Implementation with Beckhoff TwinCAT3

Add TwinCAT3 Server

Now we can insert the OPC UA Client by I/O>Devices>Add New Item.

Select Virtual OPC UA Device from OPC >OK.

OPC UA Virtual is inserted.

We need to add an OPC UA Client to access the RoboDK OPC UA Server.

Select Device 1 >Right Click >Add New Item.

Select “OPC UA Client(Module)” and Ok.

OPC UA Client is inserted.

Configure the Server

Open the OPC UA Client >Go to Settings Tab>click the “Select Endpoint” to configure the OPC UA Server endpoint that you would like to access.

Enter the RoboDK OPC UA server URL and Update it.

Add RoboDK Server Method

Press “Add Nodes” to browse the node that is inside the OPC UA Server.

If the connection between TwinCAT and OPC UA Server is established, you can Browse the details of OPC UA server.

Select all Methods and Ok.

Methods are inserted in your Configuration.

Auto Generate RoboDK Method

Configure your Name Prefix in this field.

Press “Create Plc Code” to create the PLC Code from TwinCAT.

An OpcUaClient folder is created in your project, and all RoboDK Method are created in IEC61131-3 Function Block format.

PLC Program Example

This section shows a sample program of a Beckhoff TwinCAT PLC that communicates with RoboDK OPC UA server.

PROGRAM MAIN

VAR

   bConnected      :BOOL;

   StationPointer  :DINT;

   iStep           :INT;

   bStart          :BOOL;;

   i               :INT;

   TON             :TON;

   bReset          :BOOL;

   bWrite          :BOOL;

   TON2            :TON;

   bShow           :BOOL:=TRUE;

   bVis            :BOOL:=True;

END_VAR

VAR

   Robot_name      :STRING(80):='ABB_RB1';

   Item_ID         :ULINT;

   arrJoints       :ARRAY[0..11]OF LREAL;

   strJoints       :STRING(80):='';

   arrJointsFromStr:ARRAY[1..11]OF LREAL;

   sSeparator      :STRING(1) := ',';

   arrJointsCommand:ARRAY[1..11]OF LREAL;

   strJointsCommand:STRING(80);

END_VAR

VAR CONSTANT

   cStepWaitCmd          :INT:=0;

   cStepInit             :INT:=5;

   cStepGetItem          :INT:=10;

   cStepGetItemReset     :INT:=20;

   cStepGetItemError     :INT:=990;

   cStepGetJoints        :INT:=30;

   cStepGetJointsReset   :INT:=40;

   cStepGetJointsError   :INT:=991;

   cStepGetJointsStr     :INT:=50;

   cStepGetJointsStrReset:INT:=60;

   cStepGetJointsStrError:INT:=992;

   cStepSetJointStrDelay :INT:=69;

   cStepSetJointsStr     :INT:=70;

   cStepSetJointsStrReset:INT:=80;

   cStepSetJointsStrError:INT:=993;

   cStepEnd              :INT:=300;

   cStepWaitReset        :INT:=999;

END_VAR

VAR

　　aSplit        :ARRAY[1..11] OF STRING(80);

　　bResultSplit  :BOOL;

    debug 　　　　 :BOOL;

     URL              :STRING:='http://192.168.3.42:8091';

END_VAR

bConnected:=OPCUA_VirtualClient_RoboDK_Station.bConnected;

CASE iStep OF

   cStepWaitCmd:

    IF bStart THEN

          iStep:=cStepInit;

          bStart:=FALSE;

    END_IF

   cStepInit:

    StationPointer:=0;

    FOR i :=1 TO 11 DO

          arrJoints[i]:=0.0;

          arrJointsFromStr[i]:=0.0;

          aSplit[i]:='';

