Introduction TwinCAT

5/21/2018 Introduction TwinCAT

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TwinCAT

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TwinCATPLC and Motion Control on the PC


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1146

1157

1148

TwinCAT PLC

TwinCAT Supplements

TwinCAT NC/CNC

TwinCAT

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beckhoff.com/TwinCAT

TwinCATThe Windows Control and Automation Technology

Product overview

PC-based control technologyPLC and Motion Control

on the PC

TwinCAT PLC

TwinCAT NC PTP

TwinCAT NC I

TwinCAT CNC

TwinCAT I/O

TwinCAT CP

TwinCAT Supplements

System

TwinCAT Supplements

Motion

TwinCAT Supplements

Communication

TwinCAT Supplements

Controller

TwinCAT Supplements

Building Automation

1136

11401143

1146 1157

1179

1148

1150

1152

1154

1156

1166

1170

1180

New Automation TechnologyBECKHOFF


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Product overview TwinCAT

Software PLC

TwinCAT PLC1146

PC hardware standard PC/IPC hardware, no extras

Operating systems Windows NT/2000/XP/Vista, Windows 7,

NT/XP Embedded, CE*

Real-time Beckhoff real-time kernel

I/O system EtherCAT, Lightbus, PROFIBUS DP/MC, Interbus,

CANopen, DeviceNet, SERCOS, Ethernet and

PC hardware

Run-time system 4 multi-tasking PLCs each with 4 tasks in each PLC

run-time system, development and run-time systems

on one PC or separately (CE: only run-time)

Memory process image size, flags area, program size,

POU size, number of variables only limited by

the size of the user memory (max. 2 GB with

NT/ 2000 / XP/Vista)

Cycle time adjustable from 50 s

Link-time 1 s (IntelCore2 Duo) for 1,000 PLC commands

Programming IEC 61131-3: IL, FBD, LD, SFC, ST, powerful

library management, convenient debugging

Software NC PTP

TwinCAT NC PTP1148

TwinCAT PLC inclusive 1146



NT/XP Embedded, CE*




PC hardware

Programming performed using function blocks for TwinCAT PLC

according to IEC 61131-3 (standardised PLCopen

Motion Control libraries), convenient axis commis-

sioning menus in the System Manager

Run-time system NC point-to-point including TwinCAT PLC

Number of axes up to 255

Axis types electrical and hydraulic servo drives, frequency

converter drives, stepper motor drives, switched

drives (fast/crawl axes)

Cycle time 50 s upwards, typically 1 ms (selectable)

Axis functions standard axis functions: start / stop /

reset /reference, speed override,

special functions: master/slave cascading,

cam plates, electronic gearings, online distance

compensation of segments, flying saw

TwinCAT Level

TwinCAT I/O1154



NT/XP Embedded, CE (only run-time)*


Multi-purpose I/O interface for all common fieldbus systems,

PC Fieldbus Cards and interfaces with integrated real-time driver

TwinCAT Level

TwinCAT CP1156



NT/XP Embedded*


Windows driver for Beckhoff Control Panel

* version-dependent

New Automation Technology We reserve the right to make technical changes.BECKHOFF

TwinCAT

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TwinCAT system

TwinCAT CP

TwinCAT I/O

TwinCAT PLC

TwinCAT NC PTP

System Manager

TwinCAT NC I

TwinCAT CNCBuildingAutomation

Controller

Communication

TwinCATSupplements

Motion

System

Software NC I

TwinCAT NC I1150


TwinCAT NC PTP inclusive 1148



NT/XP Embedded, CE*




PC hardware

Programming DIN 66025 programs for NC interpolation,

access via function blocks from TwinCAT PLC

according to IEC 61131-3

Run-time system NC interpolation, including TwinCAT NC PTP

and PLC

Number of axes max. 3 axes and up to 5 auxiliary axes per group,

1 group per channel, max. 31 channels

Axis types electrical servo axes, stepper motor drives

Interpreter

functions

subroutines and jumps, programmable loops,

zeroshifts, tool compensations, M and H functions

Geometries straight lines and circular paths in 3-D space,

circular paths in all main planes, helixes with base

circles in all main planes linear, circular, helical

interpolation in the main lanes and freely definable

planes, Bezier splines, look-ahead function

Axis functions online reconfiguration of axes in groups,path override, slave coupling to path axes,

auxiliary axes, axis error and sag compensation,

measuring functions

Operation automatic operation, manual operation

(jog / inching), single block operation, referencing,

handwheel operation (motion /superposition)

