0;
END_VAR
Execute: The command is executed with a rising edge at input Execute
361
ActivationMode: ActivationMode specifies the scaling time and position.
ActivationPosition: Master position at which a cam plate is scaled, depending on the ActivationMode
If ActivationMode MC_CAMACTIVATION_ATMASTERCAMPOS is used; the position refers to the non-
scaled cam plate. If the position in the application refers to the scaled cam plate, it can be divided by the
MasterScaling value before the function block is called.
MasterScalingMode: Optional scaling mode for the master position of the cam plate
SlaveScalingMode: Optional scaling mode for the slave position of the cam plate
MasterOffset: Offset to the master position of the cam plate
SlaveOffset: Offset to the slave position of the cam plate
MasterScaling: Scaling of the master position of the cam plate
SlaveScaling: Scaling of the slave position of the cam plate
Outputs
VAR_OUTPUT
Done : BOOL;
Busy : BOOL;
Error : BOOL;
ErrorID : UDINT;
END_VAR
Done: becomes TRUE, if the cam plate was created successfully.

Inputs/outputs
VAR_IN_OUT
Master : AXIS_REF;
Slave : AXIS_REF;
END_VAR
Chapter: Camming
362
c. MC_CamScalingMode
TYPE MC_CamScalingMode :
(
MC_CAMSCALING_USERDEFINED, (* user defines scaling parameters - scaling and offset *)
MC_CAMSCALING_AUTOOFFSET, (* offset is calculated automatically for best result *)
MC_CAMSCALING_OFF (* no modification accepted *)
);
END_TYPE
Type and scope of the scaling of a cam plate coupling via function block MC_CamScaling.
MC_CAMSCALING_USERDEFINED: The scaling and offset are retained unchanged. The user has to
calculate the scaling and offset such that a jump in the position is avoided.
MC_CAMSCALING_AUTOOFFSET: The scaling takes effect and the system adjusts the offset such that a
jump in the position is avoided. Scaling should nevertheless occur during a phase with slave velocity 0,
since otherwise a jump in velocity cannot be avoided.
MC_CAMSCALING_OFF: The scaling and offset are ignored. This mode is used when only slave scaling
(i.e. without master scaling) is to be implemented.
Autooffset
Autooffset mode ensures automatic adaptation of a cam plate offset. Autooffset can be used
independently for the master or slave axis of a cam plate and affects both switchover and scaling of cam
plates. The function operates based on the rules described below.
Master-Autooffset
Master-Autooffset Prevents discontinuity of the master position of the cam plate in the axis coordinate
system during switching of cam plates with different master cycle or scaling of cam plates (master
scaling). This function is required because the relative position of a cam plate in the axis coordinate
system depends on the master cycle. If the master cycle is changed, e.g. through scaling, the position
would change.
Master-Autooffset determines the master offset of the cam plate such that the master position within
the cam plate is maintained. For scaling or switchover to a cam plate with a different master cycle this
means that the relative (percentage) position before and after the switchover is identical.
Chapter: Camming
363
i. Example:
A cam plate has master cycle of 360° and is scaled by a factor of 2 to 720°. Scaling takes place at the 90°
position within the cam plate, i.e. at 25% of the start of a cycle. After the scaling the relative master
position in the cam plate at 180° is therefore also 25% of the start of a cycle.
During a switchover at the edges of a cam plate (see MC_CamActivationMode

