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Beckhoff: TwinCAT 3 (TF5xxx Series)
TwinCAT 3 | eXtended Automation (XA)
Beckhoff created a global standard for automation with the launch of PC-based control technology in 1986. On the software side, the TwinCAT (The Windows Control and Automation Technology) automation suite forms the core of the control system. The TwinCAT software system turns almost any PC-based system into a real-time control with multiple PLC, NC, CNC and/or robotics runtime systems. TwinCAT 3 is the systematic further development of TwinCAT 2, with which the world of automation technology is being redefined. only one software for programming and configuration Visual Studio® integration more freedom in selecting programming languages support for the object-oriented extension of IEC 61131-3 use of C/C++ as the programming language for real time applications link to MATLAB®/Simulink® open interfaces for expandability and adaptation to the tools landscape flexible runtime environment active support of multi-core and 64-bit systems migration of TwinCAT 2 projects automatic code generation and project implementation with the TwinCAT Automation Interface
eXtended Automation Technology – TwinCAT 3 extends the standard automation world eXtended Automation Architecture supports all main fieldbuses supports IEC 61131, C/C++, MATLAB®/Simulink® supports Motion Control: from point-to-point to CNC supports TwinSAFE configuration supports Scientific Automation: robotics, measurement technology, Condition Monitoring
eXtended Automation Engineering one tool – Microsoft Visual Studio® integrated: IEC 61131 – worldwide standard in automation integrated: C/C++ – worldwide standard in IT integrated: TwinCAT System Manager – well-known configuration tool link to MATLAB®/Simulink®: worldwide standard in science expandable with other tools: editors, compilers TwinCAT 2 projects can be migrated. TwinCAT 3 modules: standardized programming frames using the .NET programming languages for non-real-time capable applications (e.g. HMI)
eXtended Automation Runtime IEC 61131, C/C++, MATLAB®/Simulink® objects in one runtime integrated TwinSAFE runtime extended real-time-functionality: min. 50 ìs cycle time and low jitter enhanced performance: support of multi-core CPUs future-proof: supports 64-bit operating systems
Beckhoff: TF5xxx | TC3 Motion Control
TF5000 | TC3 NC PTP 10 Axes TC3 NC PTP 10 Axes implements Motion Control for point-to-point movements in software. The axes are represented by axis objects and provide a cyclic interface, e.g. for the PLC. This axis object is then linked to a corresponding physical axis. In this way, the most diverse axis types with the most diverse fieldbus interfaces can be connected abstractly with the axis objects, which always offer an identical configuration interface. The control of the axes can be configured in various conformations (position or velocity interface) and various controllers. The axes are configured in TwinCAT Engineering. up to 10 axes on a maximum of 255 axes included developable supports electrical and hydraulic servo drives, frequency converter drives, stepper motor drives, DC drives, switched drives (fast/slow axes), simulation axes and encoder axes supports various encoders such as incremental encoder, absolute encoder, digital interface to the drives such as EtherCAT, SERCOS, SSI, Lightbus, PROFIBUS DP/MC, pulse train standard axis functions such as start/stop/reset/reference, velocity override, master/slave couplings, electronic gearbox, online distance compensation programming is carried out via PLCopen-compliant IEC 61131-3 function blocks convenient axis commissioning options online monitoring of all axis state variables such as actual/setpoint values, releases, control values, online axis tuning forcing of axis variables configuration of all axis parameters, such as measuring system, drive parameters and position controller configurable controller structures: P control, PID control, PID with velocity pre-control, PID with velocity and acceleration pre-control online master/slave and slave/master conversion flying saw (diagonal saw) cam plates (support by TC3 Cam Design Editor [optional]) FIFO axes (optional) external set point value generators multi-master coupling
TF5010 | TC3 NC PTP Axes Pack 25 Extension of TF5000-00pp up to a maximum of 25 axes TF5020 | TC3 NC PTP Axes Pack unlimited Extension of TF5000-00pp up to a maximum of 255 axes TwinCAT NC Camming (cam plate) is a non-linear relationship between a master and a slave axis. The camming package offers various options for the storage of cam plates. Convenient PLC blocks enable the loading, coupling and uncoupling of cam plates. It is possible to load new cam plates or to modify cam plates during operation. The TwinCAT CAM Design Editor offers support for the creation of the cam plates. position tables with master interpolation points and corresponding slave positions; interpolation between the points is done linearly or by splines motion function table describing a cam plate via motion laws according to VDI guideline 2143 cyclic or linear processing cam plate with offset and scale, can be modified on the master or slave side high flexibility through online change of the motion functions
