Beckhoff Training - Exercises (usa) 3_2018 1c2m3b
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Structures Structures are used to define elements of a larger item and are commonly referred to as custom data types or data unit types A temperature sensor; for example, is more than just the temperature value The status of the Anaput 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
Beckhoff
Structures To add a Structure, ‘Right-Click’ on the ‘DUTs’ folder Then Select ‘Add’ -> ‘DUT’
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Structures Change the Name to ST_TemperatureSensor Select the Radio button for Structure Click the ‘Open’ button
Beckhoff
Structures - Decleration This will create the basic framework for a structure
Beckhoff
Structures - Decleration Define the elements with the structure Initial values can be given A structure can also contain other structures
Beckhoff
Structures - Use A structure must be instantiated just like a Function Block
Beckhoff
Structures - Use After typing the instance name of the structure place a ‘.’ immediately after it and the intellisense window will appear, showing what elements exist inside of the structure
Beckhoff
Structures - Use The elements in a structure can be written to or read from
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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
Beckhoff
Enumerations To add an Enumeration, ‘Right-Click’ on the ‘DUTs’ folder Then Select ‘Add’ -> ‘DUT’
Beckhoff
Enumerations Change the Name to E_Mode Select the Radio button for Enumeration Click the ‘Open’ button
Beckhoff
Enumerations The basic framework of an Enumeration looks like the following
Beckhoff
Enumerations 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
Beckhoff
Enumerations 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 Manual = 1 Semi_Auto = 2 Auto = 3 Maintenance = 10 Unknown = 11
Beckhoff
Enumerations 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 iStep.
As iStep changes in value the Case statement will change states iStep 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
Beckhoff
Enumerations The displayed online value of iStep will always be an INT value because iStep is declared as an INT
Beckhoff
Enumerations If an instance of the Enumeration is declared then the instance of the Enumeration holds the variable name of the value of the Enumeration
Beckhoff
Enumerations If eStep is of type E_Mode then eStep holds either ‘Manual’, ‘Semi_Auto’, or ‘Auto’
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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
Beckhoff
Arrays 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
Beckhoff
Arrays 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
Beckhoff
Arrays 3 Dimensional Array
Beckhoff
Arrays - Initialization Initializing each index of an array
Initializing multiple indexes with the same value
The above 2 examples can be mixed together
Beckhoff
Arrays 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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Breakpoints WARNING! A Breakpoint will stop the PLC Note: Logging out of the PLC will remove all breakpoints, and allow the code to start running again.
Beckhoff
Breakpoints 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
Beckhoff
Breakpoints To set a breakpoint click on the line, placing the cursor where you wish the PLC to stop
From the PLC menu select Toggle Breakpoint Note: Breakpoints can only be set on lines that have the gray circle.
Beckhoff
Breakpoints The Breakpoint has now been set on Line 4
When the PLC reaches this line of code the PLC will halt before running Line 4
You can also see that the Run command for the PLC is enabled.
Beckhoff
Breakpoints The PLC 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
Beckhoff
Breakpoints Step Into (F11) 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 Step Out (Shift + F11) will leave the current
POU and return to the calling POU
TwinCAT 3
Beckhoff TwinCAT 3
Multiple PLC Tasks
TWINCAT 3
Beckhoff TwinCAT 3
Multiple PLC Tasks
Right-Click on POUs, select ‘Add’, then select ‘POU…’
Beckhoff TwinCAT 3
Multiple PLC Tasks
Give the POU a name Set the ‘Type’ to ‘Program’ Click ‘Open’
Beckhoff TwinCAT 3
Multiple PLC Tasks
The new Program has been added to the ‘POU’ list
Beckhoff TwinCAT 3
Multiple PLC Tasks
Under ‘PLC’, Right-Click ‘Untitled1 Project’, select ‘Add’, select ‘Referenced Task…’
Beckhoff TwinCAT 3
Multiple PLC Tasks
In the ‘New Task’ section, provide a unique name for the ‘Task’ Click ‘Create New Task’
Beckhoff TwinCAT 3
Multiple PLC Tasks
Select the task under the ‘Available Tasks:’ column Click ‘Open’
Beckhoff TwinCAT 3
Multiple PLC Tasks
The new task has been added
Beckhoff TwinCAT 3
Multiple PLC Tasks
Right-Click on the name of the new task Select ‘Add’, ‘Existing Item…’
Beckhoff TwinCAT 3
Multiple PLC Tasks
Select the desired POU name from the ‘Items’ section Click ‘OK’
Beckhoff TwinCAT 3
Multiple PLC Tasks
The ‘POU’ is now called by the ‘Task’
Double-Click on the Task to view its properties Beckhoff TwinCAT 3
Multiple PLC Tasks
The first Task is at Port 350 with a Priority of 20 The second Task is at Port 351 with a Priority of 21
Beckhoff TwinCAT 3
Multiple PLC Tasks
Adjust the ‘Cycle Ticks’ to change how often the task starts its execution. The lower the priority (closer to 0), the lower the ticks.
Beckhoff TwinCAT 3
TC3 TwinSAFE
TwinCAT 3
Software
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TC3 TwinSAFE
Safety and standard I/O in one system
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TC3 TwinSAFE
Safety and standard I/O in one system
1. High Performance Control 2. Scalable Hardware 3. One Software TwinCAT 4. Outstanding Diagnostics
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TC3 TwinSAFE
High Performance Control High Performance expands possibilities
1 controller 50us PLC scan rate 30us I/O update rate Synchronous Scan 10ns resolution w/ XFC Terminals 100 data point w/ Oversampling Terminals 250us Motion task
11,000 Terminal Demo 4ms update rate 10.01.2013
4
TC3 TwinSAFE
Safety and standard I/O in one system
1. High Performance Control 2. Scalable Hardware 3. One Software TwinCAT 4. Outstanding Diagnostics
10.01.2013
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TC3 TwinSAFE
Scalable Hardware Scalable I/O including TwinSAFE works with any size system
1 Controller 1 EtherCAT NIC(built in) 0 switches 0 IP addresses 0 I/O configuration Auto Scan Software sends config info
Redundancy(Ring) 65,535 Devices
11,000 Terminal Demo
255 Axes 10.01.2013
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TC3 TwinSAFE
Scalable Hardware Scalable I/O works with any field bus protocol
25+ protocols TwinSAFE Variables can be tied to these other systems
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TC3 TwinSAFE
Scalable Hardware Scalable I/O does not require racks or backplane chassis
400+ Terminal Types IP20, 65, 67, IP69K 100 Oversampling Power Monitoring LoadCell AC/DC Motor Stepper Servo 10.01.2013
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TC3 TwinSAFE
Scalable Hardware Scalable Controllers work with all of the I/O Devices
266Mhz Atom U 2.1Ghz i7 Quad Core Multi HD Raid SSD Cfast Flash Fan/Fanless Integrated PB‘s/LT‘s
All TwinSAFE ready 10.01.2013
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TC3 TwinSAFE
Scalable Hardware Scalable Motion
255 Axis 2 axis per drive Single Cable Power/Feeback Linear Synchronous Stepper All TwinSAFE ready
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TC3 TwinSAFE
Scalable Hardware Scalable Safety: TwinSAFE System
•IPC •TwinCAT Development Software •TwinSAFE U Logic Controller Terminal •TwinSAFE Input Terminal •TwinSAFE Output Terminal
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TC3 TwinSAFE
Scalable Hardware Scalable Safety: TwinSAFE System
•Certified to SIL 3 according to IEC 61508, EN 954 Cat. 4 and and DIN EN ISO 13849 PLe •Approvals: UL, CE, ATEX •Enables networks with up to 1,024 TwinSAFE devices •Safe Motion •The required functions are configured via TwinCAT Development software •All TwinSAFE data can be sent to other Network Protocols ie:Ethernet/IP •Complete Hardware/Software diagnostics
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TC3 TwinSAFE
Scalable Hardware Scalable Safety : TwinSAFE EL6900 U Logic Controller
•s up to 128 TwinSAFE terminals. •14 different Safety software functions available. Can easily be selected and linked.
