1. Instrument Control Systems Seminar 2014, 20 th -24 th October 2014 Introduction to TwinCAT 3.1 and EtherCAT in the context of VLT Instrumentation Control Systems D.Popovic, ESO/DoE/CSE/ICSSW

2. Instrument Control System Seminar, 20 th -24 th October 2014, Slide 2 From VME LCU to PLC – What is New? OldNew BusVMEEtherCAT OSVxWorksTwinCAT 3.1 Runtime IDE Emacs, Workbench, motei, Inducer, Plot,... TwinCAT 3.1 IDE (MS VS) Programming Language C Structured Text (ST), C++ (code re-use) Drivers canio, canrmc, canstack, inducer, iser, lcudrv, men, tim, … N/A, i.e. direct access to HW

3. Instrument Control System Seminar, 20 th -24 th October 2014, Slide 3 EtherCAT Fieldbus Ethernet for Control Automation Technology Ethernet-based fieldbus system EtherType 0x88A4 EtherCAT protocol optimized for process data Real-time capabilities - 1000 I/Os in 30 µs Flexible Topology Supports Distributed Clocks – IEEE 1588

4. Instrument Control System Seminar, 20 th -24 th October 2014, Slide 4 Distributed System

5. Instrument Control System Seminar, 20 th -24 th October 2014, Slide 5 Distributed System (cont.)

6. Instrument Control System Seminar, 20 th -24 th October 2014, Slide 6 EtherCAT Operating Principle Devices read & write data on-the-fly. Frames delayed by a few ns.

7. Instrument Control System Seminar, 20 th -24 th October 2014, Slide 7 EtherCAT Process Image Up to 4 GB in size

8. Instrument Control System Seminar, 20 th -24 th October 2014, Slide 8 EtherCAT Topology Line, Tree or Star topology

9. Instrument Control System Seminar, 20 th -24 th October 2014, Slide 9

10. Instrument Control System Seminar, 20 th -24 th October 2014, Slide 10 Traditional vs. SoftPLC SoftPLC Runtime can reside on PC (PLC Target = Local) EtherCAT coupler can be directly connected to the PC Traditional “hard” PLCSoftPLC

11. Instrument Control System Seminar, 20 th -24 th October 2014, Slide 11 PLC Cycle

12. Instrument Control System Seminar, 20 th -24 th October 2014, Slide 12 Traditional vs. SoftPLC PLC Cycle Traditional PLC SoftPLC

13. Instrument Control System Seminar, 20 th -24 th October 2014, Slide 13 TwinCAT 3 The Windows Control and Automation Technology Engineering Environment based on Microsoft Visual Studio (VS Shell) Complete IDE  Configuration  Programming (IEC 61131-3)  Runtime (Target = Local)  Debugging  Visualisation (i.e. GUIs)  Recording (Scope)  much more…

14. Instrument Control System Seminar, 20 th -24 th October 2014, Slide 14 TwinCAT 3 Overview

15. Instrument Control System Seminar, 20 th -24 th October 2014, Slide 15 TwinCAT Modular Runtime

16. Instrument Control System Seminar, 20 th -24 th October 2014, Slide 16 TwinCAT 3 Overview (cont…)

17. Instrument Control System Seminar, 20 th -24 th October 2014, Slide 17 TwinCAT 3 and Multi-core

18. Instrument Control System Seminar, 20 th -24 th October 2014, Slide 18 TwinCAT 3 HW Platforms

19. Instrument Control System Seminar, 20 th -24 th October 2014, Slide 19 TwinCAT 3 Components

20. Instrument Control System Seminar, 20 th -24 th October 2014, Slide 20 TwinCAT 3 Designation System

21. Instrument Control System Seminar, 20 th -24 th October 2014, Slide 21 TwinCAT 3 Base & System Functions

22. Instrument Control System Seminar, 20 th -24 th October 2014, Slide 22 TwinCAT 3 Connectivity Functions

23. Instrument Control System Seminar, 20 th -24 th October 2014, Slide 23 TwinCAT 3 Motion Functions

24. Instrument Control System Seminar, 20 th -24 th October 2014, Slide 24 TwinCAT 3 Licensing 7-Days Trial License fully functional for 7 days. (Try before you buy) Trial Licenses can be renewed without registering with Beckhoff. Runtime systems need licenses. Some limitations for Trial Licenses for Mathlab/Simulink (limited number of nodes).