    END_FOR

    IF NOT OPCUA_VirtualClient_RoboDK_Station.getItem.bBusy

          AND NOT OPCUA_VirtualClient_RoboDK_Station.getItem.bError

          AND NOT OPCUA_VirtualClient_RoboDK_Station.getJoints.bBusy

          AND NOT OPCUA_VirtualClient_RoboDK_Station.getJoints.bError

          AND NOT OPCUA_VirtualClient_RoboDK_Station.getJointsStr.bBusy

          AND NOT OPCUA_VirtualClient_RoboDK_Station.getJointsStr.bError

          AND NOT OPCUA_VirtualClient_RoboDK_Station.setJoints.bBusy

          AND NOT OPCUA_VirtualClient_RoboDK_Station.setJoints.bError

          AND NOT OPCUA_VirtualClient_RoboDK_Station.setJointsStr.bBusy

          AND NOT OPCUA_VirtualClient_RoboDK_Station.setJointsStr.bError

          THEN

          iStep:=cStepGetItem;

    END_IF

    iStep:=cStepGetItem;

   cStepGetItem:

    IF OPCUA_VirtualClient_RoboDK_Station.getItem.bDone THEN

          iStep:=cStepGetItemReset;

    Item_ID:=OPCUA_VirtualClient_RoboDK_Station.getItem.Item_ID;

    ELSIF OPCUA_VirtualClient_RoboDK_Station.getItem.bError THEN

          iStep:=cStepGetItemError;

    END_IF

   cStepGetItemReset:

    IF NOT OPCUA_VirtualClient_RoboDK_Station.getItem.bError

          AND NOT OPCUA_VirtualClient_RoboDK_Station.getItem.bBusy

          THEN

          iStep:=cStepGetJoints;

    END_IF

   cStepGetJoints:

    IF OPCUA_VirtualClient_RoboDK_Station.getJoints.bDone

          AND NOT OPCUA_VirtualClient_RoboDK_Station.getJoints.bBusy

          THEN

          iStep:=cStepGetJointsReset;

    ELSIF OPCUA_VirtualClient_RoboDK_Station.getJoints.bError THEN

          iStep:=991;

    END_IF

   cStepGetJointsReset:

    IF NOT OPCUA_VirtualClient_RoboDK_Station.getItem.bError

          AND NOT OPCUA_VirtualClient_RoboDK_Station.getItem.bBusy

          THEN

          iStep:=cStepGetJointsStr;

    END_IF;

   cStepGetJointsStr:

    IF OPCUA_VirtualClient_RoboDK_Station.getJointsStr.bDone

          AND NOT OPCUA_VirtualClient_RoboDK_Station.getJointsStr.bBusy

          THEN

          iStep:=cStepGetJointsStrReset;

    ELSIF OPCUA_VirtualClient_RoboDK_Station.getJointsStr.bError THEN

          iStep:=cStepGetJointsStrError;

    END_IF         

   cStepGetJointsStrReset:

    IF NOT OPCUA_VirtualClient_RoboDK_Station.getJointsStr.bError

          AND NOT OPCUA_VirtualClient_RoboDK_Station.getJointsStr.bBusy

          THEN

               iStep:=cStepSetJointStrDelay;

    END_IF;

   cStepSetJointStrDelay:

    strJointsCommand:=''; strJointsCommand:=CONCAT(LREAL_TO_STRING(arrJointsCommand[1]),strJointsCommand);

      strJointsCommand:=CONCAT(strJointsCommand,',');

   strJointsCommand:=CONCAT(strJointsCommand,LREAL_TO_STRING(arrJointsCommand[2]));

      strJointsCommand:=CONCAT(strJointsCommand,',');

   strJointsCommand:=CONCAT(strJointsCommand,LREAL_TO_STRING(arrJointsCommand[3]));

      strJointsCommand:=CONCAT(strJointsCommand,',');

   strJointsCommand:=CONCAT(strJointsCommand,LREAL_TO_STRING(arrJointsCommand[4]));

      strJointsCommand:=CONCAT(strJointsCommand,',');

   strJointsCommand:=CONCAT(strJointsCommand,LREAL_TO_STRING(arrJointsCommand[5]));

      strJointsCommand:=CONCAT(strJointsCommand,',');

   strJointsCommand:=CONCAT(strJointsCommand,LREAL_TO_STRING(arrJointsCommand[6]));