•Multiple TwinSAFE Controllers can co-exist within a network •255 Function blocks total •32 Independant TwinSAFE Groups •Dip switch on Terminal required for certification 0-1023. Diagnostic Lights: Voltage Temperature Communication Function Block 10.01.2013
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TC3 TwinSAFE
Scalable Hardware Scalable Safety: TwinSAFE Various Input Devices
Operation Mode: • Standstill monitoring 1 • Standstill monitoring 2 • Digital
Logic of Channels: • Single logic • OSSD signals (two channel) • asynchronous pulses, • inactive sensortest • OSSD signals (two channel) • any pulse repetition, • inactive sensortest • Cross-circuit detection • cause no module fault
Standstill Monitoring
Light Curtains
Laser Scanners
Safety Mats
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TC3 TwinSAFE
Scalable Hardware Scalable Safety : TwinSAFE Input Terminals
•Fail-safe inputs •s sensor test, short clock signal every 250hz. •Diagnostic Lights: Voltage Temperature Sensor Test Cross Wiring
Dip switches on Terminal required for certification 0-65535
EL1904 4ch
EL1908 8ch
Dip switches on Terminal required for certification 0-4095
EP1908 8ch (IP65) 10.01.2013
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TC3 TwinSAFE
Scalable Hardware Scalable Safety: TwinSAFE Various Outputs
Standard outputs active: •PLC output control is logically AND connected with the safety outputs. SafeState is always ensured, has priority.
Standard and Safe output
Current measurement active: •Setting allows use of a common ground for the safety outputs. Enable/Disable min/max checks of current measurement.
Common Ground wiring
Testing of outputs active: •Test pulses of the safety outputs can be deactivated.
Solid State Devices
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TC3 TwinSAFE
Scalable Hardware Scalable Safety : TwinSAFE Output Terminals
• Fail-safe Outputs • Switches 24 V DC actuators. • Switches off automatically (fail stop) if a fault is detected • Diagnostic Lights: Voltage Temperature Output Current Cross Wiring
Dip switches on Terminal required for certification 0-1023.
EL1904 4ch 0.5Amp
EL1902 2ch 2.3Amp
EL1901 1ch 10Amp
EL2964 1ch 3 simultaneously N.O. s 10.01.2013
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TC3 TwinSAFE
Scalable Hardware Scalable Safety : TwinSAFE AX5805 Safety Card Meets requirements for: PL e / SIL 3
Stop Functions: STO: Safe Torque Off SS1: Safe Stop 1 → STO SS2: Safe Stop 2 → SOS Limiting Functions: SOS: Safe Operating Stop SSM: Safe Speed Monitor SLS: Safe Limited Speed SLP: Safe Limited Position SAR: Safe Acceleration Range SSR: Safe Speed Range SMA: Safe Maximum Acceleration SMS: Safe Maximum Speed SDI: Safe Direction
Main voltage remains connected
No additional wiring or switching device required! 10.01.2013
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TC3 TwinSAFE
Scalable Hardware Scalable Safety: Fieldbus Gateway
•IPC acts as built in gateway to other controllers on network. •Integrate TwinSAFE data to EthernetIP via shared memory map. •1 CIP connection for many nodes of I/O. •IPC can also be programmed with PLC logic and motion logic.
IPC is generic E/IP slave 498 bytes Input data 498 bytes Output data
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TC3 TwinSAFE
Scalable Hardware Scalable Safety: Fieldbus Gateway
•Uplink/Downlink values for Generic CIP connection to AB is auto calculated . These are the values which would be typed into the RSLogix5000 side. •Input / Output Memory map connection occurs as Scheduled Class1 Connection.
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TC3 TwinSAFE
Scalable Hardware Scalable Safety: Field bus Gateway
•Input /Output Shared Memory Map Data looks just like any other I/O Device •Add 2nd NIC or multiplex to expand data xfer.
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TC3 TwinSAFE
Safety and standard I/O in one system
1. High Performance Control 2. Scalable Hardware 3. One Software TwinCAT 4. Outstanding Diagnostics
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TC3 TwinSAFE
One Software TwinCAT TwinCAT: Development Overview
1.
All Software Elements in One Location (Safety)
2.
All Code Writing in One Location
3.
All Parameters in One Location
4.
All Code in one location
2.
2. 3.
1.
4. 10.01.2013
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TC3 TwinSAFE
One Software TwinCAT TwinCAT: Add Target TwinSAFE Controller Terminal
•
Add Target TwinSAFE Controller Terminal
2.
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TC3 TwinSAFE
One Software TwinCAT TwinCAT: Attach to Target PLC Terminal Controller
•
istration can be performed
2.
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TC3 TwinSAFE
One Software TwinCAT TwinCAT: TwinSAFE Function Blocks •
EL6900 has 14 total pre-defined FB available
•
Safety functions can easily be selected and linked.
•
All FB can be freely connected and are complemented with operators such as AND, OR, etc.
2.
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TC3 TwinSAFE
One Software TwinCAT TwinCAT: TwinSAFE Function Blocks •
8 EstopPB or 4 Dual EstopPB can be connected to each Estop FB
•
Each Estop can be set for single or dual s
•
External Device Monitoring Inputs for ensuring or is switching states
•
Use AND blocks for more Estops.
2.
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TC3 TwinSAFE
One Software TwinCAT TwinCAT: TwinSAFE Function Blocks •
Add variables to each input and output of the FB 2.
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TC3 TwinSAFE
One Software TwinCAT TwinCAT: TwinSAFE Function Blocks •
Configurable Delay Time 2.
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TC3 TwinSAFE
One Software TwinCAT TwinCAT: TwinSAFE Function Blocks
2.
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TC3 TwinSAFE
One Software TwinCAT TwinCAT: TwinSAFE Function Blocks
2.
External Device Monitoring
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TC3 TwinSAFE
One Software TwinCAT TwinCAT: TwinSAFE Function Blocks •
Raw Material additions
•
Automatic Roll Changes
2.
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TC3 TwinSAFE
One Software TwinCAT TwinCAT: TwinSAFE Function Blocks
2.
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TC3 TwinSAFE
One Software TwinCAT TwinCAT: TwinSAFE Function Blocks
2.
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TC3 TwinSAFE
One Software TwinCAT TwinCAT: TwinSAFE Function Blocks
2.
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TC3 TwinSAFE
One Software TwinCAT TwinSAFE: Add Function Blocks to Group1 Network
•
Point at the SafeEstop function block
•
Hold down the left-click button
•
Drag the safeEstop block onto the code writing area.
2.
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TC3 TwinSAFE
One Software TwinCAT TwinCAT: Create TwinSAFE Function Block Variables 1.
Click on the Restart input connection point
2.
In the properties windows you can alter the properties or parameters of the “In Port”
• • •
3.
2.
1. 2.
Single or Two Channel operation Discrepancy time Select input as N.C or N.O Assign Variable Name
3.
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TC3 TwinSAFE
One Software TwinCAT TwinCAT: Connection between FB’s •
Click and hold connection and drag connection to another FB connection point.
2.
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TC3 TwinSAFE
One Software TwinCAT TwinCAT: Create TwinSAFE Function Block Variables
•
Click on Comment and add a comment to a FB
2.
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TC3 TwinSAFE
One Software TwinCAT TwinCAT: Create TwinSAFE Function Block Variables 1.
Selecting magnifying glass icon will zoom in on workspace
2.
Selecting magnifying glass icon will auto scale workspace to fit all FB’s
3.
Selecting magnifying glass icon will zoom out on workspace
4.
Selecting and moving the move icon will show a zoomed in popup window of workspace
5.
CTRL and Mouse Wheel zooms in/out
2.
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TC3 TwinSAFE
One Software TwinCAT Create TwinSAFE Function Block Variables
•
Example of several FB on one network. 2.
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TC3 TwinSAFE
One Software TwinCAT TwinCAT: TwinSAFE Safety Project, Start Safety Project
•
Click Icon 2.
name: Serial Number: nnnnnnnn
: TwinSAFE
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TC3 TwinSAFE
One Software TwinCAT TwinCAT: TwinSAFE Version History
•
Click Version Icon 2.
