倍福基础教程范例代码培训twincat3简介

产品概览2023/11/5

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引领自动化发展新方向TwinCAT3TwinCAT3通过ADS和第三方软件通信多轴的点对点运动控制带插补的轴运算标准和快速PLC控制，达到50微秒级控制精度安全系统的控制远程监控和控制人机界面和数据传输Twincat2的简单回顾TwinCAT3TwinCAT3新功能介绍TwinCAT3TwinCAT3功能介绍实时和非实时的程序统一开发对第三方软件和硬件设备的良好支持更多编程语言的支持最先进的IT技术和硬件技术的支持项目的移植和并行开发减少硬件和软件接口一个软件/一个工具功能的延伸TwinCAT3倍福PC控制技术:在自动化控制行业树立新的标准PC-HardwareFeldbusTwinCAT-

SoftwareI/OTwinSAFEPLCControlControl

(PID)ConnectivityNCPTPCNCRoboticsMeasurement

TechnologyNCIBaseMotion倍福PC控制系统TwinCAT3

TwinCAT3：新解决方案TwinCAT3产品概览2023/11/5

7架构(XAA)TwinCAT3eXtendedAutomation(XA)eXtendedAutomationRuntime(XAR)eXtendedAutomationEngineering(XAE)ModularruntimesystemTcCOMPLCSafetyTcCOMNCTcCOMC++ModuleTcCOM…TcCOMTwinCAT3developmentenvironmentbasedonVisualStudio®2010

TwinCAT3StandardVisualStudio®

2010ShellTwinCAT3IntegratedVisualStudio®

2010eXtendedArchitecture(XAA)TwinCAT3产品概览2023/11/5

8软件架构eXtended

AutomationEngineering(XAE)

把所有的工具集成在VS2010这个框架中

TwinCAT3EngineeringEnvironmentbasedonVisualStudio®

TwinCATTransportLayer-ADSTwinCAT3RuntimeReal-timeKernelTcCOMPLCPLCPLCSafetyTcCOMPLCNCTcCOMPLCCModuleTcCOMPLCCNCTcCOMPLCC++ModuleTcCOMTcCOMPLCPLCTwinCATAutomationDeviceDriver-ADDPCSystemFieldbusSystemManager-ConfigurationProgrammingIEC61131-3objectorientedextensions-C/C++PLCTcCOMSimulink®ModuleWindows32/64biteXtended

AutomationRuntime(XAR)TwinCAT3eXtendedAutomationEngineering(工程管理)eXtendedAutomationRuntime(XAR)SystemManagerIEC61131-3MotionControlC/C++programmingMatlab®integrationC#/.NETprogrammingVisualStudioShell实时核的运行运行相关的控制模块

支持多核系统支持32/64位操作系统TwinCAT3组件TwinCAT3组件TwinCAT3产品概览2023/11/5

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Architecture(XAA)-notebookexample(XAE)CX

eXtendedAutomationEngineering(XAE)TwinCAT3developmentenvironmentVisualStudio®2010

TwinCAT3StandardVisualStudio®

2010ShellTwinCAT3IntegratedVisualStudio®

2010eXtendedAutomationRuntime(XAR)TwinCAT3TwinCAT3TwinCAT3对IT技术的支持多核CPU的支持大内存的利用（无限的任务分配）第三方硬件设备的支持64位操作系统的支持TwinCAT3|newsupportedplatforms

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12Supportof

x86XP/XPE/Win7/WES7

New:Win8Pro(onx86CPU)

notWin8RT(basedonARM)

x64Architecture

Win7/WES7Win8Pro/WES8Benefit:Providebiggeradressspace

Requiredbyverticalmarkets likeVision,Scada... andcustomersfor„bigsystemjump“

TwinCAT3|newsupportedplatforms

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13SupportofWindowsEmbeddedCompact

x86-CE6CX50xx:TwinCATPLC/MotionStatus:betaavailable,releaseQ1-2013

CX50xx:TwinCATC++Status:Planning2013

ARMCE7CX8090:TwinCAT3PLC :inQ2/2013CX9020:TwinCAT3PLC/Motion:inQ2/2013CX9020:TwinCAT3C++ :planing2013