MC_CAMACTIVATION_NEXTCYCLE), Master-Autooffset ensures a seamless sequence of cam plates, both
for cyclic and linear cam plates. Chapter: Camming
364
Master-Autooffset cannot be used for a cam plate with relative coupling or switching, since these
functions are mutually exclusive. Further restrictions apply to initial coupling. These are shown in the
following table.
Slave-Autooffset
Slave-Autooffset calculates a slave offset such that discontinuities in the slave position are avoided
during cam plate switching or scaling. The slave offset is adjusted to ensure that the slave position is
identical before and after the action.
If both Master Autooffset and Slave-Autooffset are used for cam plate switching or scaling, the master
offset is calculated first, followed by the slave offset.
Slave-Autooffset can be used with any MC_StartMode and will always adjust the cam plate such that the
slave position doesn't jump.
Chapter: Camming
365
ii. Sample Code:
IF VM.NcToPlc.ActPos > 540 THEN
fbMC_CamScaling(
Execute:=TRUE ,
ActivationMode:=MC_CAMACTIVATION_NEXTCYCLE ,
MasterOffset:=0 ,
SlaveOffset:=0 ,
MasterScaling:= 0.5,
SlaveScaling:=1 ,
Slave:=Slave);
END_IF
Chapter: Camming
366
46. Cyclic Cam Plates with Lift
Please refer to MC_CamIn Appendix in the Information System or at the end of this document.
This document makes use of the Cam Design Tool to create the following cam table where the Slave axis
travels 100 for each 360 degree revolution of the Master axis.
Calculations for the Lift are handled internally. Only the configuration needs to be correct to implement
this type of Cam Table.
Chapter: Camming
367
The Master Axis must be set for Rotation.
The StartMode of the MC_CamIn FB must be set properly. In this example we are using
MC_STARTMODE_MASTERABS_SLAVEREL
Where the Master axis is calculated to an Absolute position and the Slave axis is calculated Relative to its
current position.
Chapter: Camming
368
a. MC_StartMode
TYPE MC_StartMode :
(
MC_STARTMODE_ABSOLUTE := 1, (* cam table is absolute for master and slave *)
MC_STARTMODE_RELATIVE, (* cam table is relative for master and slave *)
MC_STARTMODE_MASTERABS_SLAVEREL, (* cam table is absolute for master and
relative for slave *)
MC_STARTMODE_MASTERREL_SLAVEABS (* cam table is relative for master and
absolute for slave *)
);
END_TYPE
StartMode is used for coupling with cam plates through MC_CamIn and defines whether a cam plate is
interpreted absolute (based on the origin of the axis coordinate system) or relative to the coupling
position. The mode can be specified as absolute or relative separately for both coordinate axes.
With StartMode absolute the cam plate coordinate system is congruent with the axis coordinate system
and can be moved through an offset, if required (master or slave offset).
With StartMode relative the origin of the cam plate coordinate system is at the axis position of the
respective axis (master or slave) at the time of coupling or cam plate switching. The cam plate can
additionally be moved through an offset.
Note: The modes MC_STARTMODE_RELATIVE and MC_STARTMODE_MASTERREL_SLAVEABS cannot be
used in conjunction with automatic master offset calculation (MC_CamScalingMode), since this would
cause a conflict.
Chapter: Camming
369
As can be seen below, when running the Cam Table cyclically the Slave axis will increase from its current
position by 100 for each 360 degrees of travel by the Master Axis.
The Red line is the Modulo position of the Master Axis.

The Green line is the Absolute position of the Slave Axis.
Chapter: Camming
370
47. Cam Out and Restarting
a. Overview
MC_CamOut is used to decouple the Slave axis from the Master axis. The slave axis must be stopped
after it is decoupled. To couple the axis back to the Master via the Cam Table simply call the MC_CamIn
FB again. If the Slave axis has not changed positions then the default values will suffice for Camming the
Slave axis to the Master axis on the next cycle of the Cam Table. In the below Scope the Green
horizontal line shows the Slave axis not moving because it was decoupled from the Master for 3
revolutions, and then coupled again.
Chapter: Camming
371
b. MC_CamOut
The function block MC_CamOut deactivates a master-slave coupling.
Note: If a slave axis is uncoupled during the movement, it is not automatically stopped, but
reaches a continuous velocity with which it will continue to travel endlessly. The axis can be
stopped with a Stop command.
Inputs
VAR_INPUT
Execute : BOOL;
Options : ST_CamOutOptions; (*Not Yet Implemented*)
END_VAR

Options: Currently not implemented
Outputs
VAR_OUTPUT
Done : BOOL;
Busy : BOOL;
Error : BOOL;
ErrorID : UDINT;
END_VAR
Done: Becomes TRUE, if the axis was successfully uncoupled.

Inputs/Outputs
VAR_IN_OUT
Slave : AXIS_REF;
END_VAR
Chapter: Camming
Slave: Slave axis data structure.

The axis data structure of type AXIS_REF addresses an axis uniquely within the system. Among other
parameters it contains the current axis status, including position, velocity or error status.
372
c. MC_Halt
MC_Halt stops an axis with a defined braking ramp.
In contrast to MC_Stop, the axis is not locked against further motion commands. The axis can therefore
be restarted through a further command during the braking ramp or after it has come to a halt.
Note: Motion commands can be passed to slave axes if they are explicitly enabled in the axis
parameters. A motion command will then decouple the axis and move it afterwards. In this case just
Buffer-Mode Aborting can be used.
Inputs
VAR_INPUT
Execute : BOOL;
Deceleration : LREAL;
Jerk : LREAL;
BufferMode : MC_BufferMode;
Options : ST_MoveOptions;
END_VAR

