TwinCAT Training
  Support
  Training
  Dates
  Customer Specific Training

TR2020 TwinCAT Motion (PLC Advanced/NC - 3 days)

The advanced/NC class is designed for individuals who must program a TwinCAT based machine with complex programming techniques and Motion Control using TwinCAT’s NC process.
Items Covered are:
  • Operation of the TwinCAT NC axis using PLC Open Motion Control function blocks
  • Master Slave axis with relationships such as Cam Tables, Electronic Gearing, Continuously variable gear ratios, registration correction, flying shear etc.
  • Maximum of 6 students, 3 days

Requires textbook Programming industrial control systems using IEC113103 written by R.W. Lewis

Eligible students must already have working knowledge of TwinCAT. In particular: PLC programming with Structured Text, TwinCAT Libraries, and developing User Defined Function Blocks and Structures.


Course Overview

Introductions

Introduction to Task Scheme & System Manager
• Base Time Cycle Time and Task Updates

TwinCAT NC Control Theory
• Deterministic Sampling (I/O at Task Begin)
• Profile Generation SVB Task
• Control Signal Output methods (SAF Task)
o Torque
o Velocity
o Position

Configuration of the NC Axis
• Soft Encoder/Drive/Control Loop connection to Hardware
• Calculation of Scaling Factor, Reference Velocity and Control Loop

System Manager Online Tools
• Enable, Disable Override
• Jog commands
• Position commands
• Function Screen and move commands

Scope View
• Achse1 Default Scope File
• Creation of own scope view file

PLC-NC Interaction
• NCTOPLC_AXLESTRUCT
• PLCTONC_AXLESTRUCT

NC Drive Status Functions

PLC Open Function Blocks
• MC_Power
• MC_Jog
• MC_MoveAbsolute


Day 2

Generating and Recovering From Faults
• NC Axis Faults
o Fault Monitoring Functions
o Error Codes
o MC_Reset
• Drive physical faults (Fieldbus Dependant)
o MC_Reset

Drive To NC Process Interface
• Position Control Interface (Position Control loop closed in the terminal)
• Velocity Control Interface (Position Control loop Closed in TwinCAT)

MC_Homing (possible methods, and MC_Home)

Secondary Axis Setup

PLC Open Axis Coordination Functions
• MC_GearIn
o Fixed Gear Ratio
o Variable Gear Ratio
• MC_GearOut
• Basic Cam Table
• MC_MoveSuperImposed
• MC_NewPosAndVelo

Recommended Practices for Motion Control Programming
• Use of MC_Power
• Use of Multiple Function Blocks
• Encapsulation of Function blocks in User Defined Function blocks for repeated use
  and simplification
o Reset Sequence Function blocks
o Status Gathering Function blocks


Back Top Beckhoff, Email: beckhoff.usa@beckhoff.com