Software CNC

TwinCAT CNC1152


TwinCAT NC PTP inclusive 1148

TwinCAT NC I inclusive 1150



Windows NT/XP Embedded*




PC hardware

Programming DIN 66025 programming language with

high-level language extensions, mathematical

functions, programming of parameters/variables,

user macros, subroutine techniques, spindle and

help functions, tool functions, zero offset shifts

Run-time system CNC, including TwinCAT NC I, NC PTP, PLC

Number o f axes /

spindles

8 path axes / 6 controlled spindles, max. of

64 axes / 12 controlled spindles (optional)

Axis types electrical servo-axes, analog/encoder interface

via fieldbus, digital interface via fieldbus

(EtherCAT, Lightbus, PROFIBUS MC, SERCOS)

Geometries linear, circular, helical interpolation in the main

planes and freely definable planes, 8 interpolating

path axes per channel, look-ahead function

Axis functions coupling and gantry axis function, override, axiserror and sag compensation, measuring functions

Operation automatic operation, manual operation

(jog / inching), single block operation, referencing,

block search, handwheel operation (motion /

superposition)

TwinCAT CNC Options

Options TwinCAT CNC Axes Pack 1153

TwinCAT CNC Channel Pack 1153

TwinCAT CNC Transformation 1153

TwinCAT CNC HSC Pack 1153

* version-dependent

New Automation TechnologyBECKHOFFWe reserve the right to make technical changes.


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Supplements | System

TwinCAT ECAD Import 1158

tool for importing XML files from ECAD systems

TwinCAT Engineering Interface Server 1158

for coordination of programming tasks via a source code

management system

TwinCAT XML Data Server 1159

PLC data can be written directly into an XML file or read

from an XML file.

TwinCAT Backup 1160

tool for backing up and restoring of files, operating system and

TwinCAT settings

TwinCAT Simulation Manager 1160

simplifies preparation and configuration of a simulation environment

TwinCAT Database Server 1161

for bi-directional access: PLC and database

TwinCAT PLC HMI 1161

displays only the visualisation created with TwinCAT PLC control

in full screen under XP when starting up

TwinCAT PLC HMI Web 1162

Displays a visualisation created with TwinCAT PLC control

in Internet Explorer. A Java VM is required.