Deceleration: Deceleration (≥0). If the value is 0, the deceleration parameterised with the last Move
command is used.
MC_Halt and MC_Stop as well cannot be executed with lower dynamical parameters than the currently
active motion command. Parameters will be adapted automatically.
Jerk: Jerk (≥0). If the value is 0, the jerk parameterised with the last Move command is used.
MC_Halt and MC_Stop as well cannot be executed with lower dynamical parameters than the currently
active motion command. Parameters will be adapted automatically.
BufferMode: BufferMode is currently not supported by MC_Halt. Halt takes effect immediately with a
rising edge at Execute, similar to BufferMode=MC_Aborting
Options: Currently not implemented - The data structure option includes additional, rarely required
parameters. The input can normally remain open.
Chapter: Camming
373
Outputs
VAR_OUTPUT
Done : BOOL;
Busy : BOOL;
Active : BOOL;
CommandAborted : BOOL;
Error : BOOL;
ErrorID : UDINT;
END_VAR
Done: The Done output becomes TRUE, if the axis was stopped and has come to a standstill.
new command. At the same time one of the outputs, Done, CommandAborted or Error, is set.
Active: Active indicates that the command is executed If the command was queued, it becomes active
once a running command is completed.
CommandAborted: Becomes TRUE, if the command could not be fully executed. The running command
may have been followed by a Move command.
Error: Becomes TRUE if an error occurs.
Inputs/outputs
VAR_IN_OUT
Axis : AXIS_REF;
END_VAR
Axis: Axis data structure

The axis data structure of type AXIS_REF addresses an axis uniquely within the system. Among other
parameters it contains the current axis status, including position, velocity or error status.
Chapter: Camming
374
48. MC_CamIn Appendix
TwinCAT PLC Library: MC (Version 2)
a. Axis coupling with cam plates

The function block MC_CamIn can be used to establish a cam plate coupling (or table coupling) between
a master axis and a slave axis. Note that prior to the coupling the slave axis has to be at a position
defined by the cam plate. After the coupling and once the master has been started, the slave position is
calculated directly from the cam plate. The slave axis is therefore not slowly synchronized with the cam
plate, but it will jump if it is not already at the table position.
In practice the question arises; what position the slave should be in prior to the coupling, and how this is
calculated. The following figures illustrate the procedure.
Notes: For all subsequent calculations only axis set positions are used. The actual positions are not used
in the calculations, since they would lead to calculation errors, particularly with cyclic cam plates.
Only absolute table couplings are considered. For relative couplings, the coupling position of the master
or slave axis is considered in the calculations as an additional offset.
b. Linear cam plates
A linear cam plate is only defined via a limited master position range. Outside this range the slave
position is defined by the first or last table position. The slave therefore stops at the table edges as soon
as the master leaves the defined range.
Chapter: Camming
The diagram shows that the absolute axis coordinate system (blue) does not have to be identical to the
cam plate coordinate system (red). The cam plate coordinate system may be offset by a master offset or
a slave offset. Scaling is also possible.
375
The slave position relating to a certain master position can be determined via the function block
MC_ReadCamTableSlaveDynamics . The block refers to the raw table data, which means that offsets and
scaling factors have to be considered via the PLC program itself. Initially, the master offset is added to
the current master position. If the cam plate is to be scaled, it is divided by this scaling factor.
MasterCamTablePosition := (MasterPosition + MasterOffset) /

MasterScaling;
The master table position is used as an input parameter for the function block
MC_ReadCamTableSlaveDynamics. The result is converted to an absolute slave position with slave offset
and scaling, if necessary.
SlaveCamTablePosition := ReadSlaveDynamics.SlavePosition;
SlavePosition := (SlaveCamTablePosition * SlaveScaling) +
SlaveOffset;
The slave is moved to this position prior to the coupling. Alternatively, the master may be moved to a
position that corresponds to the current slave position. However, generally this position cannot be
determined from the cam plate, since the cam plate may be ambiguous.
Note: Since the master offset is added in the first formula, a positive offset leads to the cam plate
coordinate system being shifted to the left in negative direction. Accordingly, the master offset in the
diagram is negative. A positive slave offset leads to the cam plate coordinate system being shifted
upwards in positive direction.
Chapter: Camming
376
c. Cyclic cam plates without lift
A cyclic cam plate without lift is characterized by the fact that the slave start and end positions in the
table are identical. The slave therefore moves cyclically within a defined range, without changing its
position permanently in a particular direction.
For these cam plate types, master/slave coupling requires the same preparation as for a linear cam
plate. The starting position of the slave can therefore be calculated as described above. It is not
necessary to use the modulo position of the master for the calculation, since the absolute position is
already correctly taken into account via the coupling command.
Chapter: Camming
377
d. Cyclic cam plates with lift
The lift of a cyclic cam plate is the difference between the last and the first table position of the slave.
Such a cam plate is continued cyclically at the end of the table. The slave position does not jump back to
the initial table value. Instead, the motion continues steadily. With each new cycle, the lift is therefore
added as an additional internal slave offset or subtracted if the motion is reversed.
Chapter: Camming
378
e. Uncoupling and re-coupling for cyclic cam plates with lift
If a slave is coupled to a cam plate with lift, the coupling is always done in the basic cycle (red coordinate
system), i.e. without added lifting distances. If the slave is uncoupled after a few cycles and then re-
coupled, the slave position returns to the basic cycle. If necessary, this behavior has to be taken into
account and compensated by re-calculating the slave offset.
MasterCamTablePos := (MasterPosition + MasterOffset) / MasterScaling;
The master table position is used as input parameter for the function block
MC_ReadCamTableSlaveDynamics. The result is converted to an absolute slave position with slave offset
and scaling, if necessary. In addition, the number of pending lifts must be calculated and added to the
slave position.
SlaveCamTablePosition := ReadSlaveDynamics.SlavePosition;
Lift number := MODTURNS( (SlavePosition - SlaveOffset), SlaveHub );
NewSlaveOffset := SlaveOffset + (SlaveHub * lift number);
SlavePosition := (SlaveCamTablePosition * SlaveScaling) +