ARMCE6CX9000/CX9001/CX9010

TC2only-noTwinCAT3support可供选择的imgCX9020：CECX50XX：CE，XPE，WES7CX20XX：WES7FAQforsales

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15Doeseveryoneneedafullruntimeversiononhislaptop?NO.Baseengineeringisforfree!Wehavea7-days-trialversionfortheruntime.Nofunctionallimitationinthe7-days-trialversion.After7daysanext7-days-trialcanbeeasilysetupwithoutdeinstallation.Schools/Universitiescanworkwiththis.TwinCATforeducationaluseforfree!Someengineeringtoolsneedlicense.Specialfunctionallimitationsindemomode.Existing

Softwarelicense(LicenseRequestFile/LicenseResponseFile)UniqueforeachmachineSeriesmachinebuildercanuseVolumeSystemIDRoadmap

EtherCATdongleterminal

Available:Q2-2013

USB-key(specialBeckhoffdevelopment)

Plugintonewdevicewillautomaticallyenablelicenses

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16New!FAQforsales产品概览2023/11/5

17TwinCAT3–多核系统的支持TwinCAT3eXtendedAutomationRuntime(XAR)Supportofmulti-coresystems把不同的任务分配到不同的核中(PLC,NC,运动控制，人机界面)每个核的时基可以分别设置每个任务的周期可以分别设置

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18TwinCAT3产品概览2023/11/5

19Runtime(XAR)Enablescoresforreal-timeusageDefinesthebasetimeforacoreDefinestheCPU-usagelimitAssignmentofatasktoaCPUTwinCAT3产品概览2023/11/5

20测试报告Testcasehardware:Intel®Corei79504physicalcoreCPUat3.07GHzNvidia9800graphicadapterTestcasesoftware:4PLCruntimesystemseachPLCruntimemappedtooneCPUcoreallPLCruntimesexecuteidenticalbenchmarksoftwareExecutiontimefor1000PLCcommands(µs)Result:TwinCATMulticoretechnologyincreasesPLCpower,linearrelatedtothenumberofCPUcoresPCControlenablesfutureCPUdevelopmentforautomationapplicationsCore0Core1Core2Core3bool0.8870.8940.8980.895byte0.6720.6820.6810.688word0.6130.6140.6260.617dword0.5750.5830.5830.583sint3.4633.4723.4733.474int3.4733.4843.4823.482dint3.4873.4973.4913.496real1.8131.8221.8181.820lreal4.7614.7694.7704.769TwinCAT3产品概览2023/11/5

21TwinCAT3强大的硬件支持MultiplePLCprojects:numberofpossibletasks:65,000(insteadof4x4inTwinCAT2)

多达65000个TASK分配

numberofPLCprojects:onlylimitedbymemory(insteadof4inTwinCAT2)

无限的PLC项目分配，只是受限于内存大小支持64位操作系统TwinCAT3eXtendedAutomationRuntime(XAR)municationcaption:communicationAutomationDeviceDriver(ADD)扩展设备底层驱动(AutomationDeviceDrivers–ADD)Driversfor -新的现场总线 -特殊的协议 -特殊的硬件完全集成到TwinCAT中可以由用户自己编写

例如:

客户需要集成自己的PCI-E卡到TwinCAT中

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22TwinCAT3TwinCAT3TwinCAT3统一的开发平台满足客户精简开发环境需要支持客户多语言编程需求对面向对象编程的支持支持人机界面同一个平台开发支持项目并行开发更多的功能库支持系统仿真VisualStudio

Windows

TwinCAT3

实时核+一个工具/一个平台TwinCAT3一个工具/一个平台TwinCAT3选择VS的理由TwinCAT3framework=MicrosoftVisualStudio2010使用最流行的编程环境可扩展的插件Linkto流行的控制软件支持高级语言工程师利用C和C++来进行自动化编程利用.NET编写非实时应用程序(e.g.HMI)