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43
TC3 TwinSAFE
Safety and standard I/O in one system
1. High Performance Control 2. Scalable Hardware 3. One Software TwinCAT 4. Outstanding Diagnostics
10.01.2013
44
TC3 TwinSAFE
Outstanding Diagnostics Diagnostics: Online Monitoring •
Green indicates Input is High/True 2.
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45
TC3 TwinSAFE
Outstanding Diagnostics Diagnostics: Online Monitoring
•
Online status is shown as Green when ON. 2.
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TC3 TwinSAFE
Outstanding Diagnostics Diagnostics: Online Monitoring
•
•
Each channel of the connection can be mapped back to variable tag for use in the PLC.
2.
Live online update of a TwinSAFE or any input/output is available
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TC3 TwinSAFE
Outstanding Diagnostics Diagnostics: Variable Tags
•
TwinSAFE Group and FB Variable Tags available to be aliased to PLC project.
2.
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TC3 TwinSAFE
Outstanding Diagnostics Diagnostics: Variable Tags
•
Estop FB Variable Tags available to be aliased to PLC project.
2.
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49
TC3 TwinSAFE
Outstanding Diagnostics Diagnostics: Document •
•
Right-click on the “Project” level of the safety tree view in the Solution Explorer
2.
Add Extra company specific data as needed, notice logo file jpg file attached in example.
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TC3 TwinSAFE
Outstanding Diagnostics Diagnostics: Document
• Detailed information about devices and parameters
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TC3 TwinSAFE
Outstanding Diagnostics Diagnostics: Demo
TC3 TwinSAFE Document Demo TC3 Diagnostics Runtime Demo
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TC3 TwinSAFE
I/O Configuration I/O Configuration: Demo
TC3 TwinSAFE I/O Auto Configuration Demo
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TC3 TwinSAFE
Questions
Questions?
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TwinCAT 3
Beckhoff TwinCAT 3
TwinSAFE – Getting Started
TWINCAT 3
Beckhoff TwinCAT 3
Getting Started
A TwinSAFE Project will consist of one or more TwinSAFE Groups. Each group will have its own set of Safety Application Variables and Function Blocks TwinSAFE Project TwinSAFE Group
FB
Safety Application Variables
Beckhoff TwinCAT 3
Getting Started
Each TwinSAFE Project is associated with an EL6900
EL6900
TwinSAFE Project TwinSAFE Group
FB
Safety Application Variables
Beckhoff TwinCAT 3
Getting Started
Each Variable going into or out of the Group must through an Alias
TwinSAFE Project Alias
TwinSAFE Group
FB
Safety Application Variables
Alias
Beckhoff TwinCAT 3
Getting Started
The Alias is then connected to a PLC variable or to the I/O Note: The I/O may be Safety I/O or Standard I/O depending on the application
TwinSAFE Project Alias
TwinSAFE Group
FB
Safety Application Variables
Alias
PLC I/O
Beckhoff TwinCAT 3
TwinSAFE – Estop and Relay
TWINCAT 3
Beckhoff TwinCAT 3
Estop and Relay
Scan in the Hardware Add a PLC Project and create the following Global Variables
Beckhoff TwinCAT 3
Estop and Relay
In the body of MAIN add the following line of code
Beckhoff TwinCAT 3
Estop and Relay
Right-Click on the Project and select ‘Rebuild’
Beckhoff TwinCAT 3
Estop and Relay
Link the PLC Input variable to the first push button
Beckhoff TwinCAT 3
Estop and Relay
Right-Click on ‘Safety’ and select ‘Add New Item’
Beckhoff TwinCAT 3
Estop and Relay
Select ‘TwinCAT Default Safety Project’ Name the project Click ‘Add’
Beckhoff TwinCAT 3
Estop and Relay
The Author and Internal Project Name can be supplied Click ‘OK’
Beckhoff TwinCAT 3
Estop and Relay
Right-Click on the ‘Project’ and select ‘Properties’
Beckhoff TwinCAT 3
Estop and Relay
Beckhoff TwinCAT 3
Estop and Relay
Click on the ‘Map’ button
Beckhoff TwinCAT 3
Estop and Relay
Select the EL6900 that this TwinSAFE Project will be associated with Click ‘OK’
Beckhoff TwinCAT 3
Estop and Relay
The information of the EL6900 that was selected is displayed
Beckhoff TwinCAT 3
Estop and Relay
the Dip-Switch address, then click the green Up arrow. This will copy the Dip-Switch value into the FSoEAddress
Beckhoff TwinCAT 3
Estop and Relay
Before moving on, these values need to be saved Notice the TAB at the top has an * next to it, this means the data has not been saved.
Beckhoff TwinCAT 3
Estop and Relay
Right-Click on the Project Tab and select ‘Save Selected Items’
Beckhoff TwinCAT 3
Estop and Relay
Expand each Item in the tree under SAFETY Double-Click on the ErrorAcknowledgement.sds
Beckhoff TwinCAT 3
Estop and Relay
Click the ‘Map’ button
Beckhoff TwinCAT 3
Estop and Relay
Select the PLC variable for Error Acknowledge and click ‘OK’
Beckhoff TwinCAT 3
Estop and Relay
Right click on ‘Alias Devices’ and select ‘Import AliasDevices from I/O-configuration’
Beckhoff TwinCAT 3
Estop and Relay
Select All Safety I/O to be associated with this TwinSAFE Group Click ‘OK’
Beckhoff TwinCAT 3
Estop and Relay
The Aliases for the Safety I/O have now been added and are already mapped to the I/O
Beckhoff TwinCAT 3
Estop and Relay
From the ‘View’ menu select ‘Properties Window’
Beckhoff TwinCAT 3
Estop and Relay
Under the ‘Safety’ Item, Double-Click on ‘TwinSafeGroup1.sal’
Beckhoff TwinCAT 3
Estop and Relay
Left-Click in the empty area of ‘Network1’
Beckhoff TwinCAT 3
Estop and Relay
In the ‘Properties’ windows select the down arrow
Beckhoff TwinCAT 3
Estop and Relay
Select ‘TwinSAFE Safety Application’ from the drop down list
Beckhoff TwinCAT 3
Estop and Relay
The properties window now displays the ‘Safety Application Variables’ that can be connected to an Alias
Beckhoff TwinCAT 3
Estop and Relay
Click on the Ellipse button to map the Alias
Beckhoff TwinCAT 3
Estop and Relay
Select ‘Channel 1’ of the ‘ErrorAcknowledgement’ Alias Click ‘OK’
Beckhoff TwinCAT 3
Estop and Relay
It is now possible to expand the ErrAck and se what it is connected to
Beckhoff TwinCAT 3
Estop and Relay
From the ‘View’ menu, select ‘Toolbox’
Beckhoff TwinCAT 3
Estop and Relay
The Safety Toolbox contains items that can be added to the TwinSafeGroup1.sal file
Beckhoff TwinCAT 3
Estop and Relay
Under the ‘Function Blocks’ group, select ‘safeEstop’ Click and drag the item to place it on the network
Beckhoff TwinCAT 3
Estop and Relay
Left-click on the ‘Restart’ input
Beckhoff TwinCAT 3
Estop and Relay
The ‘Properties’ window should now display the properties of the ‘Restart In Port’
Beckhoff TwinCAT 3
Estop and Relay
In the ‘Assigned Variable Name’ create a unique name for the Input and pres ‘Enter’ SafetyRestartPB
Beckhoff TwinCAT 3
Estop and Relay
The name should now be displayed next to the input of the Function Block
Beckhoff TwinCAT 3
Estop and Relay
Repeat these steps to Assign Variable Names to the first 2 Inputs and the Estop Output
Beckhoff TwinCAT 3
Estop and Relay
From the ‘View’ menu, select ‘Other Windows’ and then ‘Variable Mapping’ This window is typically opened automatically and can be found next to the ‘Error’ or ‘Output’ windows Beckhoff TwinCAT 3
Estop and Relay
The ‘Variable Mapping’ window contains the variables that were created in the Safety Networks From here these variables can be connected to an Alias
Beckhoff TwinCAT 3
Estop and Relay
Select the Ellipse button of the Restart
Beckhoff TwinCAT 3
Estop and Relay
Select the Alias that is connect to the Safety Hardware Input
Beckhoff TwinCAT 3
Estop and Relay
The ‘Port Name’ is provided by the ‘Function Block’ The ‘Assigned Variable’ is created by the programmer The ‘Alias Port’ is the connection to an Alias that will then connect to something outside of the TwinSAFE Group
Beckhoff TwinCAT 3
Estop and Relay
Select the Ellipse button for EStopInput1 Select the Alias for Channel 1 of the EL1904
Beckhoff TwinCAT 3
Estop and Relay
Select the Ellipse button for EStopInput2 Select the Alias for Channel 3 of the EL1904
Beckhoff TwinCAT 3
Estop and Relay
Select the Ellipse button for EStopOutput Select the Alias for Channel 1 of the EL2904
Beckhoff TwinCAT 3
Estop and Relay
Beckhoff TwinCAT 3
Estop and Relay
At this point the project has been created, the last step is to it and load it into the EL6900
Beckhoff TwinCAT 3
Estop and Relay
At this point the project has been created, the last step is to it and load it into the EL6900 Before continuing select ‘Save All’ from the ‘File’ menu
Beckhoff TwinCAT 3
Estop and Relay
From the ‘View’ menu, select ‘Toolbars’, and then select ‘TwinCAT Safety Toolbar’
Beckhoff TwinCAT 3
Estop and Relay
The Safety Toolbar is configured in the order of operation for the needed commands The Toolbar will be grayed out if the active window is not part of the Safety Project.
