Position control with the PC
TwinCAT NC PTP includes axis positioning software (set value generation, position control), an integrated software PLC with NC interface, operating program for commissioning and an I/O connection to the axes through various fieldbuses. TwinCAT NC PTP replaces conventional positioning modules and NC controllers.
NC PTP software on the PC
The controllers that are simulated by the PC cyclically exchange data with drives and measuring systems via the fieldbus.
The capacity of a PC allows axes to be moved in parallel with the PLC functionality. PC power means that some tens of axes can easily be positioned simultaneously.
Axes are structured into channels for PTP movement and for interpolated movements.
TwinCAT NC PTP uses variables to operate axes. Each axis has variables for encoder, drive and controller. The axis can be linked to I/O interfaces, and parameters can be set.
Axis functions such as
Position measurement systems
The position controller acquires the actual position through:
Positioning is executed with a powerful, modern positioning algorithm in which profiles are generated with jerk limitation and with pre-control of speed and acceleration to minimise the following error.
The online menu allows important axis parameters such as
to be set, and general axis functions such as
to be called.
|PC hardware||standard PC/IPC hardware, no extras|
|Operating systems||version-dependent: Windows NT/2000/XP/Vista, Windows 7, Windows NT/XP Embedded, Windows CE (only runtime)|
|Real-time||Beckhoff real-time kernel as a component of TwinCAT|
|Runtime system||NC point-to-point (NC PTP) including TwinCAT PLC|
|Number of axes||up to 255 axes|
|Axis types||electrical and hydraulic servo drives, frequency converter drives, stepper motor drives, DC drives, switched drives|
|Cycle time||50 µs upwards selectable (typically 1 ms)|
|Axis functions||standard axis functions: start/stop/reset/reference, speed override, destination override; special functions: master-slave cascading, electronic gearing, online distance compensation|
|Programming||performed using IEC 61131-3 function blocks in the TwinCAT PLC, convenient methods for axis commissioning|
|Debugging||online monitoring of all axis state variables such as actual/set value, enable, controller values, online axis tuning, forcing axis variables|
|Configuration||all axis parameters such as the measuring system, drive parameters and position controller can be conveniently configured|
|Remanence||remanent data, UPS-supported storage on hard disk|
|I/O system||free choice of fieldbus: EtherCAT, PROFIBUS DP/MC, CANopen, DeviceNet, Interbus, SERCOS, Lightbus, Ethernet|
|Connectivity||variable access via OPC, Beckhoff ADS OCX/DLL|
|TX1250||licence for using the PTP positioning software with integrated IEC 61131-3 TwinCAT PLC, contains programming software and runtime system|
|TS5050||IEC 61131-3 software library for TwinCAT, implemented camshaft functionality (table coupling)|
|TS5060||IEC 61131-3 software library for TwinCAT, permits specified FIFO set value generation|
|TS5055||IEC 61131-3 software library for TwinCAT, implements a “flying saw”|
|TS1510||graphical development tool for programming cams|
|TS1500||graphics-oriented editor for designing the characteristic curve of a hydraulic valve|