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26TwinCAT3产品概览2023/11/5

27TwinCAT系统配置预览系统配置运动控制配置PLC编程和配置安全PLC的编程和配置C/C++程序的编程和配置组态配置TwinCAT3TwinCAT3EngineeringEnvironmentbasedonVisualStudio®SystemManagerConfiguration–I/O–PLC–C/C++–MC–NC–CNC–Safety–othersProgramming

IEC61131Object-orientedextensionsIECCompilerTwinCAT3RuntimeTwinCATTransportLayer–ADSNonreal-timeC#.NETReal-timeC/C++Matlab®/SimulinkReal-timeWorkshopMicrosoftCCompilerThird-party

programming

toolC/C++整体架构TwinCAT3ConfigurationPLCXMLfilesXMLfilesCurrentconfig.xml+binary(.bin)C/C++andMatlab/SimulinkXML,cpp,hppfilesEngineeringPCRuntimePCDriver(.sys)Binaryfiles(Bootproject)

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29ActivateCompileCompileSourcecodeManagementTwinCAT3|newSourceCodeControlfeaturesRequires:Storageofprojectdatainreadablefiles–notinbinaryfilesTwinCAT3PLC–IEC61131-3增加面向对象编程增加面向对象编程的优势增加程序可读性，把算法封装到方法中

增加可维护性模块化，结构化

增加重复利用性使用接口进行抽象编程

提升扩展性能和适应性能继承性

在一个已经存在的类的基础之上来进行使用面向对象编程:提升软件质量减少编程和维护时间

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30TwinCAT3OOP=intellectualmanageabilityObjectOrientedProgramming

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31TwinCAT3Object1Data1+Procedures1DataObject3

Data3+

Procedures3Object2Data2+

Procedures2Object4

Data4+

Procedures4ObjectOrientedProgramming

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32TwinCAT3Sevennewkeywords:METHOD:ActiononFBwithownvariablesPROPERTY:POE-PairforSet/GetofattributeTHIS,SUPER:inMethod/PropertyforthecurrentFB-instanceEXTENDS:InheritancebetweenFBsINTERFACE:definesabstractobject-type(FBwithoutimplementation)IMPLEMENTSintheFB:InstancesovernamedinterfacecallableCall-syntaxformethods:Object.Methodname(…)Specialmethods:FB_Init,FB_Exit,FB_ReinitObjectOrientedExtensionstoIEC61131

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33TwinCAT3产品概览2023/11/5

34Object-orientationbytheIEC61131-33rdeditionMulti-languagesupport++---Classes~(FB)++++Interfaces-+-++Polymorphism-++/-++Constructor/destructor-++++Visibility~(variables)~(variables)+++Languagefeatures2ndeditionIEC61131-33rdeditionIEC61131-3C++JavaC#MixedprogrammingOO/proc.-++--Methods~(actions)++++Partialabstractclasses--+++Referencesemantics-+(interfaces)-++Properties-+--+Dyn.memory(“new”)--(inTwinCAT3)+++TwinCAT3ObjectOrientedExtensionstoIEC61131ObjectorientedextensionsoftheIEC61131-33rdedition:ConceptofthefunctionblockswasextendedbyClassesInterfacesMethodsInheritancePropertiesKeywordsTHIS,SUPERUsageoftheextensionsIspossibleinallIEClanguagesIndependentfromtheusedhardwareNotmandatory

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35TwinCAT3Object-orientationwiththeIEC61131-33rdeditionExample:CylinderDefinitionofanmethodinICylinder:

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36TwinCAT3Object-orientationwiththeIEC61131-33rdeditionExample:CylinderDefinitionofanabstractupper-class(interface)ICylinder:Neitherdatanorimplementationwillbedefinedinthisstep!