TwinCAT PLC HMI CE 1162

licence for using the system software TwinCAT PLC HMI CE

under Windows

TwinCAT Management Server 1162

licence for using the TwinCAT Management Server for

central administration of Beckhoff CE controls

TwinCAT Scope 2 1163

licence for using the TwinCAT Scope

TwinCAT EtherCAT Redundancy 1163

licence for extending the TwinCAT EtherCAT master with

cable redundancy capability

TwinCAT PROFINET IO Controller 1164

licence for using the PROFINET IO Controller

TwinCAT PROFINET IO Device 1164

licence for using the PROFINET IO Device

TwinCAT EtherNet/IP Slave 1165

licence for using the EtherNet/IP Slave

Supplements | Motion

TwinCAT PLC Hydraulic Positioning 1166

software library for TwinCAT PLC for the control of the position

and pressure of hydraulic axes

TwinCAT NC FIFO Axes 1166

software library that enables a target value specified by the user

to be generated for an NC axis

TwinCAT NC Flying Saw 1167

software library for TwinCAT PLC to enable implementation

of the flying saw function

TwinCAT PLC Remote Synchronisation 1167

software library for general synchronisation of time

in distributed systems

TwinCAT NC Camming 1167

software library that enables the use of the cam function

of TwinCAT NC

TwinCAT Cam Design Tool 1168

tool for designing electronic cam plates, fully integrated in the

TwinCAT System Manager

TwinCAT Digital Cam Server 1168

fast camshaft controller as software implementation in TwinCAT,

freely configurable via the TwinCAT System Manager

TwinCAT Valve Diagram Editor 1169

graphics-oriented editor for designing the characteristic curves

of a hydraulic valve

TwinCAT Kinematic Transformation 1169

realises different kinematic transformations for TwinCAT PTP or

TwinCAT NC I

Product overview TwinCAT


TwinCAT

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Supplements | Communication

TwinCAT PLC Serial Communication 1170

software library for communication via serial Bus Terminals

or PC COM ports

TwinCAT PLC Serial Communication 3964R / RK512 1170

software library for communication via serial Bus Terminals

or PC COM ports with the 3964R/RK512 protocol

TwinCAT PLC Serial Communication EnOcean 1171

software library for the processing of signals from sensors

without batteries with EnOcean technology

TwinCAT PLC Modbus RTU 1171

software library for communication with the Modbus protocol

via serial Bus Terminals or PC COM ports

TwinCAT PLC IEC 60870-5-101/-102/-103/-104 Master 1172

software library for communication via the telecontrol protocol

according to IEC 60870-5-10x (master)

TwinCAT PLC IEC 60870-5-101/-104 Slave 1172

software library for communication via the telecontrol protocol

according to IEC 60870-5-101/104 (slave)

TwinCAT DriveTop Server 1173

communication server for connecting the Indramat DriveTop tool

with TwinCAT

TwinCAT DriveCOM OPC Server 1173

for communication of drive setup tools right into

DriveCom-compatible drives

TwinCAT OPC Server 1175

for access to TwinCAT variables in accordance with the

OPC DA/XML DA specification

TwinCAT OPC UA Server 1176

for access to TwinCAT variables in accordance with the

OPC UA specification

TwinCAT SMS/SMTP Server 1176

enables sending of SMS or e-mail messages from the TwinCAT PLCTwinCAT TCP/IP Server 1177

server and PLC library for communication via generic TCP server

(client functionalities included)

TwinCAT Modbus TCP Server 1177

for communication with Modbus TCP devices

(server and client functionality)

TwinCAT Virtual Serial COM Driver 1177

driver for the automatic generation of virtual Windows COM interfaces

for EL60xx terminals

TwinCAT FTP Client 1178

enables the TwinCAT PLC to access several FTP servers

TwinCAT PLC RFID Reader Communication1178

for the connection of RFID readers to the TwinCAT PLC

Supplements | Controller

TwinCAT PLC Controller Toolbox 1179

software library with function blocks for control technology

TwinCAT PLC Temperature Controller 1179

software library with temperature control function block

Supplements | Building Automation

TwinCAT PLC Building Automation 1180

software library for executing basic building automation functions

TwinCAT PLC Building Automation DALI 1180

software library for the processing of signals for the digital

interfaces of ballasts

TwinCAT Building Automation Framework 1181

for easy configuration of building automation applications

TwinCAT PLC HVAC 1182

software library for the automation of heating, ventilation,

air-conditioning and sanitary installations

TwinCAT PLC M-Bus 1183

licence for using the PLC library TwinCAT PLC M-Bus

TwinCAT Crestron Server 1183

for communication between a TwinCAT PLC and a Crestron control

centre



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Comparison: execution times for 1,000 PLC commands by a hardware PLC

and by TwinCAT PLC

Load threshold and jitter online

ministic features, independently

of other processor tasks. The

real-time load on a PC is set

with TwinCAT; defined operat-

ing behaviour is achieved in

this way. TwinCAT indicates the

system load for programs that

are running. A load threshold

can be set in order to assure

a defined computing capacity

for the operating programs as

well as for Windows NT/2000/

XP/Vista or Windows 7. If this

threshold is exceeded, a system

message is generated.

TwinCAT supports system

diagnosis

The general use of hardware

and software from the open PC

world requires some checking:

unsuitable components canupset the PC system. Beckhoff

has integrated a practical indi-

cator of the real-time jitter, giv-

ing administrators an easy way

to evaluate the hardware and

software. A system message

during operation can draw

attention to incorrect states.

TwinCAT PC-based control technologyStart/stop behaviour

Depending on the setting,

TwinCAT is started and stopped

manually or automatically. Since

TwinCAT is integrated into Win-

dows NT/2000/XP/Vista and Win-

dows 7 as a service, an operator

is not needed to start the system:

switching on is enough.

Restarting and data backup

When a program is started or

restarted, TwinCAT loads pro-

grams and remanent data. To

back up data and to shut down

Windows NT/2000/XP/Vista

or Windows 7 correctly, a UPS

(uninterruptible power supply)

is of great value.