    TON2(IN:=TRUE,PT:=T#0.2S);

    IF TON2.Q THEN

          TON2(IN:=FALSE);

          iStep:=cStepSetJointsStr;

    END_IF

   cStepSetJointsStr:

    IF (

　　　　　　　　OPCUA_VirtualClient_RoboDK_Station.setJointsStr.bDone

          AND NOT 　　

　　　　　　　　OPCUA_VirtualClient_RoboDK_Station.setJointsStr.bBusy

　　　　　　　　　)

          OR NOT bWrite

          THEN

          iStep:=cStepSetJointsStrReset;

    ELSIF OPCUA_VirtualClient_RoboDK_Station.setJointsStr.bError 　　　　　　　　　　

　　　　　　　　　　THEN

          iStep:=cStepSetJointsStrError;

    END_IF    

   cStepSetJointsStrReset:

    bWrite:=FALSE;

    　OPCUA_VirtualClient_RoboDK_Station.setJointsStr.bExecute:=FALSE;

    IF NOT OPCUA_VirtualClient_RoboDK_Station.setJointsStr.bError

          AND NOT OPCUA_VirtualClient_RoboDK_Station.setJointsStr.bBusy

          THEN

          iStep:=cStepEnd;

    END_IF;

   cStepEnd:

    TON(IN:=TRUE,PT:=T#0.1S);

    IF TON.Q THEN

          TON(IN:=FALSE);

          IF NOT debug THEN

               iStep:=10;

          ELSE

               iStep:=cStepSetJointStrDelay;

          END_IF;

    END_IF

   cStepGetItemError:

    Item_ID:=0;

    iStep:=cStepWaitReset;

   cStepGetJointsError:

    FOR i :=0 TO 11 DO

          arrJoints[i]:=-99999.99;

    END_FOR

    iStep:=cStepWaitReset;

   cStepGetJointsStrError:

    strJoints:='';

    iStep:=cStepWaitReset;

   cStepWaitReset:

    IF bReset THEN

          iStep:=cStepInit;

          bReset:=FALSE;

    END_IF;   

END_CASE

aSplit[1] := strJoints;

FOR i:=1 TO 7 DO

bResultSplit := FindAndSplit(

　　　pSeparator  := ADR(sSeparator)

　　　,pSrcString := ADR(aSplit[i])

　　　,pLeftString:= ADR(aSplit[i])

　　　,nLeftSize  := SIZEOF(aSplit[i])

　　　,pRightString:= ADR(aSplit[i+1])

　　　,nRightSize := SIZEOF(aSplit[i+1])

　　　,bSearchFromRight := FALSE );

IF NOT bResultSplit THEN

    EXIT;

END_IF

END_FOR

FOR i :=1 TO 6 DO

   arrJointsFromStr[i]:=STRING_TO_LREAL(aSplit[i]);

END_FOR;

//

OPCUA_VirtualClient_RoboDK_Station.getItem(

bExecute:=iStep=cStepGetItem

,Item_Name:=Robot_name

);

OPCUA_VirtualClient_RoboDK_Station.getJoints(

bExecute:=iStep=cStepGetJoints

,Item_ID:=Item_ID,Joints=>arrJoints

);

OPCUA_VirtualClient_RoboDK_Station.getJointsStr(

bExecute:=iStep=cStepGetJointsStr

,Robot_name:=Robot_name,Joints=>strJoints

);

IF bWrite THEN

OPCUA_VirtualClient_RoboDK_Station.setJointsStr(

   bExecute:=TRUE

   ,Robot_name:=Robot_name,Joints:=strJointsCommand);

END_IF;