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37TwinCAT3Object-orientationwiththeIEC61131-33rdeditionExample:CylinderDefinitionofabasicfunctionblock:

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38TwinCAT3LanguageofMethodLanguageofBodyNewfunction|TwinCAT3Scope

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39TwinCAT3ScopeViewProfessionalBasedonTwinCAT3ScopeBaseversionProductlicenceisrequiredSupportoflongtimerecords“SubSaveData”TriggerSupportsintegrationinto.NETbasedvisualisationsTwinCAT3ScopeServerProductlicenceisnecessaryEnablesalladditionalfeaturesofScopeViewProfessionalandhigherversionsConsequentnextstep…ScopeServer

Device2ScopeViewScopeServer

Device1ScopeServer

DevicenTwinCAT3Newfunction|TwinCAT3Scope

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40…integrationofTwinCAT3ScopeintotheMicrosoftVisualStudioTwinCAT3Newfunction|TwinCAT3Scope

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41TwinCATandScopeconfigurationinONESolutionEasyvariabletransferfromPLCorSystemManagertotheScopeconfigurationMultiselectinScopeconfigurationDockingWindows:ChartsandprogramcodearevisibleatthesametimeSupportofSourceCodeControltoolsTwinCAT3运动控制的应用TwinCAT3运动控制的应用产品概览2023/11/5

43TwinCAT3运动控制系统可扩展的解决方案（从步进到伺服驱动）分层的控制理念，硬件,总线和软件独立

从机械到电子的转变（飞锯，电子凸轮，电子齿轮，电子离合）优点:技术选择上更加灵活产品选型上更加方便减少系统交货和开发周期降低系统调试难度和时间降低系统成本TwinCAT3TwinCAT3MC–Abstractionlayer

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44Soft-SPSLayerLIGHTBUSPosCtrlLimitVeloPresetScale&LimitPosMeas.SP+++-Soft-MotionLayerFieldbusLayerDrivesLayerPLCC/C++NCPTP

NCICNCIOTwinCAT3产品概览2023/11/5

45TwinCAT3运动控制–从PTP到机器人NCPTPCNCRoboticsNCIPoint-to-Point-movement–gearing–camming–superposition–flyingsawInterpolatedmotionwith3axesand5additionalaxes–programming

accordingtoDIN66025–technologicalfeatures–straightforward

utilisationthrough

functionblocksfrom

thePLCCompleteCNCfunctionality–interpolated

movementfor

upto32axes

perchannel–various

transformationsInterpolatedmotion

forroboticcontrol–supportforawide

randeofkinematic

systems–optionaltorque

pre-controlFunctionalityTwinCAT3产品概览2023/11/5

46TwinCAT3

Example:AX5203|Onlinemenuoftheaxes

ACTUALpositionSETPOINTpositionSETPOINTvelocityACTUALvelocityAxiserrorAxis

enableFollowingerrorOutputrestrictionControllerinterventionStatus/diagnosisJogneg.fastJogneg.slowJogpos.slowJogpos.fastControllerKVTargetpositionStartStopTargetvelocityHomeReset产品概览2023/11/5

47TwinCAT

Example:AX5203|SetNCparameters

AutomaticadoptionintotheNC产品概览2023/11/5

48TwinCAT

LibraryManager

AlllibrariesnecessaryforcontrollingtheNC-PTPaxesfromthePLCarelocatedintheMotionPTPsubfolder.产品概览2023/11/5

49TwinCAT3

LibraryManager|View

产品概览2023/11/5

50C/C++实时控制程序编程已开发代码的直接使用可以在项目中和PLC代码互相交互在不同控制平台满足实时控制需求客户可独立开发设备驱动倍福公司提供大量的功能函数TwinCAT3产品概览2023/11/5

51C/C++ProgrammingLanguagesMethodCycleUpdate:–iscalledcyclicallyPointertologicalinput/outputimageTwinCAT3eXtendedAutomationEngineering(XAE)IEC61131和C++在同一个环境里面编程包含了系统配置