NewSlaveOffset;
The Autooffset function can simplify the calculation of offsets, particularly for switching of cam plates.
Chapter: Camming
379
49. Diagnostics
a. Overview
The following covers the error codes as provided by either the function blocks or the TwinCAT System
Manager. The error codes provided by the system; although complete, are sometimes not easily
understood by new users. The explanations of the error codes provided are based solely on the
experience of myself and others. The added descriptions are only relevant for helping to find a problem
within TwinCAT, this document will not suffice if your problem is within your .NET or other 3rd party
application.
b. Error Format
The error codes within TwinCAT are given in accordance with the following structure.
All errors are generated in hexadecimal.

The errors range from 0x0000 to 0xFFFF.
The most significant byte 0xn000 can be considered as the grouping for the errors.
When needed a sub subgroup will be identified by the second byte 0x0n00.
The remaining bytes are used to give the exact error code.
The errors between 0x0000 and 0x0FFF refer to the TwinCAT System itself. These errors indicate that
something is fundamentally wrong with your system. The cause of the errors can vary greatly; it can be
anything from a corrupted file to forgetting to start the PLC, or an incorrect linking in the system
manager. Remember that just because TwinCAT allows you to do something, that doesn’t mean that
that’s what you wanted to do.
Chapter: Camming
380
Error Groups
Offset Description
0x0000 ERR_GLOBAL
0x0500 ERR_ROUTERERRS
0x0600 ERR_TASKERRS
0x0700 ERR_ADSERRS
0x0800 ERR_SYSSMPLERRS
0x1000 ERR_RTIMEERRS
0x1900 ERR_TRACEERRS
0x2000 ERR_IOERRS
0x3000 ERR_SPSERRS
0x4000 ERR_NCERRS
0x6000 ERR_PLCERRS
0x7000 ERR_STRKERRS
0x7800 ERR_PRJSPECIFIC
Global Error Codes 0x0000
0x6 target port not found

0x7 target machine not found
These errors commonly occur when setting up a system for the first time, and the frequency increases
when switching between development, simulation, and machine. This error is trying to tell you that
there is a communication problem, and is commonly an ADS communication problem. If all
communication is local, then make sure TwinCAT is running the correct System Manager file, and that
the correct PLC program is loading and running. If you are unsure of what system manager file is
running, the red folder in the system manager will ‘Open from Target’. If communication is remote then
check the AMS router on both PCs to make sure the info is valid. Ping the IP of address of one PC from
the other to make sure cabling and network configuration is correct.
General ADS Error Codes 0x0700
The common errors in this group are fairly self-explanatory. These normally occur because of something
not being configured correctly. It could be an incorrect or missing link in the system manager or the PLC
code that is calling the ADS service has an invalid parameter.
Chapter: Camming
381
NC Errors 0x4000
The NC error group is comprised of 9 sub-groups. These sub groups cover all things motion, from
Overtemp errors to syntax errors in G-Code to bad PLC commands.
NC Error Sub Groups
0x40nn General NC Errors