TwinCAT and Blue Screen

The TwinCAT system can be

configured such that real-time

capability is maintained in the

event of a BSOD (Blue Screen of

Death) operating system crash.

Real-time tasks such as PLC and

NC can therefore continue to run

and bring the controlled process

into a safe state. Ultimately, it is

The Windows Control and

Automation Technology

The TwinCAT Software System

turns almost any compatible

PC into a real-time controller

with a multi-PLC system and

NC/CNC axis control. At the

same time, TwinCAT integrates

the programming environment

for all Beckhoff controllers: from

high-end Industrial PC Control

to embedded controller.

TwinCAT architecture

TwinCAT consists of run-time

systems that execute control

programs in real-time and the

development environments for

programming, diagnostics and

configuration. Any Windows pro-

grams, for instance visualisation

programs or Office programs,can access TwinCAT data via

Microsoft interfaces, or can

execute commands.

A practically oriented

software solution

TwinCAT offers a precise time-

base in which programs are

executed with the highest deter-


TwinCAT

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Real-time operation of PLC software in a classic PLC

Real-time operation of PLC software on a PC

Real-time operation of software for a PLC and NC (Motion Control) on a PC

the decision of the programmer

whether or not to utilise this fea-

ture, bearing in mind that data

or programs may already have

been destroyed by the BSOD.

Worldwide connection

through message routing

remote connection is

inherent to the system

According to the requirement

for operating resources, the

TwinCAT software devices can

be distributed: TwinCAT PLC

programs can run on the PCs

or on Beckhoff Bus Terminal

Controllers. A message router

manages and distributes all the

messages, both in the system

and via TCP/IP connections.

PC systems can be connected

with each other via TCP/IP; Bus

Terminal Controllers are inte-

grated via serial interfaces and

fieldbuses (EtherCAT, Lightbus,

PROFIBUS DP, CANopen, RS232,

RS485, Ethernet TCP/IP).

Worldwide access

Since standard TCP/IP services

of NT/2000/XP/Vista/CE and

Windows 7 can be used, this

data can be exchanged across

the world. The system offers

scalable communication capac-

ity and timeout periods for the

supervision of communications.

OPC provides a standardised

means for accessing many differ-

ent SCADA/MES/ERP packets.

PLC cycle PLC cycle

Readinputs

Operateprogram

Writeoutputs

Readinputs

Operateprogram

Writeoutputs

t

PLC cycle PLC cycle

Readinputs

Operateprogram

Writeoutputs

WindowsNT

andHMI

Readinputs

Writeoutputs

Operateprogram

Readinputs

Operateprogram

t

PLC Server Windows NTand HMI

NC Serverfor Motion Control

t

1 ms

PLC cycle (e.g. 2 ms) PLC cycle t

NC cycle (e.g. 1 ms) NC cycle t

2 ms 3 ms 4 ms 5 mse.g.

NC cycle NC cycle



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The Windows Control and Automation Technology

The Beckhoff TwinCAT software system turns almost any compatible PC into a real-time controller with a multi-PLC system, NC axis

control, programming environment and operating station. TwinCAT replaces conventional PLC and NC/CNC controllers as well as

operating devices with:

open, compatible PC hardware

embedded IEC 61131-3 software PLC, software NC and software CNC in Windows NT/2000/XP/Vista, Windows 7, NT/ XP Embedded, CE

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

connection to all common fieldbuses

PC interfaces support

data communication with user interfaces and other programs by means of open Microsoft standards (OPC, OCX, DLL, etc.)

TCP/IP | serial

ADS interface

System Manager

Real-time server

I/O mapping

I/O: all fieldbuses and PC interfaces

ADS

Message router

Message router

I/O

ADS interface

I/O serverI/O run-time

I/O

ADS interface

PLC serverPLC run-time

I/O

ADS interface

NC PTP serverNC PTP run-time

I/O

ADS interface

NC I serverNC I run-time

I/O

ADS interface

CNC serverCNC run-time

System Manager

configuration,service,monitoring

ADS

PLC control

PLCprogramming

ADS ADS

Motion Control

TwinCAT NC PTPTwinCAT NC ITwinCAT CNC

ADS OCX/DLL

Scada,Visual Basic,Delphi, VisualC++, .NET, C#,VB.NET,

OPC client

Scada,Visual Basic,Delphi

ADS Web service

ADS-http://

Internet/Intranet

TwinCAT OPC server

DAXMLUA


TwinCAT

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TwinCAT I/O universal I/O

interface for all common

fieldbuses

Many PC fieldbus cards from

various manufacturers are sup-

ported. It is possible to operate

more than one fieldbus card per

PC. Master and slave function-

ality is supported, depending

on the selected fieldbus card.

