Beckhoff Training - Exercises (USA) 3_2018

New Automation Technology

Beckhoff Training

Beckhoff

Structures 

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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 temperature value The status of the Analog input card, the scaling parameters, and the offset are all possible elements that are directly related to the temperature sensor In order to keep these elements together and make the code c ode more re-useable a structure of these elements can be created

Beckhoff

Structures 

To add a Structure, ‘Right‘Right-Click’ on the ‘DUTs’ folder 

Then Select ‘Add’ -> ‘DUT’

Beckhoff

Structures 

Change the Name to ST_TemperatureSensor

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Select the Radio button for Structure

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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

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Initial values can be given

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A structure can also contain other structures

Beckhoff

Structures - Use 

A structure must be instantiated just like a Function Block

Beckhoff


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


The elements in a structure can be written to t o or read from


Beckhoff Training

Beckhoff

Enumerations 

Enumerations can be used to assign a variable name to a number.

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Enumerations can be used in two different ways; with or without being instantiated.

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If the Enumeration is not instantiated then the Enumeration E numeration 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‘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 lis t will be assigned a value of 0, the variables following will be assigned their values in ascending order

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Manual = 0

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Semi_Auto = 1

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Auto = 2

Beckhoff

Enumerations 

If a variable in the list is explicitly assigned a value v alue then the following variables will be incremented from this value

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Manual = 1

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Semi_Auto = 2

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Auto = 3

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Manual = 1

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Semi_Auto = 2

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Auto = 3

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Maintenance = 10

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Unknown = 11

Beckhoff

Enumerations 

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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 ‘Semi_Auto’, ’, or ‘Auto’


Beckhoff Training

Beckhoff

Arrays 

An Array is a list of data, the data data in the Array Array can be of any type type

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An Array can contain more than one dimension dimension

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Think of a Notebook of graph paper

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The column on a single sheet of paper would be a 1 dimensional array

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The entire sheet with its rows and columns would be a 2 dimensional array

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The Notebook with all of its sheets would be a 3 dimensional array

Beckhoff

Arrays 

1 Dimensional Array

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The Array is defined from 1 to 10 of type INT

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This Array will hold 10 integer values

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The position in the Array is referred to as the index

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The Array name along with an index can be used just like any other variable

Beckhoff

Arrays 

2 Dimensional Array

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The Array is defined from 1 to 10 and 1 to 3 of type String S tring

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This Array will hold 30 (3*10) String values

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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

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Initializing multiple indexes with the same value

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The above 2 examples can be mixed together

Beckhoff

Arrays 

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Indexing through an Array with a FOR loop A FOR loop can be used to easily fill an Array or read the values in an array The following will set all values in the Array to 0


Beckhoff Training

Beckhoff

Breakpoints 

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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 

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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 s top 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 c ode is executing properly

Beckhoff

Breakpoints 

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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

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When the PLC reaches this line of code c ode the PLC will halt before running Line 4

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You can also see that the Run R un command for the PLC is enabled.

Beckhoff

Breakpoints 

The PLC menu provides the programmer with a list of options

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The Run (F5) command will start the PLC again and it will run until it hits a breakpoint

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The Toggle Breakpoint(F9) command will remove or add a Breakpoint at the t he

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

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Step Out (Shift + F11) will leave the current

POU and return to the calling POU

TwinCAT 3

Multiple PLC Tasks

TWINCAT 3

Multiple PLC Tasks 

Right-Click on POUs, select ‘Add’, then select ‘POU…’


Give the POU a name



Set the ‘Type’ to ‘Program’

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Click ‘Open’


The new Program has been added to the ‘POU’ list


Under ‘PLC’, Right-Click ‘Untitled1 ‘Untitle d1 Project’ Project ’, select s elect ‘Add’, Add’, select ‘Referenced Task…’


In the ‘New Task’ section, provide a unique name for the ‘Task’

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Click ‘Create New Task’


Select the task under the ‘Available Tasks:’ column

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Click ‘Open’


The new task has been added


Right-Click on the name of the new task

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Select Selec t ‘Add’ ‘Add’,, ‘Existing Item…’


Select the desired POU name from the ‘Items’

section 

Click ‘OK’


The ‘POU’ is now called by the ‘T ‘ Task’

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Double-Click on the Task to view its properties


The first first Task Task is i s at Port 350 with a Priority of 20

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The second Task is at Port 351 with a Priority of 21


Adjust the ‘Cycle Ticks’ to change

how often the task starts its execution. 

The lower the priority (closer to 0), the lower the ticks.