0x41nn Channel Errors
0x42nn Group Errors
0x43nn Axis Errors
0x44nn Encoder Errors
0x45nn Controller Errors
0x46nn Drive Errors
0x4Ann Table Errors
0x4Bnn NC-PLC Errors
General NC Errors 0x40nn
0x4016 "Table identifier not allowed" Either an unacceptable value (not 1...255) has been
used, or a table that does not exist in the system has been named.
Check your value of your TableID
0x4052 "Axis not ready for operation" The axis is not complete, and is therefore not ready
for operation. This is usually a consequence of problems at system start-up.
If the Ready Status of the Axis is not TRUE and the axis receives a command then this error will
be given. This value is held in the NCDRIVESTRUCT_IN2 of the Axis 1_Drive and is linked to the
‘Drive Status Word’ of the drive under the I/O Configuration.
For an AX5000 the first place to check is on the ‘Configuration’ Tab of the axis. Look at the
ErrorID, it must be at D013: Axis Op. A value less than 13 or an F value will prevent the axis
from being ready. The ‘R’ button on the right side of the ErrorID display will issue an IDN99 reset
command to the drive.
Chapter: Camming
382
Channel Errors 0x41nn
These errors are for NC-I and are not within the scope of this document.
Group Errors 0x42nn
These errors are for NC-I also. However there is one here that should be covered.
0x4208 "Single step mode not allowed" The flag for the activation or deactivation of single
step mode is not allowed. Value 0: Passive (buffered operation) Value 1: Active (single-block operation).
Prior to MC2 if an axis was given a command while the Status bit ‘Has Job’ was TRUE this error
would be given. This error does not stop the axis; it just appears in the Log window of the
System Manager. With the new ‘Buffered Moves’ in MC2 this shouldn’t be an issue any more.
However keep in mind that if you issue a second move before the first one is complete, where it
previously would ignore the command, it will now Abort the previous command and Execute the
new one.
Axis Errors 0x43nn
These Errors relate to the parameterization and monitoring of an axis. The majority of these errors are
for incorrect (out of range) parameters or monitoring the control of the axes.
Encoder Errors 0x44nn
These Errors relate to the parameterization and monitoring of an encoder. The majority of these errors
are for incorrect (out of range) parameters or monitoring the encoder of the axes.
Controller Errors 0x45nn
These Errors relate to the parameterization and monitoring of the axis controller. The majority of these
errors are for incorrect (out of range) parameters or monitoring the control of the axis position.
Drive Errors 0x46nn
These Errors relate to the parameterization and monitoring of the drive and motor. The majority of
these errors are for incorrect (out of range) parameters or monitoring the state of the drive and motor.
Chapter: Camming
383
Table Errors 0x4Ann
These Errors relate to the parameterization and initialization of a cam table. The majority of these errors
are for incorrect (out of range) parameters or invalid cam table data. The Flying Saw function blocks will
generate these errors as well as Cam Table function blocks.
0x4A06 "Table is not monotonic" The value for the step size is not allowed, because, for
example, it is less than or equal to zero.
When generating a Cam Table from the PLC or from the Flying Saw this error can happen. The
most common cause from the Flying Saw is the Master SetPos is within 1E-12 of the Master Sync
position when the Execute turns TRUE. This can also happen for a Cam Table generated by the
PLC when the position would require the Master Axis to move backwards.
PLC Errors 0x4Bnn
The majority of these errors are well described within the Information System.
NC-PLC Errors 0x4B00..0x4B0F
TwinCAT NC I 0x4B10..0x4B2F
TcMcCam 0x4B30..0x4B3F
TcNc 0x4B40..0x4B4F
TcRemoteSync 0x4B50..0x4B5F
TcMC2 0x4B60..0x4B6F
TcPlcInterpolation 0x4B70..0x4B7F
Chapter: Camming
384
IX. Remote Connections
50. Embedded Controllers
 The TwinCAT AMS Router allows for TwinCAT to communicate between computers
 Configuring your local IP address
 Establishing a Route to the Target
 Opening the active system manager of the Target
Chapter: Remote Connections
385
 Click “Start”
 Expand “Connect To”
 Click “Show all connections”
 The network card you are going to use should be the only one with a Status of “Connected”.
 If the other cards are connected TwinCAT may try to one of scan these networks for devices and
not scan the correct network.
 Right-Click on the Network Card and select “Properties”
386
 Scroll to the bottom of the list.
 Select “Internet Protocol (TCP/IP)”
 Click on “Properties”
387
 Select “Use the following IP address”
 Enter the following IP address. 192.168.0.2
 Enter your Subnet mask
 Click “OK”
388

Click “OK”
389
 If the below window appears click on “STOP Installation”. If you click on “Continue Anyway”
windows will install the Real-Time Ethernet driver for your network card. You can do this if you
like, but it is not needed for connecting to remote devices.
 Click on the TwinCAT icon in the Windows System Tray, and select System Manager.
390
 Open a new System Manger file. Select File, then New
 Set/Reset TwinCAT to Config mode.
 Click “Ok”
391
 Select “SYSTEM – Configuration”, then “Choose Target”
 Click “Search (Ethernet)”
392
 If you know the IP address of the remote device it can be entered.
 Click “Enter Host Name / IP:”
 It is also possible to use the ‘Broadcast Search’ button to look for computers on the local
network that are running TwinCAT, however a broadcast search will not go through a network
router.
 If the computer you are connecting to is using DHCP then the ‘Address info’ should be set to
‘Host Name’, if a static IP address is being used then set ‘Address Info’ to ‘IP Address’
 Select the computer form the list and select ‘Add Route’
393
 Enter User name and password of an Administrator account on the Target PC
 Not required for Windows CE
 Click “OK”
 Verify the “X” appears in the “Connected” column. Click on “Close”.
394
 Select “BasePLC” Click “OK”
395
 Verify connection to “BasePLC” the red background indicates you are connected to a remote
device.
 Verify the device status. A green background indicates that TwinCAT is running on the remote
device. A blue background indicates the remote device is in config mode. A yellow background
indicates a Timeout.
 Click on the red folder to “Open from Target”
 If the below window appears click on “Yes”
396
 File name of the System Manager *.tsm file
 Name of remote device
 List of hardware connected to the device
397
X. Appendix I – Variable Naming Convention
51. Scope
The following programming guidelines support the creation and maintenance of consistent programs
with the following goals:
 Improve readability
 Speed development
 Facilitate the incorporation of third-party software components
These guidelines are based on a history of experience in software development by Beckhoff and our
customers. The programming guidelines must be used for the development of new programs, unless the
customer has specified other guidelines for the project. The programmer can judge the extent to which
the guidelines can be applied to existing programs.
Chapter: Appendix I – Variable Naming Convention
398
52. Programming System Settings
The TwinCat project options must be defined uniformly to achieve identical notation for individual
editors and for documentation. This is especially true in multi-user projects.
a. Font
A non-proportional font is recommended with the following settings: This can be adjusted under
"Project -> Options -> Editor -> Font".
 Font: Tahoma
 Font style: Regular
 Size: 12
 Character set: Western
b. Tab Width
A tab width of 4 is recommended. This can be adjusted under "Project -> Options -> Editor".
399
53. Naming
a. General
This naming convention applies to variables, constants, and program organization units (POU). Choose a
relevant, short, description for each designator name and the designator should be self-explanatory. The
first letter of each word in the designator is capitalized (example: FileSize). Please limit the name to 20
characters, the fewer the better.
Prefixes are included with the designator name to indicate scope, property, and type as will be explained
below.
b. Case Sensitivity
Pay close attention to case sensitivity, especially for prefixes, to improve readability.
NOTE: The TwinCat IEC compiler is not case sensitive.
c. Valid Characters