Beckhoff TwinCAT 3
Estop and Relay
Safety Project (Project Level) Complete Safety Project (Project and Hardware Level) Safety Project
Beckhoff TwinCAT 3
Estop and Relay
Click on Safety Project (Project Level)
This will check for any errors within the Safety Project If any errors are found they will be shown in the ‘Error’ window
Beckhoff TwinCAT 3
Estop and Relay
Click on Complete Safety Project (Project and Hardware Level)
In addition to the Safety Project, this will also check the Safety Hardware Configuration
Beckhoff TwinCAT 3
Estop and Relay
Before ing the Safety Project to the EL6900, that the Serial Number is correct Right-Click on the Project and select ‘Properties’
Beckhoff TwinCAT 3
Estop and Relay
the Serial Number matches the serial number printed on the hardware When working with Multiple EL6900s, this will help to ensure that the correct program is being loaded
Beckhoff TwinCAT 3
Estop and Relay
Double-click the Serial Number to select it Right-click on it, then select ‘Copy’
Beckhoff TwinCAT 3
Estop and Relay
Click on ‘ Safety Project’
Beckhoff TwinCAT 3
Estop and Relay
Provide the Information for the EL6900 This information is CASE senstitive name: Serial Number: Ctrl+V to paste : TwinSAFE
Beckhoff TwinCAT 3
Estop and Relay
Click ‘OK’ If the information was correct you will be asked for the one more time Enter the same and click ‘OK’
Beckhoff TwinCAT 3
Estop and Relay
Activate the Configuration Restart TwinCAT in Run Mode and start the PLC
Beckhoff TwinCAT 3
Estop and Relay
The TwinSAFE Group will have a Com Error Press the ErrAck Push Button to clear it Depress and then twist the Estop push button to ensure that it is reset Press the Restart push button to restart the Safety Function Block The relay should now be pulled in
Beckhoff TwinCAT 3
TwinCAT 3
Beckhoff TwinCAT 3
Changing Fonts
TWINCAT 3
Beckhoff TwinCAT 3
Changing Fonts
From the ‘Tools’ menu select ‘Options’
Beckhoff TwinCAT 3
Changing Fonts - ST
TwinCAT – PLC Environment – Text Editor
Beckhoff TwinCAT 3
Changing Fonts - ST
Select the ‘Text area’ tab Click on the ‘Font’ Box at the bottom
Beckhoff TwinCAT 3
Changing Fonts – FBD, LD, IL
TwinCAT – PLC Environment – FBD, LD and IL Editor
Beckhoff TwinCAT 3
Changing Fonts – FBD, LD, IL
Select the ‘General’ tab Click on the ‘Font’ Box at the bottom
Beckhoff TwinCAT 3
TwinCAT 3
Beckhoff TwinCAT 3
Data Type Comparison
TWINCAT 3
Beckhoff TwinCAT 3
Data Type Comparison System Manager
IEC611313
.Net Type
C# Visual Keyword Basic Keyword
BIT
BOOL
System.Boolean
bool
Boolean
BIT8
BOOL
System.Boolean
bool
Boolean
BITARR8
BYTE
System.Byte
byte
Byte
BITARR16
WORD
System.UInt16
ushort
-
Data Type Comparison System Manager
IEC611313
.Net Type
C# Visual Keyword Basic Keyword
INT8
SINT
System.SByte
sbyte
-
INT16
INT
System.Int16
short
Short
INT32
DINT
System.Int32
int
Integer
INT64
LINT
System.Int64
long
Long
Data Type Comparison System Manager
IEC611313
.Net Type
C# Visual Keyword Basic Keyword
UINT8
USINT
System.Byte
byte
Byte
UINT16
UINT
System.UInt16
ushort
-
UINT32
UDINT
System.UInt32
uint
-
UINT64
ULINT
System.UInt64
ulong
-
Data Type Comparison System Manager
IEC611313
.Net Type
C# Visual Keyword Basic Keyword
FLOAT
Real
System.Single
float
Single
DOUBLE
LREAL
System.Double
double
Double
TwinCAT 3
Beckhoff TwinCAT 3
Protection
TWINCAT 3
Beckhoff TwinCAT 3
Protection
It is possible to protect parts of the TwinCAT Project and prevent changes from being made.
Beckhoff TwinCAT 3
Protection
Double-click on the ‘System’
Beckhoff TwinCAT 3
Protection
Select the ‘Protection’ tab
Beckhoff TwinCAT 3
Protection
Press ‘Enter Credentials’
Beckhoff TwinCAT 3
Protection
Supply a ‘ Name’ and ‘’ Click ‘OK’
Note: The Name and are both Case Sensitive Beckhoff TwinCAT 3
Protection
The Protection has been applied, but you are currently logged in as the you created.
Beckhoff TwinCAT 3
Protection
Select ‘File’, then ‘Save All’
Beckhoff TwinCAT 3
Protection
Select ‘File’, then ‘Close Solution’
Beckhoff TwinCAT 3
Protection
Select ‘File’, then ‘Open’, then ‘Project/Solution’
Beckhoff TwinCAT 3
Protection
Select your solution file, then press ‘Open’
Beckhoff TwinCAT 3
Protection
Notice the ‘Activate Configuration’ icon is grayed out It is possible to put the system in ‘Config Mode’ and also ‘Restart TwinCAT’ Although settings can be changed, they can not be activated
Beckhoff TwinCAT 3
Protection
Double-click on the ‘System’
Beckhoff TwinCAT 3
Protection
Notice the red box, this indicates that the ‘System’ is protected It is still possible to edit the PLC Use the ‘Enter Credentials’ button to and access the ‘Activate Configuration’ button Beckhoff TwinCAT 3
TwinCAT 3
Beckhoff TwinCAT 3
Source code
TWINCAT 3
Beckhoff TwinCAT 3
Source code
By default the source code will be placed in the boot folder on the target device This will allow for the source code to be read and modified It is also possible to disable this feature
Beckhoff TwinCAT 3
Source code
Double-click the project name under ‘PLC’
Beckhoff TwinCAT 3
Source code
Select the ‘Settings’ tab
Beckhoff TwinCAT 3
Source code
By default the ‘Project Sources’ are created on the target device in the boot folder
Beckhoff TwinCAT 3
Source code
De-select the ‘Project Sources
Beckhoff TwinCAT 3
Source code
Right-Click on the project and select ‘Activate Boot Project’
Beckhoff TwinCAT 3
Source code
The boot folder now contains only the compiled libraries
Beckhoff TwinCAT 3
Beckhoff Training
Beckhoff
Structures Structures are used to define elements of a larger item and are commonly referred to as custom data types or data unit types A temperature sensor; for example, is more than just the temperature value The status of the Anaput 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
Beckhoff
Structures To add a Structure, ‘Right-Click’ on the ‘DUTs’ folder Then Select ‘Add’ -> ‘DUT’
Beckhoff
Structures Change the Name to ST_TemperatureSensor Select the Radio button for Structure Click the ‘Open’ button
Beckhoff
Structures - Decleration This will create the basic framework for a structure
Beckhoff
Structures - Decleration Define the elements with the structure Initial values can be given A structure can also contain other structures
Beckhoff
Structures - Use A structure must be instantiated just like a Function Block
Beckhoff
Structures - Use After typing the instance name of the structure place a ‘.’ immediately after it and the intellisense window will appear, showing what elements exist inside of the structure
Beckhoff
Structures - Use The elements in a structure can be written to or read from
New Automation Technology
Beckhoff Training
Beckhoff
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
Beckhoff
Enumerations To add an Enumeration, ‘Right-Click’ on the ‘DUTs’ folder Then Select ‘Add’ -> ‘DUT’
Beckhoff
Enumerations Change the Name to E_Mode Select the Radio button for Enumeration Click the ‘Open’ button
Beckhoff
Enumerations The basic framework of an Enumeration looks like the following
Beckhoff
Enumerations 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
Beckhoff
Enumerations 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 Manual = 1 Semi_Auto = 2 Auto = 3 Maintenance = 10 Unknown = 11
Beckhoff
Enumerations 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 iStep.