TC3 TwinSAFE

TwinCAT 3 Software

TC3 TwinSAFE

Safety and standard I/O in one system

TC3 TwinSAFE


1. High Performance Control 2. Scalable Hardware 3. One Software TwinCAT 4. Outstanding Diagnostics

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 Terminal Demo 4ms update rate

TC3 TwinSAFE



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 Redundancy(Ring)) 65,535 Devices 255 Axes

11,000 Terminal Terminal Demo

TC3 TwinSAFE

Scalable Hardware Scalable I/O works with any field bus protocol

25+ protocols TwinSAFE Variables can be tied to these other systems

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

TC3 TwinSAFE

Scalable Hardware Scalable Controllers work with all of the I/O Devices

266Mhz Atom CPU 2.1Ghz i7 Quad Core Multi HD Raid SSD Cfast Flash Fan/Fanless Integrated PB‘s/LT‘s All TwinSAFE ready

TC3 TwinSAFE

Scalable Hardware Scalable Motion

255 Axis 2 axis per drive Single Cable Power/Feeback Linear Synchronous Stepper All TwinSAFE ready

TC3 TwinSAFE

Scalable Hardware Scalable Safety: TwinSAFE System •IPC •TwinCAT TwinCAT Development Develop ment Software •TwinSAFE CPU Logic Controller Terminal •TwinSAFE Input Terminal •TwinSAFE Output Terminal

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: 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 All TwinSAFE TwinSAFE data can be be sent to other Network Protocols ie:Ethernet/IP •Complete Hardware/Software diagnostics

TC3 TwinSAFE

Scalable Hardware Scalable Safety : TwinSAFE EL6900 CPU Logic Controller •Supports up to 128 TwinSAFE terminals. •14 different Safety software functions available. Can easily be selected and linked. •Multiple TwinSAFE TwinSAFE Controllers can co-exist within a network •255 Function blocks total •32 Independant TwinSAFE TwinSAFE Groups •Dip switch on Terminal required for certification 0-1023. Diagnostic Lights: Voltage Temperature Communication Function Block

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

TC3 TwinSAFE

Scalable Hardware Scalable Safety : TwinSAFE Input Terminals •Fail-safe inputs •Supports 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

Dip switches on Terminal required for certification 0-4095

EP1908 8ch (IP65)

EL1908 8ch

TC3 TwinSAFE

Scalable Hardware Scalable Safety: TwinSAFE Various Outputs

Standard outputs active: •PLC output control is logically AND connected with with the safety outputs. SafeState is always ensured, has priority. 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 output s can be deactivated.

Solid State Devices

TC3 TwinSAFE

Scalable Hardware Scalable Safety : TwinSAFE Output Terminal Terminals s • 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. contacts

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   

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    

 

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Main voltage remains connected

No additional wiring or switching device required!

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

TC3 TwinSAFE

Scalable Hardware Scalable Safety: Fieldbus Gateway •Uplink/Downlink 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.

TC3 TwinSAFE

Scalable Hardware Scalable Safety: Field bus Gateway •Input /Output Shared Memory Map Data looks just like any other I/O I/O Device •Add 2nd NIC or multiplex to expand data xfer.

TC3 TwinSAFE



TC3 TwinSAFE

One Software TwinCAT TwinCA winCAT T: Development Overview 1.

All Software Elements in One Location (Safety)

2.

All Co Code Wr Writin ting in One Location

3.

All Parameter ters in One Location

4.

All Code feedback in one location

2.

2. 3.

1.

4.

TC3 TwinSAFE

One Software TwinCAT TwinCA winCAT T: Add Target TwinSAFE Controll Controller er Terminal •

Add Target Target TwinSAFE Controller Terminal

2.

TC3 TwinSAFE

One Software TwinCAT TwinCA winCAT T: Attach to Target PLC Terminal Controlle Controllerr •

User Administration can be performed

2.

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.

TC3 TwinSAFE


8 EstopPB or 4 DualContact EstopPB can be connected to each Estop FB

•

Each Estop can be set for single or dual contacts

•

External Device Monitoring Inputs for ensuring Contactor is switching states

•

Use AND blocks for more Estops.

2.

TC3 TwinSAFE


Add variables to each input and output of the FB 2.

TC3 TwinSAFE


Configurable Delay Time

2.

TC3 TwinSAFE

One Software TwinCAT TwinCAT: TwinSAFE Function Blocks

2.

TC3 TwinSAFE


2.

External Device Monitoring

TC3 TwinSAFE


Raw Material additions

•

Automatic Roll Changes

2.

TC3 TwinSAFE


2.

TC3 TwinSAFE


2.

TC3 TwinSAFE


2.

