Experimental Physics and
Industrial Control System

Hej,

we have done some integration with a Beckhoff CPU into EPICS:
The CPU has 2 Ethernet interaces, one is used for Ethercat only, where you connect the slaves.

The other interface is connected to the Windwos PC running the developmnet SW, Twincat 2 or 3.

At the same interface we connect to an IOC, using TCP/IP.

We can control the settings of a chopper motor,
which runs synchronous to a 14 Hz pulse.

(The puls is later coming from a timing system, right now we use a function generator.)
The synchronisation control loop is done in the CPU.

From EPICS you can control the phase of the motor (and the chopper disc) to the pulse,
you can read back the actual phase (and much more)

On the Beckhoff side we have developed a TCP/IP communication module,
on the IOC we are using StreamDevice.




On 05/12/14 00:00, LYNCH, Damien wrote:

Hi Daniel,

We’ve got a couple of CX9020 PLCs integrated into EPICS.
One of the PLCs is running TwinCAT 2 and the other is running TwinCAT 3.
 As already mentioned there are a few options of integrating Beckhoff embedded PCs into an EPICS system but we are using the EtherCAT bus.
If you aren’t already using EtherCAT or don’t plan to then I’d probably not go down this path as it will take more time to get working.
 If you would like to use the EtherCAT bus then you’ll have to buy the EtherCAT slave peripheral for the CX9020. Then the basic steps we do are:

1) In TwinCAT write your PLC program (we are using structured text)

2) For the PLC variables you would like to expose to the EPICS mastered EtherCAT bus create matching variables in the EtherCAT slave peripheral. This is done in TwinCAT as well of course

3) In TwinCAT link the PLC and EtherCAT slave variables

4) On the EPICS master side create the ESI file for the embedded PC. I use “ethercat xml” as the basis of this operation

5) Use the DLS EtherCAT package tools to create the scanner configuration and the DB template files as you would normally.

Damien

*From:*[email protected] [mailto:[email protected]] *On Behalf Of *BOGARD Daniel
*Sent:* Thursday, 4 December 2014 8:30 PM
*To:* [email protected]
*Subject:* connecting EPICS to a Beckhoff PLC

Hi All,

I have to connect a CX9020 Beckhoff PLC to EPICS. Does anyone have a suggestion to do this.

Thanks in advance.

Daniel BOGARD

CEA

DSM/IRFU/SIS/LDISC

CE Saclay

Bat 472 Pce 125

Tel : 01 69 08 72 04

Mail : [email protected] <mailto:[email protected]>

References:

RE: connecting EPICS to a Beckhoff PLC [SEC=UNCLASSIFIED] LYNCH, Damien

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