As iStep changes in value the Case statement will change states iStep 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
Beckhoff
Enumerations The displayed online value of iStep will always be an INT value because iStep is declared as an INT
Beckhoff
Enumerations If an instance of the Enumeration is declared then the instance of the Enumeration holds the variable name of the value of the Enumeration
Beckhoff
Enumerations If eStep is of type E_Mode then eStep holds either ‘Manual’, ‘Semi_Auto’, or ‘Auto’
New Automation Technology
Beckhoff Training
Beckhoff
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
Beckhoff
Arrays 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
Beckhoff
Arrays 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
Beckhoff
Arrays 3 Dimensional Array
Beckhoff
Arrays - Initialization Initializing each index of an array
Initializing multiple indexes with the same value
The above 2 examples can be mixed together
Beckhoff
Arrays 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
New Automation Technology
Beckhoff Training
Beckhoff
Breakpoints WARNING! A Breakpoint will stop the PLC Note: Logging out of the PLC will remove all breakpoints, and allow the code to start running again.
Beckhoff
Breakpoints 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
Beckhoff
Breakpoints To set a breakpoint click on the line, placing the cursor where you wish the PLC to stop
From the PLC menu select Toggle Breakpoint Note: Breakpoints can only be set on lines that have the gray circle.
Beckhoff
Breakpoints The Breakpoint has now been set on Line 4
When the PLC reaches this line of code the PLC will halt before running Line 4
You can also see that the Run command for the PLC is enabled.
Beckhoff
Breakpoints The PLC 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
Beckhoff
Breakpoints Step Into (F11) 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 Step Out (Shift + F11) will leave the current
POU and return to the calling POU
TwinCAT 3
Beckhoff TwinCAT 3
Multiple PLC Tasks
TWINCAT 3
Beckhoff TwinCAT 3
Multiple PLC Tasks
Right-Click on POUs, select ‘Add’, then select ‘POU…’
Beckhoff TwinCAT 3
Multiple PLC Tasks
Give the POU a name Set the ‘Type’ to ‘Program’ Click ‘Open’
Beckhoff TwinCAT 3
Multiple PLC Tasks
The new Program has been added to the ‘POU’ list
Beckhoff TwinCAT 3
Multiple PLC Tasks
Under ‘PLC’, Right-Click ‘Untitled1 Project’, select ‘Add’, select ‘Referenced Task…’
Beckhoff TwinCAT 3
Multiple PLC Tasks
In the ‘New Task’ section, provide a unique name for the ‘Task’ Click ‘Create New Task’
Beckhoff TwinCAT 3
Multiple PLC Tasks
Select the task under the ‘Available Tasks:’ column Click ‘Open’
Beckhoff TwinCAT 3
Multiple PLC Tasks
The new task has been added
Beckhoff TwinCAT 3
Multiple PLC Tasks
Right-Click on the name of the new task Select ‘Add’, ‘Existing Item…’
Beckhoff TwinCAT 3
Multiple PLC Tasks
Select the desired POU name from the ‘Items’ section Click ‘OK’
Beckhoff TwinCAT 3
Multiple PLC Tasks
The ‘POU’ is now called by the ‘Task’
Double-Click on the Task to view its properties Beckhoff TwinCAT 3
Multiple PLC Tasks
The first Task is at Port 350 with a Priority of 20 The second Task is at Port 351 with a Priority of 21
Beckhoff TwinCAT 3
Multiple PLC Tasks
Adjust the ‘Cycle Ticks’ to change how often the task starts its execution. The lower the priority (closer to 0), the lower the ticks.
Beckhoff TwinCAT 3
TC3 TwinSAFE
TwinCAT 3
Software
10.01.2013
1
TC3 TwinSAFE
Safety and standard I/O in one system
10.01.2013
2
TC3 TwinSAFE
Safety and standard I/O in one system
1. High Performance Control 2. Scalable Hardware 3. One Software TwinCAT 4. Outstanding Diagnostics
10.01.2013
3
TC3 TwinSAFE
High Performance Control High Performance expands possibilities
1 controller 50us PLC scan rate 30us I/O update rate Synchronous Scan 10ns resolution w/ XFC Terminals 100 data point w/ Oversampling Terminals 250us Motion task
11,000 Terminal Demo 4ms update rate 10.01.2013
4
TC3 TwinSAFE
Safety and standard I/O in one system
1. High Performance Control 2. Scalable Hardware 3. One Software TwinCAT 4. Outstanding Diagnostics
10.01.2013
5
TC3 TwinSAFE
Scalable Hardware Scalable I/O including TwinSAFE works with any size system
1 Controller 1 EtherCAT NIC(built in) 0 switches 0 IP addresses 0 I/O configuration Auto Scan Software sends config info
Redundancy(Ring) 65,535 Devices
11,000 Terminal Demo
255 Axes 10.01.2013
6
TC3 TwinSAFE
Scalable Hardware Scalable I/O works with any field bus protocol
25+ protocols TwinSAFE Variables can be tied to these other systems
10.01.2013
7
TC3 TwinSAFE
Scalable Hardware Scalable I/O does not require racks or backplane chassis
400+ Terminal Types IP20, 65, 67, IP69K 100 Oversampling Power Monitoring LoadCell AC/DC Motor Stepper Servo 10.01.2013
8
TC3 TwinSAFE
Scalable Hardware Scalable Controllers work with all of the I/O Devices
266Mhz Atom U 2.1Ghz i7 Quad Core Multi HD Raid SSD Cfast Flash Fan/Fanless Integrated PB‘s/LT‘s
All TwinSAFE ready 10.01.2013
9
TC3 TwinSAFE
Scalable Hardware Scalable Motion
255 Axis 2 axis per drive Single Cable Power/Feeback Linear Synchronous Stepper All TwinSAFE ready
10.01.2013
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TC3 TwinSAFE
Scalable Hardware Scalable Safety: TwinSAFE System
•IPC •TwinCAT Development Software •TwinSAFE U Logic Controller Terminal •TwinSAFE Input Terminal •TwinSAFE Output Terminal
10.01.2013
11
TC3 TwinSAFE
Scalable Hardware Scalable Safety: TwinSAFE System
•Certified to SIL 3 according to IEC 61508, EN 954 Cat. 4 and and DIN EN ISO 13849 PLe •Approvals: UL, CE, ATEX •Enables networks with up to 1,024 TwinSAFE devices •Safe Motion •The required functions are configured via TwinCAT Development software •All TwinSAFE data can be sent to other Network Protocols ie:Ethernet/IP •Complete Hardware/Software diagnostics
10.01.2013
12
TC3 TwinSAFE
Scalable Hardware Scalable Safety : TwinSAFE EL6900 U Logic Controller
•s up to 128 TwinSAFE terminals. •14 different Safety software functions available. Can easily be selected and linked.