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.

TC3 TwinSAFE

One Software TwinCAT TwinCA winCAT T: Create Cr eate TwinSAFE Function Func tion Block Variables 1.

Click on the Restart input connection point

2.

In th the pro prop perti rties 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 Assi ssign Variab riable le Name

3.

TC3 TwinSAFE

One Software TwinCAT TwinCA winCAT T: Connectio Connection n between FB’s FB’s •

Click and hold connection and drag connection to another FB connection point.

2.

TC3 TwinSAFE

One Software TwinCAT TwinCA winCAT T: Create Cr eate TwinSAFE Function Func tion Block Variables •

Click on Comment and add a comment to a FB

2.

TC3 TwinSAFE

One Software TwinCAT TwinCA winCAT T: Create Cr eate TwinSAFE Function Func tion Block Variables 1.

Selecting magnifying glass icon will zoom in on workspace

2. 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

TC3 TwinSAFE

One Software TwinCAT Create TwinSAFE Function Block Variables •

Example of several FB on one network. 2.

TC3 TwinSAFE

One Software TwinCAT TwinCA winCAT T: TwinSAFE Download Safety Project, Start Safety Project Projec t •

Click Download Icon 2.

Username: Administrator Serial Number: nnnnnnnn

Password: TwinSAFE

TC3 TwinSAFE

One Software TwinCAT TwinCAT: TwinSAFE Version History •

Click Version Icon 2.

TC3 TwinSAFE



TC3 TwinSAFE

Outstanding Diagnostics Diagnostics: Online Monitoring •

Green indicates Input is High/True 2.

TC3 TwinSAFE


Online status is shown as Green when ON. 2.

TC3 TwinSAFE


•

Each channel of the connection can be mapped back to variable tag for use in the PLC. Live online update of a TwinSAFE or any input/output is available

2.

TC3 TwinSAFE

Outstanding Diagnostics Diagnostics: Variable Tags •

TwinSAFE Group and FB Variable Tags available to be aliased to PLC project.

2.

TC3 TwinSAFE

Outstanding Diagnostics Diagnostics: Variable Tags •

Estop FB Variable Tags available to be aliased to PLC project.

2.

TC3 TwinSAFE

Outstanding Diagnostics Diagnostics: Document •

•

Right-click on the “Project” level of the safety tree view in the Solution Explorer

Add Extra company specific data as needed, notice logo file jpg file attached in example.

2.

TC3 TwinSAFE

Outstanding Diagnostics Diagnostics: Document • Detailed information about devices and parameters

TC3 TwinSAFE

Outstanding Diagnostics Diagnostics: Demo

TC3 TwinSAFE Document Demo TC3 Diagnostics Runtime Demo

TC3 TwinSAFE

I/O Configuration I/O Configuration: Demo

TC3 TwinSAFE I/O Auto Configuration Configura tion Demo

TC3 TwinSAFE

Questions

Questions?

TwinCAT 3

TwinSAFE – Getting Started

TWINCAT 3

Getting Started 

A TwinSAFE Project will consist of one or more TwinSAFE TwinSAFE Groups.

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Each group will have its own set of Safety Application Application Variables and Function Blocks TwinSAFE Project TwinSAFE Group

FB

Safety Application Variables

Getting Started 

Each TwinSAFE TwinSAFE Project is associated as sociated with an EL6900

EL6900

TwinSAFE Project TwinSAFE Group

FB


Getting Started 

Each Variable Variable going into or out of the Group must pass through an Alias

TwinSAFE Project Alias

TwinSAFE Group

FB


Alias

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 a pplication

TwinSAFE Project Alias

TwinSAFE Group

FB


Alias

PLC I/O

TwinSAFE – Estop and Relay

TWINCAT 3

Estop and Relay 

Scan in the Hardware

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Add a PLC Project and create the following Global Variables Variables

Estop and Relay 

In the body of MAIN add the following line of code

Estop and Relay 

se lect ‘Rebuild’ Right-Click on the Project and select

Estop and Relay 

Link the PLC Input variable to the first push button

Estop and Relay 

Right-Click on ‘Safety’ and select ‘Add New Item’

Estop and Relay 

Select ‘ TwinCAT Default Safety Safety Project’ Project ’

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Name the project

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Click ‘Add’

Estop and Relay 

The Author and Internal Project Name can be supplied

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Click ‘OK’

Estop and Relay 

Right-Click on the ‘Project’ and select ‘Properties’

Estop and Relay

Estop and Relay 

Click on the ‘Map’ button

Estop and Relay 

Select the EL6900 that this TwinSAFE Project will be associated with

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Click ‘OK’

Estop and Relay 

The information of the EL6900 that was selected s elected is displayed

Estop and Relay 

Verify the Dip-Switch address, then click the green Up arrow. This will copy the Dip-Switch value into the FSoEAddress

Estop and Relay 

Before Before moving on, these values need to be saved



Notice the TAB TAB at the top has an * next to it, this means the data has not been saved. s aved.