Names should contain the following letters, numbers, and special characters only:
 0...9, A...Z, a...z

 Underscore
 Designators always begin with a letter.
The underscore is used to display prefixes more clearly. The syntax is explained in the respective prefix
section. Because data type designators are usually formed from capital letters, the individual words are
put together with an underscore as a separator to increase readability. The underscore should not be
used otherwise.
400
d. Prefix Types
Prefixes are used to quickly identify a designator’s function. The prefix types are as follows:
 Type – designator type such as Boolean or integer

 Scope – designator scope as either local or global
 Property – designator property such as retained or VAR_IN_OUT
 POU – POU type such as function or function block
The general syntax for variables and constants is as follows:
 [Scope][Property] _ [Type][Name]
 g_diFirstUserFault
 xEnable
 c_iNumberOfAxes
 gc_sMyGlobalStringConstant
The general syntax for POU’s is as follows:
 [POU] _ [Name]

 FB_AxisController
 FB_HeatGun
 P_Main
 F_GetLeftString
401
e. Scope Prefix
Scope prefix indicates the scope of variables and constants. You can see if it is a local or a global variable
or a constant from the scope prefix.
Global variables are indicated by a lower case "g". A lower case "c" is added to global constants.
VAR_GLOBAL CONSTANT
gc_diMaxFaults : DINT := 100; (* Maximum Quantity of Active Faults *)
gc_diMaxEvents : DINT := 100; (* Maximum Quantity of Events *)
END_VAR
VAR_GLOBAL
g_stMasterFaultList : ST_FAULTLIST;
g_stMasterEventList : ST_EVENTLIST;
g_xReset : BOOL;
END_VAR

Scope Prefix Type Use Example
No prefix VAR Local variable xEnable
g_ VAR_GLOBAL Global variable g_xRunning
gc_ VAR_GLOBAL CONSTANT Global constant gc_iCurrentRecipe
Table 3.5 Scope Prefix
402
f. Type Prefix
Type prefixes identify the data type of variables and constants. The IEC 61131-3 standard data type
prefixes are listed in the following table.
Type Prefix Type Use (Bytes) Example
x BOOL Boolean (1) xName
b BYTE Byte (8) bName
w WORD Word (16) wName
dw DWORD Double Word (32) dwName
si SINT Short Integer (8) siName
i INT Integer (16) iName
di DINT Double Integer (32) diName
usi USINT Unsigned Short Integer (8) usiName
ui UINT Unsigned Integer (8) uiName
udi UDINT Unsigned Double Integer (32) udiName
r REAL Floating Point Value (32) rName
lr LREAL Long Floating Point Value (64) lrName

date DATE Date (32) dateName
tod TOD Time of Day (32) todName
dt DT Time and Date (32) dtName
t TIME Time Duration (32) tName
s STRING Character String (x Chars + 1) sName
p POINTER Pointer pxName
a ARRAY Array adiName
e ENUM List Type eMotorType
403
Type Prefix Type Use (Bytes) Example
st STRUCT Structure stRecipe
fb FUNCTION BLOCK Function Block fbTrigger
Table 3.6 Standard Date Type Prefixes
The type prefix can also be composites, for example, for pointers and arrays. The pointer or array is
listed first, followed by the prefix of the pointer type or array type as the following examples show:
piCounter : POINTER TO INT;
aiCounter : ARRAY [0..10] OF INT;
paiRefCount : POINTER TO ARRAY [1..10] OF INT;
astList : ARRAY[0..gc_diMaxFaults] OF ST_FAULT;
404
g. Property Prefix
Property prefixes are used for identifying the properties of variables and constants as shown in the
following table:
Property Prefix Type Use Example
c_ VAR CONSTANT Local constant c_xName
Remnant variable type