•Multiple TwinSAFE Controllers can co-exist within a network •255 Function blocks total •32 Independant TwinSAFE Groups •Dip switch on Terminal required for certification 0-1023. Diagnostic Lights: Voltage Temperature Communication Function Block 10.01.2013
13
TC3 TwinSAFE
Scalable Hardware Scalable Safety: TwinSAFE Various Input Devices
Operation Mode: • Standstill monitoring 1 • Standstill monitoring 2 • Digital
Logic of Channels: • Single logic • OSSD signals (two channel) • asynchronous pulses, • inactive sensortest • OSSD signals (two channel) • any pulse repetition, • inactive sensortest • Cross-circuit detection • cause no module fault
Standstill Monitoring
Light Curtains
Laser Scanners
Safety Mats
10.01.2013
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TC3 TwinSAFE
Scalable Hardware Scalable Safety : TwinSAFE Input Terminals
•Fail-safe inputs •s sensor test, short clock signal every 250hz. •Diagnostic Lights: Voltage Temperature Sensor Test Cross Wiring
Dip switches on Terminal required for certification 0-65535
EL1904 4ch
EL1908 8ch
Dip switches on Terminal required for certification 0-4095
EP1908 8ch (IP65) 10.01.2013
15
TC3 TwinSAFE
Scalable Hardware Scalable Safety: TwinSAFE Various Outputs
Standard outputs active: •PLC output control is logically AND connected with the safety outputs. SafeState is always ensured, has priority.
Standard and Safe output
Current measurement active: •Setting allows use of a common ground for the safety outputs. Enable/Disable min/max checks of current measurement.
Common Ground wiring
Testing of outputs active: •Test pulses of the safety outputs can be deactivated.
Solid State Devices
10.01.2013
16
TC3 TwinSAFE
Scalable Hardware Scalable Safety : TwinSAFE Output Terminals
• Fail-safe Outputs • Switches 24 V DC actuators. • Switches off automatically (fail stop) if a fault is detected • Diagnostic Lights: Voltage Temperature Output Current Cross Wiring
Dip switches on Terminal required for certification 0-1023.
EL1904 4ch 0.5Amp
EL1902 2ch 2.3Amp
EL1901 1ch 10Amp
EL2964 1ch 3 simultaneously N.O. s 10.01.2013
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TC3 TwinSAFE
Scalable Hardware Scalable Safety : TwinSAFE AX5805 Safety Card Meets requirements for: PL e / SIL 3
Stop Functions: STO: Safe Torque Off SS1: Safe Stop 1 → STO SS2: Safe Stop 2 → SOS Limiting Functions: SOS: Safe Operating Stop SSM: Safe Speed Monitor SLS: Safe Limited Speed SLP: Safe Limited Position SAR: Safe Acceleration Range SSR: Safe Speed Range SMA: Safe Maximum Acceleration SMS: Safe Maximum Speed SDI: Safe Direction
Main voltage remains connected
No additional wiring or switching device required! 10.01.2013
18
TC3 TwinSAFE
Scalable Hardware Scalable Safety: Fieldbus Gateway
•IPC acts as built in gateway to other controllers on network. •Integrate TwinSAFE data to EthernetIP via shared memory map. •1 CIP connection for many nodes of I/O. •IPC can also be programmed with PLC logic and motion logic.
IPC is generic E/IP slave 498 bytes Input data 498 bytes Output data
10.01.2013
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TC3 TwinSAFE
Scalable Hardware Scalable Safety: Fieldbus Gateway
•Uplink/Downlink values for Generic CIP connection to AB is auto calculated . These are the values which would be typed into the RSLogix5000 side. •Input / Output Memory map connection occurs as Scheduled Class1 Connection.
10.01.2013
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TC3 TwinSAFE
Scalable Hardware Scalable Safety: Field bus Gateway
•Input /Output Shared Memory Map Data looks just like any other I/O Device •Add 2nd NIC or multiplex to expand data xfer.
10.01.2013
21
TC3 TwinSAFE
Safety and standard I/O in one system
1. High Performance Control 2. Scalable Hardware 3. One Software TwinCAT 4. Outstanding Diagnostics
10.01.2013
22
TC3 TwinSAFE
One Software TwinCAT TwinCAT: Development Overview
1.
All Software Elements in One Location (Safety)
2.
All Code Writing in One Location
3.
All Parameters in One Location
4.
All Code in one location
2.
2. 3.
1.
4. 10.01.2013
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TC3 TwinSAFE
One Software TwinCAT TwinCAT: Add Target TwinSAFE Controller Terminal
•
Add Target TwinSAFE Controller Terminal
2.
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TC3 TwinSAFE
One Software TwinCAT TwinCAT: Attach to Target PLC Terminal Controller
•
istration can be performed
2.
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TC3 TwinSAFE
One Software TwinCAT TwinCAT: TwinSAFE Function Blocks •
EL6900 has 14 total pre-defined FB available
•
Safety functions can easily be selected and linked.
•
All FB can be freely connected and are complemented with operators such as AND, OR, etc.
2.
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TC3 TwinSAFE
One Software TwinCAT TwinCAT: TwinSAFE Function Blocks •
8 EstopPB or 4 Dual EstopPB can be connected to each Estop FB
•
Each Estop can be set for single or dual s
•
External Device Monitoring Inputs for ensuring or is switching states
•
Use AND blocks for more Estops.
2.
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TC3 TwinSAFE
One Software TwinCAT TwinCAT: TwinSAFE Function Blocks •
Add variables to each input and output of the FB 2.
10.01.2013
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TC3 TwinSAFE
One Software TwinCAT TwinCAT: TwinSAFE Function Blocks •
Configurable Delay Time 2.
10.01.2013
29
TC3 TwinSAFE
One Software TwinCAT TwinCAT: TwinSAFE Function Blocks
2.
10.01.2013
30
TC3 TwinSAFE
One Software TwinCAT TwinCAT: TwinSAFE Function Blocks
2.
External Device Monitoring
10.01.2013
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TC3 TwinSAFE
One Software TwinCAT TwinCAT: TwinSAFE Function Blocks •
Raw Material additions
•
Automatic Roll Changes
2.
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TC3 TwinSAFE
One Software TwinCAT TwinCAT: TwinSAFE Function Blocks
2.
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TC3 TwinSAFE
One Software TwinCAT TwinCAT: TwinSAFE Function Blocks
2.
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TC3 TwinSAFE
One Software TwinCAT TwinCAT: TwinSAFE Function Blocks
2.
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TC3 TwinSAFE
One Software TwinCAT TwinSAFE: Add Function Blocks to Group1 Network
•
Point at the SafeEstop function block
•
Hold down the left-click button
•
Drag the safeEstop block onto the code writing area.
2.
10.01.2013
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TC3 TwinSAFE
One Software TwinCAT TwinCAT: Create TwinSAFE Function Block Variables 1.
Click on the Restart input connection point
2.
In the properties windows you can alter the properties or parameters of the “In Port”
• • •
3.
2.
1. 2.
Single or Two Channel operation Discrepancy time Select input as N.C or N.O Assign Variable Name
3.
10.01.2013
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TC3 TwinSAFE
One Software TwinCAT TwinCAT: Connection between FB’s •
Click and hold connection and drag connection to another FB connection point.
2.
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TC3 TwinSAFE
One Software TwinCAT TwinCAT: Create TwinSAFE Function Block Variables
•
Click on Comment and add a comment to a FB
2.
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TC3 TwinSAFE
One Software TwinCAT TwinCAT: Create TwinSAFE Function Block Variables 1.
Selecting magnifying glass icon will zoom in on workspace
2.
Selecting magnifying glass icon will auto scale workspace to fit all FB’s
3.
Selecting magnifying glass icon will zoom out on workspace
4.
Selecting and moving the move icon will show a zoomed in popup window of workspace
5.
CTRL and Mouse Wheel zooms in/out
2.
10.01.2013
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TC3 TwinSAFE
One Software TwinCAT Create TwinSAFE Function Block Variables
•
Example of several FB on one network. 2.
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TC3 TwinSAFE
One Software TwinCAT TwinCAT: TwinSAFE Safety Project, Start Safety Project
•
Click Icon 2.
name: Serial Number: nnnnnnnn
: TwinSAFE
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TC3 TwinSAFE
One Software TwinCAT TwinCAT: TwinSAFE Version History
•
Click Version Icon 2.