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52TwinCAT3产品概览2023/11/5

53支持Matlab®/Simulink为什么选择Matlab®/Simulink®Integration在科学测量领域有广泛的应用大量现成的工具箱和数据库，免去重复编程可以仿真和优化控制系统使用方式在Matlab®/Simulink®环境编程并通过WORKSHOP产生C代码

（需要安装Matlab/Simulink+RealtimeWorkshop）用VisualStudio®CCompiler进行编译，产生二进制文件TwinCAT生成描述文件tmc可在TC3下面进行参数整定和运行TwinCAT3产品概览2023/11/5

54直接在TwinCAT3中调用模块tmc文件中定义了接口参数由Task进行实时调用SampleTwinCAT3Matlab/SimulinkTwinCAT3XAROIPLCTcCOM-ModuleOIHardwareNewfunction|TE1410InterfaceforMatlabSimulink

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55Hardwareintheloop(HIL)Softwareintheloop(SIL)PLC

C/C++Matlab/Simulink

ModulI/O

MotionSampleTwinCAT3

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57在实时运行环境中集成仿真模型和PLCProcessmodel(Matlab/Simulink)Controller(PLCorC/C++orMatlab/Simulink)Sample:ProcesssimulationTwinCAT3产品概览2023/11/5

58.NETProgrammingLanguages(e.g.C#)优点：高效的开发工具美观的界面开发简易的编程方法

可以利用VisualStudio平台整合到同一个解决方案TwinCAT3产品概览2023/11/5

59C#/.NETprogrammingPLCmoduleC++moduleReal-timeCodeHMI/No-RealtimeCodeTwinCAT3MicrosoftSilverlight:

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60C#/.NETprogrammingTwinCAT3PLCC++I/ONCC#Matlab/

Simulink各种模块之间的交互TwinCAT3产品概览2023/11/5

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硬件和总线配置Mappingofprocessimages支持市场通用的总线支持所有PC硬件接口易调试和诊断分配逻辑和物理过程数据映射更换总线产品无需更改PLC代码InputsOutputsInputsOutputsInputsOutputsInputsOutputsInputsOutputsi.e.PLCorC/C++i.e.Matlab/SimulinkModuleTwinCAT3安全控制方案的融入

硬件安全PLC方案

纯软件安全PLC方案TwinCAT3TwinCAT3模块的交互和诊断TwinSAFETwinSAFEKLTwinSAFEELTwinCATSafetyPLCSafetyPLCin

SoftwareonaPCTwinCAT3–enablesconfigurationandprogrammingofallTwinSAFEsolutions

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64TwinCAT3产品概览2023/11/5

65安全PLC配置——安全解决方案和标准控制系统的结合PartoftheTwinCAT3SystemCommunicationwith:EL6900TwinCATSafetyPLCTwinCAT3RuntimeTwinCAT3EngineeringEnvironment(basedontheMSVisualStudio2010)System-Manager:IOPLCMotionControlC/C++SafetyothersprogrammingenvironmentSafetyEditorTwinCATTransportLayer-ADSSafetyRuntimecodegenerationdebugginguploadofTCmodulescaption:MicrosoftCCompilerEL6900TwinCAT3SafetyPLCControlTwinCAT3

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66ReatimekernelTwinCATAutomationDeviceDriver–ADDTaskTaskTaskCallTwinCATObjectManagerFieldbusLayerPLCTcCOMSafetyTcCOMSimulinkTcCOMCTcCOMCNCTcCOMNCTcCOMPLCTcCOMPLCTcCOMC++TcCOM

TwinCATtransportlayer–ADSTwinCATSafetyPLC-纯软件安全解决方案TwinCATSafetyPLCincludesAsafetyconfigurationAsafetylogic(PLC)Puresoftware,RunsonregularPChardwareandstandardoperatingsystems

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67STwinCAT3强大的通讯接口（内部和外部）

模块化的程序单元

安全的代码保护良好的移植性

TwinCAT3通讯接口设计TwinCAT3

eXtendedAutomationRuntime(XAR)模块的接口标准化

易于使用包含状态机

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