MCIO 1-5

Motion Control & IO

Deterministic

No matter how fast is the bus, two parallel devices receive the same risining edge at identical time.

0. Remote login

$ mstsc

1. Networking

141.52.97.224

administrator

1. 1. Create project

File -> new -> project -> TwinCat XAE prject(XML format) -> input file name & ok

Solution Explorer -> double click "system"-> choose target -> search(Ethernet) -> broadcast search OR enter ip

set address info to IP Address

Add route & login

1. 2. PLC project

Solution Explorer -> TwinCat -> SPS -> (right click) add new item -> standard plc project -> enter name: code_X-> OK

Solution Explorer -> TwinCat -> SPS -> code_X -> POUs -> MAIN (PRG)

---------------------------------
PROGRAM MAIN
VAR
    beat : DINT;
END_VAR
---------------------------------
beat := beat + 1;
---------------------------------

input_code -> (Header) TwinCAT -> active configuration -> login -> start

start = F5
stop = shift F5

2. TWINCAT IO

create IO

Solution Explorer -> TwinCat -> I/O -> device -> add new element -> select EtherCAT -> EtherCAT master -> OK

Assign hardware

• If the device are connected to CX5140 directly, then they are PCI.

• If the device are connected to CX5140 by LAN, then they are LAN.

Solution Explorer -> TwinCat -> SYSTEM -> select target -> click CX35CD

Click TwinCat/IO/Devices/Device 1(EtherCAT) -> adapter -> click SEARCH -> PCI!!!-> click BLUE CONFIG MODE

Right click Device 1(EtherCAT) -> scan

Then, you will find device

Code

---------------------------------
PROGRAM MAIN
VAR
    heartbeat : BYTE;

    one   AT %Q* : BOOL;
    two   AT %Q* : BOOL;
    three AT %Q* : BOOL;
    four  AT %Q* : BOOL;

    prox  AT %I* : BOOL;

END_VAR
---------------------------------
heartbeat := heartbeat + 1;

IF prox = TRUE THEN
    one   := heartbeat MOD 2 = 0;
    two   := heartbeat MOD 4 = 0;
    three := heartbeat MOD 8 = 0;
    four  := heartbeat MOD 16 = 0;
ELSE
    one   := FALSE;
    two   := FALSE;
    three := FALSE;
    four  := FALSE;    
END_IF
---------------------------------

build solution!!

Parts

EL2008 output

https://www.beckhoff.com/english.asp?ethercat/el2008.htm

EL1819 digital input

https://www.beckhoff.com/english.asp?ethercat/el1819.htm

Bind IO to variable

click channel N -> right-click output -> change link -> select variable

Hardware changes - Rescan

Right click Device 1(EtherCAT) -> scan -> copy before / after -> activate configuration