r_ VAR RETAIN r_xName
retain
Remnant variable type

p_ VAR PERSISTENT p_diName
persistent
i_ VAR_INPUT Input variable of POU i_xEnable
q_ VAR_OUTPUT Output variable of POU q_xError
iq_ VAR_IN_OUT In/out variable of POU iq_stParameters
AT %IX
AT %IB Direct access to input

ati_ ati_bName
AT %IW memory
AT %ID
AT %QX

AT %QB Direct access to output
atq_ atq_bName
AT %QW memory
AT %QD
AT %MX
AT %MB Direct access to

atm_ atm_bName
AT %MW memory location
AT %MD
405
Table 3.7 Property Prefix
NOTE: Do not declare constants as RETAIN or PERSISTENT.
The name of the AT-declared variable also contains the type of the target variable. It is used like the type
prefix:
 atm_rMyVar1 AT %MW0 : REAL;

 atm_rMyVar2 AT %MW4 : REAL;
406
h. POU Prefix
The program organization units defined in IEC 61131-3 are:
 Function
 Function block
 Program
 Action
The designator is composed of a POU prefix and as short a name as possible (e.g. FB_GetResult). Just like
a variable, the first letter of each word in the POU name is capitalized. We recommend that you form a
composite POU name from a verb and a noun. The prefix comes with an underscore before the name
and identifies the type of POU on the basis of the following table:
POU Prefix Type Use Example
P_ PROGRAM Program P_RecipeManagement
Function block
FB_ FUNCTION_BLOCK FB_AxisController
declaration
F_ FUNCTION Functions F_GetLrealString

A_ ACTION Action A_GetCommand
Table 3.8 POU Prefix
407
i. Structures
The name of each structure data type consists of a prefix ST_ and a short, meaningful description in
upper case (e.g. ST_STATION_NUMBER). If several words have been put together, they are separated by
an underscore. Each component of the structure must be identified with a type prefix.
TYPE ST_FEED_PARAMETERS :
(* Parameters for MC_MoveVelocity FB *)
STRUCT
lrVel : LREAL := 100.0;
lrAcc : LREAL := 2000.0;
lrDecel : LREAL := 2000.0;
lrJerk : LREAL := 10000.0;
eDirection : MC_Direction := MC_Positive_Direction;
lrStopPos : LREAL := 0.0;
END_STRUCT
END_TYPE
Declaration example:

 stAxis1Feed : ST_FEED_PARAMETERS;
408
j. List Types
The name of a list type consists of a prefix ET_ and a short, meaningful description in upper case (e.g.
ET_WORKING_DAY). If several words have been put together, they are separated by an underscore. The
individual elements of list types are identified with the prefix E_.
TYPE ET_EVENT_TYPES :
E_EVENT_NO_EVENT := 0,
E_EVENT_FAULT_ACTIVE := 1, (* Fault Just Occurred *)
E_EVENT_FAULT_RESET := 2, (* Fault Is Gone and Acknowledged By AutoReset *)
E_EVENT_FAULT_ACK := 3, (* Fault Is Are Gone and Ack By Reset Input *)
E_EVENT_USER_1 := 10 (* User Event *)
);
END_TYPE
Variables and constants declared as a list type are prefixed with a lower case:
 eMyEvent : ET_EVENT_TYPES;

