Table of Contents

Getting Started With TwinCAT 3

This article describes how to configure a TwinCAT project for use with the Loehnert.Lisrt.IO.Beckhoff package.

Important
  • The TwinCAT version must be greater or equal than 3.1.4024.0.
  • The environment language must be English to ensure correct variable names.

1. Create a TwinCat 3 Project

Create a new TwinCAT XAE Project.

2. Scan and Add Your Devices With Boxes

Restart TwinCAT in Config Mode and Scan the devices.

Scan devices

3. Rename the Terminals

The names of the terminals must match the name of .Net terminal instance.

Tip

You should use the device label as terminal name, for example +S1-30K12_3.

Important

Do not use dots "." in the name, use an underscore "_" instead.

Terminal name

At least one variable must be linked to a task, because the EtherCAT device needs a sync master

  • Insert a new TwinCAT Task With Image to SYSTEM.Tasks
  • Add a variable to the new task Inputs (e.g. of type WORD)
  • Link this variable to any IO (e.g. to DevState of the EtherCAT master)
Tip

Set the Cycle ticks property of the task to 1 for the fastest update interval.

Link variable to IO image

5. Enable ADS Server of the EtherCAT Device

The Loehnert.Lisrt.IO.Beckhoff library reads data directly from the EtherCAT device, so the ADS server of the EtherCAT device must be enabled.

Activate ADS and creating symbols

Check Enable ADS Server and Create symbols.
The Generate hierarchical symbol names property must not be checked. (Not available in older TwinCAT 3 versions.)

Note

You will need the port on this page later in your LisRT module configuration.

See Also