TF5055 | TC3 NC Flying Saw TwinCAT NC Flying Saw implements the coupling of a slave axis to a master axis in a certain synchronous position (flying saw). PLC function blocks enable coupling and uncoupling as well as parameterization. The master axis can be a real axis, a virtual axis, or some other external source of actual values. synchronization of the slave axis from any motion situation (stop, forward or reverse travel) with the master in motion simple synchronization with the master velocity precise position synchronization with the master axis (velocity and position) synchronous velocity can be set via a coupling factor optional return prevention as additional safety function superimposed section compensation during the synchronous phase for dynamic position correction
TF5060 | TC3 NC FIFO Axes Using TwinCAT NC FIFO Axes, externally generated set position values can be output to the axes in the form of a velocity pre-control. The set value generation is designed in such a way that both the set position and the set velocity are determined as the FIFO inputs are worked through in sequence. It is also possible, if necessary, to interpolate between two neighboring FIFO inputs. TF5065 | TC3 Motion Control XFC eXtreme Fast Control (XFC) is the technique that enables very fast, temporally high-precision reactions using EtherCAT, special I/O terminals and TwinCAT on the PC. Using EtherCAT Distributed Clocks (DC) and appropriate terminals, distributed latches or cam controllers can be implemented simply in this way. function blocks for the high-precision acquisition and switching of digital signals related to axis positions EtherCAT Distributed Clocks with the time-stamp-based EtherCAT EL1252, EL2252 or EL2262 input and output terminals blocks for the conversion of DC time to position and vice versa convenient PLCopen-compliant TouchProbe block digital cam controller as PLCopen-compliant block
Using TwinCAT NC I, movements can be implemented with up to three interpolating and up to five auxiliary axes in the interpolation package. Various axis types with various fieldbus interfaces are supported. The movement is usually programmed in DIN 66025, but it can also alternatively be carried out via PLC function blocks. max. 3 path axes and up to 5 auxiliary axes per group 1 group per channel, max. 31 channels supports electric servo axes, stepper motor drives interpreter functions such as subroutine and jump technology, programmable loops, zero point shifts, tool corrections, M and H functions geometry functions: straight lines and circles in 3-D space, circles at all main levels, helices with base circles at all main levels, linear, circular and helical interpolation at the main levels and freely definable levels, Bezier splines, look-ahead function online reconfiguration of axes in groups, path override, slave coupling to path axes, auxiliary axes, axis error and sag compensation, measuring functions programming in DIN 66025 access alternatively via function blocks according to IEC 61131-3 operation of automatic mode, manual mode (jog/inch), single block mode, referencing, handwheel mode (movement/overlay) convenient debugging with online monitoring of current setpoint/actual position (position lag of all axes), NC program line currently being processed, NC program line currently being interpreted, channel status support of kinematic transformations in combination with TF511x
TF5110 | TC3 Kinematic Transformation L1 Various robot types kinematics can be realized using TwinCAT Kinematic Transformation. The programming of the robot movements takes place in Cartesian coordinates using either DIN 66025 instructions or the PLCopen-compliant blocks from the PLC. An integrated dynamic pre-control ensures high precision of the movement even at high accelerations and speeds. Configuration takes place in TwinCAT Engineering. supports various parallel and also serial kinematics, e.g. for pick-and-place tasks supports the programming of interpolating movements in G-code (DIN 66025) alternatively, standard PTP and cam plate applications can be realized simple programming in the Cartesian coordinate system automatic calculation of the inverse kinematic for the relevant motor positions kinematics configured in TwinCAT 3 Engineering; in addition to the type (e.g. delta), the bar lengths and offsets must also be parameterized mass and mass inertia values can be specified for dynamic pre-control optimized for the Beckhoff Servo Drives from the AX5000 series basic package integrating the following kinematics: cartesian portals
TF5111 | TC3 Kinematic Transformation L2 Extension of the TwinCAT Kinematic Transformation L1 with additional kinematics: TF5112 | TC3 Kinematic Transformation L3 Extension of the TwinCAT Kinematic Transformation L1/L2 with additional kinematics: TF5113 | TC3 Kinematic Transformation L4 Extension of the TwinCAT Kinematic Transformation L1/L2/L3 with additional kinematics: 5-D kinematics serial 6-axis kinematics Stewart platform