Estop and Relay 

Tab and select s elect ‘Save Selected Right-Click on the Project Tab Items’

Estop and Relay 

Expand each Item in the tree under SAFETY

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Double-Click on the ErrorAcknowledgement.sds

Estop and Relay 

Click the ‘Map’ button

Estop and Relay 

Select the PLC variable for Error Acknowledge and click ‘OK’

Estop and Relay 

Right click on ‘Alias ‘Alias Devices’ and select ‘Import Alias -

Devices from I/O-configuration’

Estop and Relay 

Select All Safety I/O to be associated as sociated with this TwinSAFE Group



Click ‘OK’

Estop and Relay 

The Aliases for the Safety I/O have have now been added and are already mapped to the I/O

Estop and Relay 

From the ‘View’ menu select ‘Properties Window’

Estop and Relay 

Under the ‘Safety’ Item, Double-Click on ‘TwinSafeGroup1.sal’

Estop and Relay 

Left-Click in the empty area of ‘Network1’

Estop and Relay 

In the ‘Properties’ windows select the down arrow

Estop and Relay 

Select ‘T ‘ TwinSAFE Safety Application’ from the drop down

list

Estop and Relay 

The properties window now displays the ‘Safety Application Application Variables’ that can be connected to an Alias

Estop and Relay 

Click on the Ellipse button to map the Alias

Estop and Relay 

Select ‘Channel 1’ of the ‘ ErrorAcknowledgement’ Alias



Click ‘OK’

Estop and Relay 

It is now possible to expand the ErrAck and se what it is connected to

Estop and Relay 

From the ‘View’ menu, select ‘Toolbox’

Estop and Relay 

The Safety Toolbox contains items that can be added to the TwinSafeGroup1.sal winSafeGroup1.sal file f ile

Estop and Relay 

Under the ‘Function Blocks’ group, select ‘safeEstop’



Click and drag the item to place it on the network

Estop and Relay 

Left-click on the ‘Restart’ input

Estop and Relay 

The ‘Properties’ window should now display the properties of the ‘Restart In Port’

Estop and Relay 

In the ‘Assigned Variable Name’ create a unique name for

the Input and pres ‘Enter’ 

SafetyRestartPB

Estop and Relay 

The name should now be displayed next to the input of the Function Block

Estop and Relay 

Repeat these steps to Assign Variable Names to the first 2 Inputs and the Estop Output

Estop and Relay 

From the ‘View’ menu, select ‘Other Windows’ and then ‘Variable ‘Variable Mapping’



This window is typically opened automatically and

can be found next to the ‘Error’ or ‘Output’

windows

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

Estop and Relay 

Select the Ellipse button of the Restart

Estop and Relay 

Select the Alias that is connect to the Safety Hardware Hardware Input

Estop and Relay 

The ‘Port Name’ is provided by the ‘Function Block’ Blo ck’



The ‘Assigned Variable’ is created by the programmer



The ‘Alias ‘Alias Port’ Port ’ is the connection to an Alias Al ias that will then

connect to something outside of the TwinSAFE TwinSAFE Group

Estop and Relay 

Select the Ellipse button for EStopInput1



Select the Alias for Channel 1 of the EL1904

Estop and Relay 

Select the Ellipse button for EStopInput2




Estop and Relay 

Select the Ellipse button for EStopOutput




Estop and Relay

Estop and Relay 

At this point the project has been created, the last step is to verify it and load it into the EL6900

Estop and Relay 

At this point the project has been created, the last step is to verify it and load it into the EL6900



Before Before continuing select ‘Save All’ from the ‘File’ menu

Estop and Relay 

From the ‘View’ menu, select ‘ Toolbars’ oolba rs’,, and then select ‘ TwinCAT Safety Toolbar’

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. Project.