The fieldbus cards can be con-

figured and diagnosed conve-

niently 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 soft-

wareConceived as a pure software

PLC, TwinCAT PLC allows up to

four virtual PLC CPUs, each

running up to four user tasks,

on one PC. The PLC program can

be written in one or more of the

languages provided for in the

IEC 61131-3 standard:

IL (Instruction List),

LD (Ladder Diagram),

FBD/CFC (Function Block

Diagram),

PLC and Motion Control on the PC SFC (Sequential Function

Chart) and

ST (Structured Text).

TwinCAT PLC running under

the Windows NT/2000/XP/Vista

operating systems includes both

the programming environment

and the run-time system, so

that an additional programming

device is not required. Under the

CE operating system and the

embedded operating systems

for the series BX and BC control-

lers, only TwinCAT run-time is

available. Program modifications

are implemented via network-

capable powerful communica-

tion with the run-time system.

Programming can be done

locally,

via TCP/IP or

via the fieldbus (BXxxxxand BCxxxx).

IEC 61131-3 advanced

programming standard for

all Beckhoff controllers

The TwinCAT PLC is programmed

in accordance with IEC 61131-3

independently of the manufac-

turer. TwinCAT supports all the

IEC 61131-3 programming lan-

guages with convenient editors

and a fast, effective compiler,

so that the development cycle

for the creation even of large

PLC programs of several mega-

bytes can be short. Incremental

compilation prevents long

turnaround times. Only genu-

inely new sections are compiled.

Powerful editor features, such as

autoformat, autodeclare or

find and replace enable fast

programming. For all program-

ming 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 origi-

nal language, all terms can be

exported into a table, translated

and re-imported. If a team is

dealing with the development,all objects (blocks, data types,

lists) can be managed within a

source code management tool

via the TwinCAT Engineering

Interface. This enables changes

to be traced back and differences

between individual versions to

be displayed.

The concept of the instan-

tiation of function blocks, in

which each instance is associ-

ated with its own data, leads

naturally to object-oriented and

structured programming styles.

All common data types 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 pro-tection, multi-stage password

protection can be applied to

programs and libraries.

Many target platforms

one tool

The PLC programs created with

TwinCAT PLC can be executed

on a number of target platforms.

Apart from Industrial PCs and

the Embedded PCs, the PLC

project can also be loaded into



13/14

the BC and BX series fieldbus

controllers from Beckhoff. Pro-

gram development and debug-

ging proceed in the same working

environment, regardless of which

unit is executing the program.

Extensive supplementary

libraries

As an extension to the blocks

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 librar-

ies, system libraries for message

outputs, write/read files, control

technology blocks, etc.

Helpful practice tools

Extensive faultfinding functions

in TwinCAT PLC facilitate the

solution of problems either on

site or via remote maintenance.

For this purpose, the PLC pro-

gramming environment in

TwinCAT offers:

monitoring,

powerflow (flow control),

break point,

sampling trace of PLC

variables,

single step,

watchlist,

call hierarchy and

forcing of variables.

In addition, the TwinCAT

ScopeView (a software

oscilloscope) can be used

to record one or several

variables simultaneously.

TwinCAT NC Motion

Control on the PC

A software NC consists of:

positioning (set value

generation and position

control)

integrated PLC with

NC interface

operating programs

for commissioningpurposes

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 simultane-

ously with the PLC, whereby

the position controller is usually

calculated on the PC: the com-

puting capacity of a PC enables

many axes to be positioned

simultaneously.

TwinCAT enables a PC to

process the operating programs,

the PLC and the NC at the same

time. The division of the system

load is supported by TwinCAT

with appropriate functions.