NOTE: 2 bytes of memory are reserved for each list variable.
409
k. Libraries
Designators contained within a library and the library name itself is prefixed with a code to quickly
identify the source and to match the designator with the library.
 MyLib_gc_diMaxConvCount
 MyLib_ConveyorControl.lib
410
54. Good Programming Practices
a. Comments
Comments are essential for understanding source code; however, each individual line of code does not
need to be commented. Limit your comments to the necessary minimum. It is more important to keep
code clear and understandable. This minimizes the amount of comments required. If all POUs and
variables have meaningful names, comments can be shorter. However, if the code is difficult to
understand and there are no comments, even the programmer will have trouble understanding it after a
short time. If variables have been given unusual values, for example, it is extremely important to explain
the reason for this to prevent future misunderstandings. Write your comments so that they are not only
notes for the programmer but can also be understood by third parties.
b. Array Indexing
Array should always be index starting at zero to prevent range errors. This typically occurs when the
variable used to index an array is not initialized properly as shown below.
 iCurrentRecipe : INT;
 astRecipes : ARRAY[1..10] OF ST_RECIPE;
The problem is corrected as follows:
 astRecipes : ARRAY[0..10] OF ST_RECIPE;
The first element of the array, 0, is either not used or used as a default.
c. Program Calls
Parenthesis should be used when calling programs and actions as shown below:
 P_SearchData();
Chapter:
411
Index
POU .8, 67, 68, 69, 75, 84, 97, 135, 153, 163, 164, 165, 166,
A
170, 171, 186, 187, 196, 200, 205, 206, 210, 214, 240,
Actions .................................................................. 28, 96, 97 265, 270, 284, 285, 286, 288, 289, 394, 396, 400, 401,
AMS ...................................... 20, 21, 22, 178, 179, 375, 379 402
Array ....................................... 103, 104, 106, 317, 398, 406 Priorities ........................................................................... 34
F R
FBD.......................................................... 12, 77, 79, 83, 170 Registration ......................................... 23, 24, 50, 58, 63, 64
Remote .............................................. 21, 22, 37, 58, 59, 379
I
S
IL 12, 13, 77
Instruction List ...........................................................405 SFC ........................................................... 12, 77, 80, 81, 135
ST 12, 13, 77, 81, 82, 135, 164, 187, 326, 366, 367, 397,
L 399, 403, 406
LD 12, 77, 78 T
P TwinCAT 1, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22,
25, 26, 29, 30, 31, 32, 37, 38, 46, 47, 48, 49, 50, 57, 58,
PLC 10, 11, 12, 13, 14, 15, 16, 22, 23, 25, 26, 29, 41, 42, 43, 59, 60, 61, 62, 63, 64, 65, 69, 70, 77, 82, 86, 88, 107,
45, 57, 59, 65, 66, 67, 68, 69, 72, 73, 74, 75, 76, 77, 84, 110, 112, 132, 133, 134, 139, 168, 170, 171, 172, 175,
87, 107, 108, 109, 110, 112, 132, 133, 139, 140, 144, 177, 178, 263, 268, 290, 298, 299, 304, 306, 307, 310,
153, 155, 156, 165, 168, 199, 200, 202, 204, 208, 215, 311, 312, 318, 320, 335, 337, 340, 369, 374, 375, 378,
216, 217, 218, 220, 221, 222, 225, 228, 230, 263, 266, 379, 380, 384, 385, 387, 391
267, 268, 269, 270, 271, 273, 275, 281, 284, 285, 290,
297, 298, 299, 300, 305, 309, 311, 315, 318, 320, 323,
329, 330, 337, 369, 370, 374, 375, 376, 378
Chapter:
412

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Beckhoff New Automation Technology

Revised: November 8, 2013

Added – Chapter Digital I/O

Table of Contents and Page numbering modified

Added – Code Changes to PLC Overview

Added – Lamp Test to Trouble shooting

Page Number Wrapping Fixed

II. TWINCAT OVERVIEW 11

III. TWINCAT SOFTWARE INSTALLATION 45

IV. PLC OVERVIEW 64

V. PLC PROGRAMMING “THE INSPECTION CONVEYOR” 130

VI. TROUBLE SHOOTING 241

24. LAMP TEST 241

VII. LABS 290

31. LANGUAGES 290

VIII. CAMMING 305

34. PREFACE 305

IX. REMOTE CONNECTIONS 385

50. EMBEDDED CONTROLLERS 385

X. APPENDIX I – VARIABLE NAMING CONVENTION 398

51. SCOPE 398

 open, compatible PC hardware

 programming and run-time systems optionally together on one PC or separated

 connection to all common fieldbuses

A practical oriented software solution

Restarting and data backup

World-wide connection through message routing – “remote” connection is inherent to the

TwinCAT I/O – universal I/O interface for all common fieldbuses

TwinCAT PLC – the central pillar of automation software

 FBD/CFC (Function Block Diagram),

 SFC (Sequential Function Chart) and

 via the fieldbus (BXxxxx and BCxxxx).

Many target platforms – one tool

Extensive supplementary libraries

 Power Flow (flow control)

 Sampling trace of PLC variables

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 fieldbus

Central NC positioning on the PC

Software PLC included

 Commissioning is simplified significantly by the configuration and diagnostic dialogs offered in

TwinCAT CNC – the software CNC for toughest requirements

Chapter: TwinCAT Overview

Chapter: TwinCAT Overview

Chapter: TwinCAT Overview

 Disable – The TwinCAT System Service will boot in Stop Mode

 Enable – The TwinCAT System Service will boot in Run Mode

 This would be the preferred setting on a running machine

 ADS services are running, remote communication is possible

 AMS Router – Automation Machine Specification

 The AMS Router is the communication router for TwinCAT

 AMS NetID xxx.xxx.xxx.xxx.1.1

 The address of the local TwinCAT Service

 Every address on the network should be unique

 Remote Computers can be manually added or removed from here

Chapter: TwinCAT Overview

 Up to 4 PLC Run-Times can be configured

 The path of the Boot Project can be changed

Chapter: TwinCAT Overview