10.01.2013
43
TC3 TwinSAFE
Safety and standard I/O in one system
1. High Performance Control 2. Scalable Hardware 3. One Software TwinCAT 4. Outstanding Diagnostics
10.01.2013
44
TC3 TwinSAFE
Outstanding Diagnostics Diagnostics: Online Monitoring •
Green indicates Input is High/True 2.
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45
TC3 TwinSAFE
Outstanding Diagnostics Diagnostics: Online Monitoring
•
Online status is shown as Green when ON. 2.
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46
TC3 TwinSAFE
Outstanding Diagnostics Diagnostics: Online Monitoring
•
•
Each channel of the connection can be mapped back to variable tag for use in the PLC.
2.
Live online update of a TwinSAFE or any input/output is available
10.01.2013
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TC3 TwinSAFE
Outstanding Diagnostics Diagnostics: Variable Tags
•
TwinSAFE Group and FB Variable Tags available to be aliased to PLC project.
2.
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TC3 TwinSAFE
Outstanding Diagnostics Diagnostics: Variable Tags
•
Estop FB Variable Tags available to be aliased to PLC project.
2.
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TC3 TwinSAFE
Outstanding Diagnostics Diagnostics: Document •
•
Right-click on the “Project” level of the safety tree view in the Solution Explorer
2.
Add Extra company specific data as needed, notice logo file jpg file attached in example.
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TC3 TwinSAFE
Outstanding Diagnostics Diagnostics: Document
• Detailed information about devices and parameters
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TC3 TwinSAFE
Outstanding Diagnostics Diagnostics: Demo
TC3 TwinSAFE Document Demo TC3 Diagnostics Runtime Demo
10.01.2013
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TC3 TwinSAFE
I/O Configuration I/O Configuration: Demo
TC3 TwinSAFE I/O Auto Configuration Demo
10.01.2013
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TC3 TwinSAFE
Questions
Questions?
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TwinCAT 3
Beckhoff TwinCAT 3
TwinSAFE – Getting Started
TWINCAT 3
Beckhoff TwinCAT 3
Getting Started
A TwinSAFE Project will consist of one or more TwinSAFE Groups. Each group will have its own set of Safety Application Variables and Function Blocks TwinSAFE Project TwinSAFE Group
FB
Safety Application Variables
Beckhoff TwinCAT 3
Getting Started
Each TwinSAFE Project is associated with an EL6900
EL6900
TwinSAFE Project TwinSAFE Group
FB
Safety Application Variables
Beckhoff TwinCAT 3
Getting Started
Each Variable going into or out of the Group must through an Alias
TwinSAFE Project Alias
TwinSAFE Group
FB
Safety Application Variables
Alias
Beckhoff TwinCAT 3
Getting Started
The Alias is then connected to a PLC variable or to the I/O Note: The I/O may be Safety I/O or Standard I/O depending on the application
TwinSAFE Project Alias
TwinSAFE Group
FB
Safety Application Variables
Alias
PLC I/O
Beckhoff TwinCAT 3
TwinSAFE – Estop and Relay
TWINCAT 3
Beckhoff TwinCAT 3
Estop and Relay
Scan in the Hardware Add a PLC Project and create the following Global Variables
Beckhoff TwinCAT 3
Estop and Relay
In the body of MAIN add the following line of code
Beckhoff TwinCAT 3
Estop and Relay
Right-Click on the Project and select ‘Rebuild’
Beckhoff TwinCAT 3
Estop and Relay
Link the PLC Input variable to the first push button
Beckhoff TwinCAT 3
Estop and Relay
Right-Click on ‘Safety’ and select ‘Add New Item’
Beckhoff TwinCAT 3
Estop and Relay
Select ‘TwinCAT Default Safety Project’ Name the project Click ‘Add’
Beckhoff TwinCAT 3
Estop and Relay
The Author and Internal Project Name can be supplied Click ‘OK’
Beckhoff TwinCAT 3
Estop and Relay
Right-Click on the ‘Project’ and select ‘Properties’
Beckhoff TwinCAT 3
Estop and Relay
Beckhoff TwinCAT 3
Estop and Relay
Click on the ‘Map’ button
Beckhoff TwinCAT 3
Estop and Relay
Select the EL6900 that this TwinSAFE Project will be associated with Click ‘OK’
Beckhoff TwinCAT 3
Estop and Relay
The information of the EL6900 that was selected is displayed
Beckhoff TwinCAT 3
Estop and Relay
the Dip-Switch address, then click the green Up arrow. This will copy the Dip-Switch value into the FSoEAddress
Beckhoff TwinCAT 3
Estop and Relay
Before moving on, these values need to be saved Notice the TAB at the top has an * next to it, this means the data has not been saved.
Beckhoff TwinCAT 3
Estop and Relay
Right-Click on the Project Tab and select ‘Save Selected Items’
Beckhoff TwinCAT 3
Estop and Relay
Expand each Item in the tree under SAFETY Double-Click on the ErrorAcknowledgement.sds
Beckhoff TwinCAT 3
Estop and Relay
Click the ‘Map’ button
Beckhoff TwinCAT 3
Estop and Relay
Select the PLC variable for Error Acknowledge and click ‘OK’
Beckhoff TwinCAT 3
Estop and Relay
Right click on ‘Alias Devices’ and select ‘Import AliasDevices from I/O-configuration’
Beckhoff TwinCAT 3
Estop and Relay
Select All Safety I/O to be associated with this TwinSAFE Group Click ‘OK’
Beckhoff TwinCAT 3
Estop and Relay
The Aliases for the Safety I/O have now been added and are already mapped to the I/O
Beckhoff TwinCAT 3
Estop and Relay
From the ‘View’ menu select ‘Properties Window’
Beckhoff TwinCAT 3
Estop and Relay
Under the ‘Safety’ Item, Double-Click on ‘TwinSafeGroup1.sal’
Beckhoff TwinCAT 3
Estop and Relay
Left-Click in the empty area of ‘Network1’
Beckhoff TwinCAT 3
Estop and Relay
In the ‘Properties’ windows select the down arrow
Beckhoff TwinCAT 3
Estop and Relay
Select ‘TwinSAFE Safety Application’ from the drop down list
Beckhoff TwinCAT 3
Estop and Relay
The properties window now displays the ‘Safety Application Variables’ that can be connected to an Alias
Beckhoff TwinCAT 3
Estop and Relay
Click on the Ellipse button to map the Alias
Beckhoff TwinCAT 3
Estop and Relay
Select ‘Channel 1’ of the ‘ErrorAcknowledgement’ Alias Click ‘OK’
Beckhoff TwinCAT 3
Estop and Relay
It is now possible to expand the ErrAck and se what it is connected to
Beckhoff TwinCAT 3
Estop and Relay
From the ‘View’ menu, select ‘Toolbox’
Beckhoff TwinCAT 3
Estop and Relay
The Safety Toolbox contains items that can be added to the TwinSafeGroup1.sal file
Beckhoff TwinCAT 3
Estop and Relay
Under the ‘Function Blocks’ group, select ‘safeEstop’ Click and drag the item to place it on the network
Beckhoff TwinCAT 3
Estop and Relay
Left-click on the ‘Restart’ input
Beckhoff TwinCAT 3
Estop and Relay
The ‘Properties’ window should now display the properties of the ‘Restart In Port’
Beckhoff TwinCAT 3
Estop and Relay
In the ‘Assigned Variable Name’ create a unique name for the Input and pres ‘Enter’ SafetyRestartPB
Beckhoff TwinCAT 3
Estop and Relay
The name should now be displayed next to the input of the Function Block
Beckhoff TwinCAT 3
Estop and Relay
Repeat these steps to Assign Variable Names to the first 2 Inputs and the Estop Output
Beckhoff TwinCAT 3
Estop and Relay
From the ‘View’ menu, select ‘Other Windows’ and then ‘Variable Mapping’ This window is typically opened automatically and can be found next to the ‘Error’ or ‘Output’ windows Beckhoff TwinCAT 3
Estop and Relay
The ‘Variable Mapping’ window contains the variables that were created in the Safety Networks From here these variables can be connected to an Alias
Beckhoff TwinCAT 3
Estop and Relay
Select the Ellipse button of the Restart
Beckhoff TwinCAT 3
Estop and Relay
Select the Alias that is connect to the Safety Hardware Input
Beckhoff TwinCAT 3
Estop and Relay
The ‘Port Name’ is provided by the ‘Function Block’ The ‘Assigned Variable’ is created by the programmer The ‘Alias Port’ is the connection to an Alias that will then connect to something outside of the TwinSAFE Group
Beckhoff TwinCAT 3
Estop and Relay
Select the Ellipse button for EStopInput1 Select the Alias for Channel 1 of the EL1904
Beckhoff TwinCAT 3
Estop and Relay
Select the Ellipse button for EStopInput2 Select the Alias for Channel 3 of the EL1904
Beckhoff TwinCAT 3
Estop and Relay
Select the Ellipse button for EStopOutput Select the Alias for Channel 1 of the EL2904
Beckhoff TwinCAT 3
Estop and Relay
Beckhoff TwinCAT 3
Estop and Relay
At this point the project has been created, the last step is to it and load it into the EL6900
Beckhoff TwinCAT 3
Estop and Relay
At this point the project has been created, the last step is to it and load it into the EL6900 Before continuing select ‘Save All’ from the ‘File’ menu
Beckhoff TwinCAT 3
Estop and Relay
From the ‘View’ menu, select ‘Toolbars’, and then select ‘TwinCAT Safety Toolbar’
Beckhoff TwinCAT 3
Estop and Relay
The Safety Toolbar is configured in the order of operation for the needed commands The Toolbar will be grayed out if the active window is not part of the Safety Project.