TF5120 | TC3 Robotics mxAutomation TC3 Robotics mxAutomation allows direct communication between the PLC and the KUKA KR C4 robot control via a common interface. The robot movements can be programmed directly in the PLC, and the actual values of the robot can be synchronized in real time. TC3 Robotics mxAutomation combines PLC control and robot on a single platform and enables programming from an existing system without knowledge of a specific robot programming language. Communication takes place via EtherCAT, with the TwinCAT EtherCAT master and the KR C4 controller from KUKA exchanging data via the EL6692 or EL6695 EtherCAT bridge terminals. In doing so, drive commands are transmitted from the controller to the robot and actual values from the robot to the controller. Commands can be transmitted very quickly from the PLC to the robot thanks to this efficient, high-performance communication. In addition, the PLC programmer has access to the robot position data at all times in real-time. TF5130 | TC3 Robotics uniVAL PLC The TC3 Robotics uniVAL PLC allows direct communication between the PLC and the CS8C robotics controller from Stäubli via a common interface. The robot's movements can be programmed directly in the PLC and compared with the robot's actual values in real-time. The TC3 Robotics uniVAL PLC combines PLC control and robotics on a single platform and enables programming from a single system without having to know a special robot programming language. The communication takes place via EtherCAT, with TwinCAT and the CS8C controller from Stäubli exchanging the data as master and slave, respectively. TwinCAT sends the motion commands to the robot via EtherCAT. Thanks to this efficient communication, commands can be sent from the PLC to the robot at high speed. In addition, the PLC programmer has real-time access to the robot’s position data at all times. Other motion programs which are located in the robot controller's database can also be activated via this interface. TwinCAT CNC offers the option to implement interpolation with up to 32 simultaneously interpolating axes. The number of axes and/or the number of channels can be adapted to the requirements of the application via the option packages. Various transformations can be supplemented via option packages. Programming takes place according DIN 66025. The axes and channels are configured in TwinCAT Engineering. 8 path axes/controlled spindles, max. 64 axes/controlled spindles (optional), max. 12 channels (optional) supports electric servo axes, stepper motor drives subroutine and jump technology, programmable loops, zero point shifts, tool corrections, M and H functions, mathematical functions, programming of parameters/variables, user macros, spindle and auxiliary functions, tool functions geometry functions linear, circular and helical interpolation at the main levels and freely definable levels, max. 32 interpolating path axes per channel (optional), look-ahead function axis functions, coupling and gantry axis function, override, axis error and sag compensation, measuring functions programming in DIN 66025 with high-level language extension access via function blocks from TwinCAT PLC according to IEC 61131-3 operation with automatic mode, manual mode (jog/inch), single block mode, referencing, block advance, handwheel mode (movement/overlay) convenient debugging with online monitoring of all states
TwinCAT CNC in the export version (E-version) offers the option to implement an interpolation with up to four simultaneously interpolating axes. The number of axes and/or the number of channels can be adapted to the requirements of the application via the option packages. Various transformations can be supplemented via option packages. Programming takes place according DIN 66025. The axes and channels are configured in TwinCAT Engineering. maximum 8 path axes/controlled spindles, max. 64 axes/controlled spindles (optional), max. 12 channels maximum 4 interpolating path axes supports electric servo axes, stepper motor drives subroutine and jump technology, programmable loops, zero point shifts, tool corrections, M and H functions, mathematical functions, programming of parameters/variables, user macros, spindle and auxiliary functions, tool functions geometry functions linear, circular and helical interpolation at the main levels and freely definable levels, max. 64 path axes per channel, look-ahead function axis functions, coupling and gantry axis function, override, axis error and sag compensation, measuring functions programming in DIN 66025 with high-level language extension access via function blocks from TwinCAT PLC according to IEC 61131-3 operation with automatic mode, manual mode (jog/inch), single block mode, referencing, block advance, handwheel mode (movement/overlay) convenient debugging with online monitoring of all states
TF5220 | TC3 CNC Axes Pack Using the TwinCAT CNC Axes Pack, extension is possible up to a total of 64 axes/controlled spindles, of which a maximum of 32 can be path axes and a maximum of 12 can be controlled spindles. TF5230 | TC3 CNC Channel Pack Using TwinCAT CNC Channel Pack, a further CNC channel can be extended to a maximum of 12 channels. TF5240 | TC3 CNC Transformation TwinCAT CNC Transformation is an optional function for the TwinCAT CNC. transformation functionality (5-axis functionality) kinematics selection from the kinematics library RTCP function TLC function definition of different coordinate systems, linking/transition of coordinate systems
TF5250 | TC3 CNC HSC Pack TwinCAT CNC HSC Pack is an optional high-speed cutting solution for the TwinCAT CNC: cross-block velocity and acceleration control for optimum utilization of the axis dynamics and thus higher path speeds high surface quality through smoothed dynamics and associated reduction of vibrational excitation of the machine effective control of specified contour tolerances path programming via splines with programmable spline type (Akima-spline, B-spline) for reduction of NC blocks for free-form surfaces
