Configuration TwinCAT 2.11 R3

Installation

https://download.beckhoff.com/download/document/Application_Notes/DK9121-0111-0026.pdf

Download TwinCAT Supplement Installer for EtherNet/IP connectivity.

Operating System:

• Windows 2000 / XP/ Windows XP Embedded: TS6280 | TwinCAT EthernetIP Slave
• Windows CE: TS6280-0030 | TwinCAT EthernetIP Slave CE

Run the Installer on your programming PC and follow its instructions.

If the target operating system is Windows 2000 / Windows XP or Windows XP Embedded, the TwinCAT EtherNet/IP-Slave is now ready for Start-Up (go on with chapter "Start-Up"!).

If the target operating system is Windows CE, please follow the instructions below:

• The folder ..\TwinCAT\CE\TwinCAT EtherNetIP Slave CE\Install\ARM contains a Cabinet-File (CAB file) for ARM-based CE runtime systems (e.g. CX9001, CX9010, CP66xx,...).
  The folder ..\TwinCAT\CE\TwinCAT EtherNetIP Slave CE\Install\X86 contains a Cabinet-File for X86-based CE runtime systems (e.g. CX1000, CX1020, CP77xx, CP62xx, CP72xx, C69xx,....)
• Copy the file: TcEtherNetIP_S_Ce.XXXXX.CAB into a folder on the CE runtime system.
• On the CE system: Please install (double-click the CAB file) the CE components.
• IMPORTANT: Please suspend the CE device once after installation via "Start-> Suspend"!

Start-Up

General information

• At the moment, the TwinCAT EtherNet/IP Slave does only support static IP-Address configurations.
  When the TwinCAT EtherNet/IP Slave configuration is beeing activated, the System is only going to start up
  in RUN-Mode if the actual address settings match the stored configuration.

First Steps

1. Start the TwinCAT System Manager, create a new project and use the context menu after a mouse-click on "I/O Devices", to append a device in the I/O-Configuration
   
   
2. Choose "DeviceNet/Ethernet/IP" as shown below
   
   
3. Serach the Ethernet Interface, if you don't find a interface you havn't install the RT-Ethernet driver!
   
   
4. Change to Sync Task, Create a new Task and change the Cycle Ticks to 10 ms.
   Important: The Sync Tasks Cycle Time represents the lowest border of the EtherNet/IP cycle time (RPI)
   (e.g. task cycle time = 10ms ==> EtherNet/IP RPI_min=10ms)
   
   
5. It's necessary to define a sync master for triggering EtherNet/IP Slave Protocol.
   - Option "Standard": the sync master must be defined manually by the user. (f. e. PLC Task) (this option is not supported by CX9000series)
   - Option "Special Sync Task": a additional task will be created automatically
   
   
6. Append an EtherNet/IP Slave Box as shown below
   
   
   
   
7. Append a Connection (Assembly) on the EtherNet/IP Slave Box as shown below
   
   
8. Depending on application requirements it's possible to define the size of Processdata Image separately for inputs
   and outputs from 1 up to 502 bytes. Please find an example for defining 8 Word Input Processdata as shown below.
   
   
   
9. A valid EtherNet/IP Configuration is shown below
   
   
10. The Pre-Configuration of TwinCAT EtherNet/IP Slave is finished now. Activate the configuration and go on with Integration in RSLogix5000.

Integration in RSLogix5000

1. Open RSLogix 5000 and Create a new PLC project. When creating a new project make sure to select the correct controller type and
   controller settings. This example uses a CompactLogix (L32E) with the TwinCAT EtherNet/IP Slave Example configured as shown above.
   
   
2. Add a new module. When adding the TwinCAT EtherNet/IP Slave box, select the "ETHERNET-MODULE", since it is a generic Ethernet/IP
   device, and it will be configured to work with the TwinCAT EtherNet/IP Slave
   
   
   
   
3. Configuring the TwinCAT EtherNet/IP Slave in RSLogix:

• Enter IP-Address of TwinCAT EtherNet/IP Slave
• Choose Data Type (Comm Format)
• The Assembly Instances will be as follows:
• Input(Target->Originator: 101
• Output(Originator->Target: 102
• Configuration: 100
• Things to keep in mind when entering the data size for I/O:
• There will always be 4 bytes of input and 4 bytes of output data used for diagnostics.
• The EtherNet/IP Slave Dialog View in TwinCAT Systemmanager (Subchapter "First Steps", Picture 8) assist you to find the correct data sizes.

1. Choose Requested Packet Interval in ms (shall not be lower than TwinCAT EtherNet/IP Slave Sync Task Cycle Time)
   (Cycle Time in the TwinCAT Slave Example was set to 10ms)