25. Instrument Control System Seminar, 20 th -24 th October 2014, Slide 25 CX Embedded PC (PLC)

26. Instrument Control System Seminar, 20 th -24 th October 2014, Slide 26 CX HW Options

27. Instrument Control System Seminar, 20 th -24 th October 2014, Slide 27 CX20x0 Embedded PC (PLC) We use Embedded PCs with NOV-RAM! NOV-RAM is used to keep device configuration

28. Instrument Control System Seminar, 20 th -24 th October 2014, Slide 28 HW Configuration Examples Example 1 - I/O Control, - no Motion Control  CX2030-0120 CPU (Cat. 60, Win 7 Embedded) (1500 EUR)  CX2100-0004 Power Supply (195 EUR)  TC1200-0060 TC3 PLC (450 EUR)  TF6100-0060 OPC UA Server License (160 EUR)

29. Instrument Control System Seminar, 20 th -24 th October 2014, Slide 29 HW Configuration Examples Example 2 - I/O Control, - Motion Control – up to 10 Motors  CX2030-0120 CPU (Cat. 60, Win 7 Embedded) (1500 EUR)  CX2100-0004 Power Supply (195 EUR)  TC1250-0060 TC3 PLC/NC PTP 10 (650 EUR)  TF6100-0060 OPC UA Server License (160 EUR)

30. Instrument Control System Seminar, 20 th -24 th October 2014, Slide 30 HW Configuration Examples Example 3 - I/O Control, - Motion Control 11..25 axis, - Tracking devices – ADC, DROT (require C++)  CX2040-0120 CPU (Cat. 70, Win 7 Embedded) (1765 EUR)  CX2100-0014 Power Supply (235 EUR)  TC1210-0070 TC3 PLC/C ++ (800 EUR)  TF5000-0070 TC3 NC PTP 10 Axes (250 EUR)  TF5010-0070 TC3 NC PTP Axes Pack 25 (250 EUR)  TF6100-0070 OPC UA Server License (200 EUR)

31. Instrument Control System Seminar, 20 th -24 th October 2014, Slide 31 Standard HW Every EtherCAT terminal is “standard”, i.e. it works with EtherCAT. Free to choose depending on application. However, ESO has its preferred terminals, e.g. EL7041 Stepper Motor Terminal. There are no “drivers” like in VxWorks. Access to HW is transparent. If possible, PLC Applications should be HW independent through configuration!

32. Instrument Control System Seminar, 20 th -24 th October 2014, Slide 32 Beckhoff Terminal Numbering Scheme EL1xxx Digital Input EL2xxx Digital Output EL3xxx Analog Input EL4xxx Analog Output EL5xxx Encoders EL6xxx Communication (e.g. RS-232, PROFINET, etc) EL7xxx Motion (e.g. EL7041 for stepper motors) EL9xxx System Terminals (e.g. Bus End, Shield, Isolation and Potential Distribution terminals)

33. Instrument Control System Seminar, 20 th -24 th October 2014, Slide 33 ELxxxx vs ESxxxx Terminals The only difference is in connectors. The terminals are electrically identical. ELxxxx – Standard Terminals +Easy to mount/dismount -Might need to disconnect wires before mounting/dismounting ESxxxx –Terminals with removable contacts +No need to disconnect wires before mounting/dismounting -Front face with contacts has to be removed before dismounting ES is the preferred option, i.e. standard.

34. Instrument Control System Seminar, 20 th -24 th October 2014, Slide 34 I/O Terminals Documentation

35. Instrument Control System Seminar, 20 th -24 th October 2014, Slide 35 Unblocking CHM File

36. Instrument Control System Seminar, 20 th -24 th October 2014, Slide 36 Questions ?