Estop and Relay 

Verify Safety Project (Project Level)



Verify Complete Safety Project (Project and Hardware Level)



Download Safety Project

Estop and Relay 

Click on Verify Safety Project (Project Level)



This will check che ck for any errors errors within the Safety Project Project



If any errors errors are found they will be shown in the ‘Error’ ‘Error ’

window

Estop and Relay 

Click on Verify Complete Safety Project Project (Project and Hardware Level)



In addition to the Safety Project, this will also check the

Safety Hardware Configuration

Estop and Relay 

Before Before downloading the Safety Project Project to the EL6900, verify that the Serial Number is correct



se lect ‘Properties’ Right-Click on the Project and select

Estop and Relay 

Verify the Serial Se rial Number matches the serial se rial number printed on the hardware hardware



When working with Multiple EL6900s, this will help to ensure that the correct program is being loaded

Estop and Relay 

Double-click the Serial Number to select it



Right-click on it, then select ‘Copy’

Estop and Relay 

Click on ‘Download Safety Project’

Estop and Relay 

Provide the Login Information for the EL6900



This information is CASE senstitive



Username:



Serial Number: Ctrl+V to paste



Password:

Administrator TwinSAFE

Estop and Relay 

Click ‘OK’



If the information was correct you will be ask as ked for the password one more time



Enter the same password and click ‘OK’

Estop and Relay 

Activate Activate the Configuration Configuration



Restart TwinCAT in Run Mode



Login and start the PLC

Estop and Relay 

The TwinSAFE 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

TwinCAT 3

Changing Fonts

TWINCAT 3

Changing Fonts 

From the ‘T ‘ Tools’ menu select ‘Options’

Changing Fonts - ST 

TwinCAT – TwinCAT – PLC PLC Environment – Environment – Text Text Editor

Changing Fonts - ST 

Select the ‘Text area’ tab



Click on the ‘Font’ Box at the bottom

Changing Fonts – FBD, LD, IL 

TwinCAT – TwinCAT – PLC PLC Environment – Environment – FBD, FBD, LD and IL Editor

Changing Fonts – FBD, LD, IL 

Select the ‘General’ tab



Click on the ‘Font’ Box at the bottom

TwinCAT 3

Data Type Comparison

TWINCAT 3

Data Type Comparison System Manager

IEC611313

.Net Type

C# Keyword

Visual Basic Keyword

BIT

BOOL

System.Boolean

bool

Boolean

BIT8

BOOL

System.Boolean

bool

Boolean

BITARR8 BITARR8

BYTE

System.Byte

byte

Byte

BITARR16 BITARR16

WORD

System.UInt16

ushort

-


IEC611313

.Net Type

C# Keyword


INT8

SINT

System.SByte

sbyte

-

INT16

INT

System.Int16

short

Short

INT32

DINT

System.Int32

int

Integer

INT64

LINT

System.Int64

long

Long


IEC611313

.Net Type

C# Keyword


UINT8

USINT

System.Byte

byte

Byte

UINT16

UINT

System.UInt16

ushort

-

UINT32

UDINT

System.UInt32

uint

-

UINT64

ULINT

System.UInt64

ulong

-


IEC611313

.Net Type

C# Keyword


FLOAT FLOAT

Real

System.Single

float

Single

DOUBLE

LREAL

System.Double

double

Double

TwinCAT 3

Password Protection

TWINCAT 3

Password Protection 

It is possible po ssible to protect parts of the TwinCAT TwinCAT Project and prevent prevent changes from being made.


Double-click on the ‘System’ ‘System’


Select the ‘Protection’ tab


Press ‘Enter Credentials’ C redentials’


Supply a ‘User Name’ and ‘Password’



Click ‘OK’

Note: The User Name and Password Password are both Case Sensitive


The Protection has been applied, but you are currently logged in as the User you created.


Select ‘File’, then ‘Save All’


Select ‘File’, then ‘Close Solution’


Select ‘File’, then ‘Open’, then ‘Project/Solution’


Select your solution file, then press ‘Open’


Notice the ‘Activate Configuration’ icon is grayed out



It is possible to put the system system in ‘ Config Mode’ and also ‘Restart TwinCAT’



Although settings can be changed, they can not be activated


Double-click on the ‘System’ ‘System’


Notice the red box, this indicates indicates that the ‘System’ is protected



It is still possible to edit the PLC



Use the

‘Enter Credentials’ button to login and

access the Config uration tion’ ‘Activate Configura button

TwinCAT 3

Source code download

TWINCAT 3

Source code download 

By default default the source code will be placed in the boot folder on the target target device



This will allow for the source code to be read and modified



It is also possible to disable this feature


Double-click Double-click the project name under ‘PLC’


Select the ‘Settings’ tab


By default the ‘Project Sources’ are created on the target device in the boot folder


De-select De-select the ‘Project Sources


Right-Click Right-Click on the project and select ‘Activate Boot Project’


The boot folder now contains only the compiled libraries

Beckhoff Training - Exercises (USA) 3_2018

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