Beckhoff TwinCAT 3
Estop and Relay
Safety Project (Project Level) Complete Safety Project (Project and Hardware Level) Safety Project
Beckhoff TwinCAT 3
Estop and Relay
Click on Safety Project (Project Level)
This will check for any errors within the Safety Project If any errors are found they will be shown in the ‘Error’ window
Beckhoff TwinCAT 3
Estop and Relay
Click on Complete Safety Project (Project and Hardware Level)
In addition to the Safety Project, this will also check the Safety Hardware Configuration
Beckhoff TwinCAT 3
Estop and Relay
Before ing the Safety Project to the EL6900, that the Serial Number is correct Right-Click on the Project and select ‘Properties’
Beckhoff TwinCAT 3
Estop and Relay
the Serial Number matches the serial number printed on the hardware When working with Multiple EL6900s, this will help to ensure that the correct program is being loaded
Beckhoff TwinCAT 3
Estop and Relay
Double-click the Serial Number to select it Right-click on it, then select ‘Copy’
Beckhoff TwinCAT 3
Estop and Relay
Click on ‘ Safety Project’
Beckhoff TwinCAT 3
Estop and Relay
Provide the Information for the EL6900 This information is CASE senstitive name: Serial Number: Ctrl+V to paste : TwinSAFE
Beckhoff TwinCAT 3
Estop and Relay
Click ‘OK’ If the information was correct you will be asked for the one more time Enter the same and click ‘OK’
Beckhoff TwinCAT 3
Estop and Relay
Activate the Configuration Restart TwinCAT in Run Mode and start the PLC
Beckhoff TwinCAT 3
Estop and Relay
The TwinSAFE Group will have a Com Error Press the ErrAck Push Button to clear it Depress and then twist the Estop push button to ensure that it is reset Press the Restart push button to restart the Safety Function Block The relay should now be pulled in
Beckhoff TwinCAT 3
TwinCAT 3
Beckhoff TwinCAT 3
Changing Fonts
TWINCAT 3
Beckhoff TwinCAT 3
Changing Fonts
From the ‘Tools’ menu select ‘Options’
Beckhoff TwinCAT 3
Changing Fonts - ST
TwinCAT – PLC Environment – Text Editor
Beckhoff TwinCAT 3
Changing Fonts - ST
Select the ‘Text area’ tab Click on the ‘Font’ Box at the bottom
Beckhoff TwinCAT 3
Changing Fonts – FBD, LD, IL
TwinCAT – PLC Environment – FBD, LD and IL Editor
Beckhoff TwinCAT 3
Changing Fonts – FBD, LD, IL
Select the ‘General’ tab Click on the ‘Font’ Box at the bottom
Beckhoff TwinCAT 3
TwinCAT 3
Beckhoff TwinCAT 3
Data Type Comparison
TWINCAT 3
Beckhoff TwinCAT 3
Data Type Comparison System Manager
IEC611313
.Net Type
C# Visual Keyword Basic Keyword
BIT
BOOL
System.Boolean
bool
Boolean
BIT8
BOOL
System.Boolean
bool
Boolean
BITARR8
BYTE
System.Byte
byte
Byte
BITARR16
WORD
System.UInt16
ushort
-
Data Type Comparison System Manager
IEC611313
.Net Type
C# Visual Keyword Basic Keyword
INT8
SINT
System.SByte
sbyte
-
INT16
INT
System.Int16
short
Short
INT32
DINT
System.Int32
int
Integer
INT64
LINT
System.Int64
long
Long
Data Type Comparison System Manager
IEC611313
.Net Type
C# Visual Keyword Basic Keyword
UINT8
USINT
System.Byte
byte
Byte
UINT16
UINT
System.UInt16
ushort
-
UINT32
UDINT
System.UInt32
uint
-
UINT64
ULINT
System.UInt64
ulong
-
Data Type Comparison System Manager
IEC611313
.Net Type
C# Visual Keyword Basic Keyword
FLOAT
Real
System.Single
float
Single
DOUBLE
LREAL
System.Double
double
Double
TwinCAT 3
Beckhoff TwinCAT 3
Protection
TWINCAT 3
Beckhoff TwinCAT 3
Protection
It is possible to protect parts of the TwinCAT Project and prevent changes from being made.
Beckhoff TwinCAT 3
Protection
Double-click on the ‘System’
Beckhoff TwinCAT 3
Protection
Select the ‘Protection’ tab
Beckhoff TwinCAT 3
Protection
Press ‘Enter Credentials’
Beckhoff TwinCAT 3
Protection
Supply a ‘ Name’ and ‘’ Click ‘OK’
Note: The Name and are both Case Sensitive Beckhoff TwinCAT 3
Protection
The Protection has been applied, but you are currently logged in as the you created.
Beckhoff TwinCAT 3
Protection
Select ‘File’, then ‘Save All’
Beckhoff TwinCAT 3
Protection
Select ‘File’, then ‘Close Solution’
Beckhoff TwinCAT 3
Protection
Select ‘File’, then ‘Open’, then ‘Project/Solution’
Beckhoff TwinCAT 3
Protection
Select your solution file, then press ‘Open’
Beckhoff TwinCAT 3
Protection
Notice the ‘Activate Configuration’ icon is grayed out It is possible to put the system in ‘Config Mode’ and also ‘Restart TwinCAT’ Although settings can be changed, they can not be activated
Beckhoff TwinCAT 3
Protection
Double-click on the ‘System’
Beckhoff TwinCAT 3
Protection
Notice the red box, this indicates that the ‘System’ is protected It is still possible to edit the PLC Use the ‘Enter Credentials’ button to and access the ‘Activate Configuration’ button Beckhoff TwinCAT 3
TwinCAT 3
Beckhoff TwinCAT 3
Source code
TWINCAT 3
Beckhoff TwinCAT 3
Source code
By default the source code will be placed in the boot folder on the target device This will allow for the source code to be read and modified It is also possible to disable this feature
Beckhoff TwinCAT 3
Source code
Double-click the project name under ‘PLC’
Beckhoff TwinCAT 3
Source code
Select the ‘Settings’ tab
Beckhoff TwinCAT 3
Source code
By default the ‘Project Sources’ are created on the target device in the boot folder
Beckhoff TwinCAT 3
Source code
De-select the ‘Project Sources
Beckhoff TwinCAT 3
Source code
Right-Click on the project and select ‘Activate Boot Project’
Beckhoff TwinCAT 3
Source code
The boot folder now contains only the compiled libraries
Beckhoff TwinCAT 3
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