TF5260 | TC3 CNC Spline Interpolation TwinCAT CNC Spline Interpolation is an optional package for the TwinCAT CNC for path programming via splines with programmable spline type, Akima-spline, B-spline. TF5270 | TC3 CNC Virtual NCK Basis TwinCAT CNC Virtual NCK Basis is a virtual TwinCAT CNC for simulation in a Windows environment as an option for the TwinCAT CNC. TF5271 | TC3 CNC Virtual NCK Options TwinCAT CNC Virtual NCK Options is a virtual TwinCAT CNC for simulation in a Windows environment as a further option package for the TwinCAT CNC and TwinCAT CNC Virtual NCK Basis. TF5280 | TC3 CNC Volumetric Compensation TC3 CNC Volumetric Compensation is an optional package for compensating geometric machine errors based on an ISO-standardized parametric model. highly effective option for increasing the machine accuracy and therefore the manufacturing accuracy, simply through control measures correction of the TCP position through dynamic calculation of axis correction values suitable for machines with 3 Cartesian and up to 3 rotary axes any kinematic axis order (head/table kinematics)
several parameter files per compensation, several compensations per controller parameter update via NC command or HMI interpolation of parameter sets (sag compensation, etc.) smoothing of parameter step changes during modulo transitions diagnostics possible via ADS, Microsoft Excel file
tabular CSV format Etalon exchange format
TF5290 | TC3 CNC Cutting Plus TC3 CNC Cutting Plus enhances the CNC functionality of laser machines. Automatic axis lift and drop automatic axis lift and drop across blocks to prevent collisions between the tool head and burrs or cut parts jolt-limited travel profile with no impact on speed
Micro-bridges, fast laser switching signal highly accurate output of an M function (1 µs) at a certain waypoint use of timestamps supports various synchronization types parameterisation via configuring the M functions or programming the M functions via NC programs
multi-axis transformation for shell surface processing supports various profiles such as multi-edge pipes and profile pipes application of programmed contour to the profile’s shell surface
TF5410 | TC3 Motion Collision Avoidance TF5410 TC3 Motion Collision Avoidance is an optional package that prevents collisions when operating a number of linearly and/or translationally dependent axes with TC3 NC PTP. The underlying algorithm ensures the maintenance of a minimum distance from the previous axis. In this way, TC3 Motion Collision Avoidance actively prevents collisions when a number of motors are using e.g. the same rail. As well as active collision avoidance, TF5410 can also be used to allow axes to accumulate in a controlled way, for example when carrying out linear movements such as with XTS (eXtended Transport System). Programming of the PLC’s movement commands is based on the standard PTP motion library with an additional input “gap”. For example, when using TC3 Motion Collision Avoidance, all the axes can be given the same target position. The algorithm then ensures that only the first axis actually moves to that position. The remaining axes automatically line up while maintaining their minimum distance. This means that no further programming effort is needed in order to implement a dynamic buffer in which products can accumulate. TF5420 | TC3 Motion Pick-and-Place TF5420 TC3 Motion Pick-and-Place is an extension of TF5100 TC3 NC I and was especially designed for the kinematics of handling tasks carried out by gantry robots and pickers. It smooths the transition of complex path segments. Special methods are used to blend movement commands, facilitating optimized cycle times when they are processed. This reduces the bumpiness of motion along the path, making it run more smoothly, which is vital for high cycle times, gentle treatment of the robot and careful handling of the products. The TF5420 is programmed using a PLC library. There is no limit on the number of axes in a pick-and-place group, the only limiting factor is the processing power of the controller. Given an appropriate level of processing power, interpolating movement commands can be processed even for complex machines with more than three or eight axes (three path plus five auxiliary axes). TF5800 | TC3 Digital Cam Server The TwinCAT Digital Cam Server is a fast cam controller with monitoring for various fieldbuses. The cams are configured in TwinCAT Engineering. high-performance fieldbus-independent cam controller with many functions up to 320 outputs up to 180 cams per output path-path cams, path-time cams, brake cams dynamic speed correction measurement and monitoring of rotary speed
TF5810 | TC3 Hydraulic Positioning Algorithms for the control and positioning of hydraulic axes are combined in TwinCAT Hydraulic Positioning and are available as PLCopen-compliant PLC blocks. for the positioning and control of hydraulic axes functions for the conversion of sensor signals to actual positions and of control values to output data point-to-point movements, alternatively with time- or displacement-controlled ramps position control, pressure output with the correct sign, automatic repositioning optimization and monitoring of the behavior with further functions (e.g. dead time compensation, limit value monitoring)
Model No.: TF5000-00pp, TF5010-00pp, TF5020-00pp, TF5050-00pp, TF5055-00pp, TF5060-00pp, TF5065-00pp, TF5100-00pp, TF5110-00pp, TF5111-00pp, TF5112-00pp, TF5113-00pp, TF5120-00pp, TF5130-00pp, TF5200-00pp, TF5210-00pp, TF5220-00pp, TF5230-00pp, TF5240-00pp, TF5250-00pp, TF5260-00pp, TF5270-00pp, TF5271-00pp, TF5280-00pp, TF5290-00pp, TF5410-00pp, TF5420-00pp, TF5800-00pp, TF5810-00pp
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