Introduction

BECKHOFF Control Driver is part of the HumanOS® Runtime. It allows to integrate BECKHOFF PLC Controls into the smart industrial machining platform.

This document explicitly describes the BECKHOFF driver. For common description on HumanOS® Runtime, Software Design and device information files, see the "Operation Manual".

BECKHOFF Control Driver

The BECKHOFF Control Driver is a ubiquitous hardware abstraction (UHAL) plugin of HumanOS®. It allows to integrate BECKHOFF Controls into the world of Smart Industrial Machining.

This manual helps system engineers to configure and maintain the BECKHOFF Control Driver and HumanOS® Runtime setups.

INFORMATION

The BECKHOFF Driver plugin communicates over Ads-Library. A minimal installation of BECKHOFF Communication Gateway is required. Download Twincat ADS (TC31-ADS-Setup) from BECKHOFF website, either as guest or registered user.

Add Ads connection

For connecting to a Beckhoff control, you must add the Ads Route:

Click to the Beckhoff icon in taskbar. -> "Router" -> "Edit Routes"

You get a Window with the TwinCAT Static Routes. Click "Add...". Then you get the Window for set the connection:

Enter the IP Address of your control, then press the button "Enter Host Name / IP:". Select your control and add the Route.

TwinCat version 3 and upwards can prompt for credentials. These credentials are specified in the Beckhoff Device Manager which is a web portal running on the PLC (https://<ip-address>/config).

Driver Configuration

Device Information File

The device information file is used to configure the access to the BECKHOFF hardware. Each device is identified by a unique device id (GUID), which MUST match the machine license id. The information file also specifies the driver that must be used to connect to the hardware. Use the following driver id for BECKHOFF Control Driver:

{DBC6DEB3-951F-4A23-8477-7D8784995A95}

The BECKHOFF Device information file describes

• Data Access Points

Detailed reference for device information files, see the HumanOS® Operation Manual chapter "Device Information File".

Connection Address

The Address for BECKHOFF Controls is the AdsAmsNetId of the target:

Name	Description	Example
<AmsNetId>:<port>	AmsNetId of the target device including the port	5.44.184.224.1.1:851

TwinCAT 2.x

Use the following ports to connect to TwinCAT 2.x Environments:

801	PLC RuntimeSystem 1
811	PLC RuntimeSystem 2
821	PLC RuntimeSystem 3
831	PLC RuntimeSystem 4

For configuration, goto Beckhoff WebSite

TwinCAT 3.x

Use the following ports to connect to TwinCAT 3.x Environments:

851	PLC RuntimeSystem 1
852	PLC RuntimeSystem 2
853	PLC RuntimeSystem 3
854	PLC RuntimeSystem 4

For configuration, goto Beckhoff WebSite

Example

{
  "Name": "Beckhoff Device",
  "Id": "6f007270-ff97-48f8-b1cf-6e0f20e49366",
  "DriverId": "DBC6DEB3-951F-4A23-8477-7D8784995A95",
  "Address": "5.82.10.47.1.1:851"
}

Data Access

The BECKHOFF Control drives is capable to access all PLC variables. This chapter outlines the possibilities or accessing these data points and how to configure them.

DataTypes

Following data types are fully supported (read and event callbacks):

DataType	HumanOS System Datatype	TwinCAT Datatype
Boolean Value	System.Boolean	BOOL
8bit unsigned integer	System.Byte	BYTE
8bit unsigned integer	System. UInt8	USINT
16bit unsigned integer	System.UInt16	WORD, UINT
32bit unsigned integer	System.UInt32	UDINT
64bit unsigned integer	System.UInt64	ULINT
8bit signed integer	System.Int8	SINT
16bit signed integer	System.Int16	INT
32bit signed integer	System.Int32	DINT
64bit signed integer	System.Int64	LINT
32bit floating point	System.Single	REAL
64bit floating point	System.Double	LREAL
String values	System.String	STRING
Boolean Array	System.Boolean[]	ARRAY [0..N] OF BOOL
8bit unsigned integer Array	System.Byte[]	ARRAY [0..N] OF BYTE
8bit unsigned integer Array	System.UInt8[]	ARRAY [0..N] OF USINT
16bit unsigned integer Array	System.UInt16[]	ARRAY [0..N] OF WORD, UINT
32bit unsigned integer Array	System.UInt32[]	ARRAY [0..N] OF UDINT
64bit unsigned integer Array	System.UInt64[]	ARRAY [0..N] OF ULINT
8bit signed integer Array	System.Int8[]	ARRAY [0..N] OF SINT
16bit signed integer Array	System.Int16[]	ARRAY [0..N] OF INT
32bit signed integer Array	System.Int32[]	ARRAY [0..N] OF DINT
64bit signed integer Array	System.Int64[]	ARRAY [0..N] OF LINT
32bit floating point Array	System.Single[]	ARRAY [0..N] OF REAL
64bit floating point Array	System.Double[]	ARRAY [0..N] OF LREAL
String values Array	System.String[]	ARRAY [0..N] OF STRING

Writing is also possible, although not all memory ranges are supported.

Address

The native address of a data access point is the absolute variable name.

Example

PROGRAM PRG_Test
VAR
  Int32Value				: DINT;
END_VAR

{
  "Id": "93DEE416-DF8C-4F89-8BCE-EB21EF4963A9",
  "Name": "Int32Value",
  "DataClass": "Event",
  "DataType": "System.Int32",
  "Address": "PRG_Test.Int32Value ",
  "Access": {
    "Read": true,
    "Receive": true
  }
}