Analytical path calculation

The algorithms that TwinCAT NC/

NC I/CNC uses to control axes

take account of the dynamic

parameters of the axis: speed,acceleration and jerk. In this

way, the axes are moved at any

time within the limits of what

is dynamically possible, and are

precisely analytically coordi-

nated. A range of different regu-

lation algorithms are available

in order to reduce the deviations

from the ideal trajectory that will

occur in practice.

Individual or joint

Based on the normal methods

for positioning an individual

electrical axis, moving from its

starting point to its destination

(point-to-point positioning),

TwinCAT NC also allows the

coordinated movement of a

number of axes in multi-stage

master-slave operation (e.g.

gearing functions or cam plates)

to be executed. TwinCAT NC I

further allows the interpolated

path sequencing described in

accordance with DIN 66025 to

be carried out involving up to

three axes.

Software PLC included

TwinCAT combines software

NC and software PLC to form a

powerful controller. The commu-nication between the two pack-

ages is a pure software/software

channel with minimum delay

times. The NC functionalities are

called from the PLC program via

standardised, PLCopen-certified

function blocks.

Axis movements can be

simulated without hardware;

the actual value is instructed to

ideally track the set value, and


TwinCAT

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14/14

PTP positioning procedureHierarchical controller architecture: central or distributed

0

20

40

100

80

60

-22-20-18

-12-14-16

-10-8-6

0-2

-4

24

86

1210

0.0 0.2 0.4 0.6 0.8

0

200

400

1000

800

600

0

-2

2

time (s)

velocity (m/min)

acceleration (m/s2)

jerk (scaled to -1.0, +1)

position (mm)

Supervisory system

TwinCAT

PC Control

TwinCAT

PC Control

TwinCAT

PLC I/O

LANCommunication

the complete machine flow is

checked. TwinCAT ScopeView is

helpful for commissioning and

maintenance. It records all axis

variables such as position, speed

and acceleration.

Convenient commissioning

Commissioning is 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 cou-

plings, cam plates or distance

compensation can be triggered

and observed via the System

Manager. A convenient dialog

enables the dynamic parameters

of an axis to be determined.

TwinCAT NC I axis

interpolation in three

dimensions

TwinCAT NC I (interpolation)

is the NC system for linear

and circular interpolated path

movements of axis groups with

up to eight drives. The system

includes interpreter, set value

generation and position control-

ler. PLC functionality is integrated,

as is the connection of the axes

with the 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. As an alternative to

DIN 66025, the path interpola-

tion via the TcPlcInterpolation

library can take place directly

from the PLC. In this case, the

geometry and help functions

(e.g. M functions) are writ-

ten to a table in the PLC and

transferred to the NC core. This

procedure is particularly suitable

for flexible movements, e.g. in

pick-and-place applications.

TwinCAT CNC

the software CNC for

toughest requirements

TwinCAT CNC expands TwinCAT

NC I with classic CNC features:

up to 32 interpolating axes

and comprehensive coordinate

and kinematic transformations

are possible. Parts program-

ming is carried out according

to DIN 66025 using high-level

language extensions. TwinCAT

CNC can operate with up to

64 axes or 32 path axes and

controlled spindles that can be

distributed across up to twelve

CNC channels. In a CNC channel,

up to 32 axes can be interpolated

simultaneously, enabling even

the most difficult motion tasks to

be solved. Apart from the classic

linear, circular and helical inter-

polations, TwinCAT CNC offers

convenient spline interpolation,

optionally based on Akima or

B-splines. Real-time transforma-

tions enable complex machine

kinematics to be realised without

problem.

HSC technology

(high-speed cutting)Advanced HSC cutting technol-

ogy requires CNC control tech-

nology with optimised solutions

for Motion Control in order to

achieve optimum results in terms

of processing time while at the

same time offering maximum

accuracy and workpiece surface

quality.

The TwinCAT CNC HSC pack

offers the following options:

velocity and acceleration

control across blocks for

optimum utilisation of axis

dynamics and therefore

higher achievable path

velocities

high surface quality through

smoothed dynamics and

associated reduction of

vibrational excitation of

the machine

effective control of specified

contour tolerances

path programming via

splines with programmable

spline type (Akima spline,

B-spline) for reduction of NC

blocks for free-form surfaces


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Introduction TwinCAT

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