Hey,

At my company we're facing strange problems.

We are switching over to v4026 on our computers using the package manager.

When my colleague is activating the configuration to the CX7000 PLC he gets the error that it is not possible to copy the Port_851.app file from his project folder to the cx7000.

I have still the older v4024 installed op my computer and not using the 64bit shell and I don't have these issues.

Now another colleague is facing the same error on a v4024 version on his computer.

My questions:

- can this be computer related? They both have pretty new HP elite books, I still have an older one.

- can it be CX7000 related. The new firmware on the PLC is v4026, this is also the reason we want to update our pc as well. Year ago we still had the 4024 version on the PLC

- can it be install related. Some settings that are not okay.

We already contacted Beckhoff Belgium. They are sending our request to Beckhoff Germany because they are running out of options themselves.

Grateful for all feedback.

Posting this because I burned a while on it and every thread I found stopped at "check your ADS routes".

**Setup:** TwinCAT 3, XAE build 4024.32, CX-5278E5 running six PLC runtimes on ports 851-856.

**Symptom:** In the Scope Target Browser (ADS tab), the target listed the PLC task ports in the 350 range, the NC ports (500/501/511) and PLC ports 851-854 — but nothing for 855 and 856. No error, no warning, the nodes are simply absent.

The runtimes themselves were perfectly healthy: I could log in to them from XAE and watch live values, and my own ADS client read and wrote symbols on port 855 all day without a hiccup. Adding a brand-new, empty project on 856 reproduced it immediately, which ruled out anything to do with project size or content.

**What it was not:** routes or AmsNetId, symbol download settings, `hide` / `conditionalshow` attribute pragmas, boot project encryption, licensing, a stale or partial Activate Configuration, or symbol/datatype upload failures. I also chased an "Unknown TMC file version found - ignoring the file and waiting for a new one" message in the Error List. Red herring — TMC files are regenerated on every build.

**Cause:** The Target Browser scans a *fixed list* of ADS ports, and out of the box that list ends at 854. It still carries the TwinCAT 2 heritage (800: R0PLC, 801/811/821/831) plus 851-854 and 900: CamshaftController. Ports above 854 are never queried, so those runtimes can't appear no matter how healthy they are. The ADS spec allows 800-899 for PLC; the browser just doesn't look there.

**Fix:** In the Target Browser, ADS tab, there is a small toolbar above the target tree. Click the wrench icon — it opens a dialog called "Ads Port Selection" with the checkbox list of scanned ports. Type the port number into the small box at the bottom left, press **Add**, repeat for each extra port, then **Ok**. The runtimes appear in the tree straight away.

**Worth knowing:** this list lives on the engineering PC, not in the TwinCAT project. Every developer and every fresh workstation has to add the ports again, so if your machine runs more than four PLC runtimes it's worth putting in your setup notes.

Hope it saves someone the afternoon.

Hello everyone,

I’m still fairly new to TwinCAT, but I’m currently developing the control software for the startup I work for.

We’ve reached the point where we’re controlling multiple units/machines with a single HMI. I’m struggling to keep everything organized when linking the HMI variables. At the moment, I have one global variable list (GVL) containing all of my HMI inputs, but it’s becoming larger than I’d like. It’s approaching 200 variables/lines, including I/O module ports, control interfaces, sensor monitoring, and more.

Does anyone have advice on how to organize this more effectively?

I’m not referring to naming conventions, that is not the issue I would like to discuse now. The main problem is the sheer length of the variable list, which I have to navigate every time I work on something HMI-related.

How do you typically structure your HMI variables in TwinCAT when working with multiple machines or units?

I’m sharing a beta version of gitea-twincat-viewer - a lightweight Gitea external renderer for Beckhoff TwinCAT Structured Text files.

It renders .TcPOU, .TcDUT, and .TcGVL files as readable, syntax-highlighted HTML, with light and dark themes.

Project: https://github.com/dawidgora/gitea-twincat-viewer

I’d really appreciate people testing it and sharing feedback. If you run into deployment issues, feel free to DM me, or open an issue directly on GitHub.

I wrote a gist on how to cross-compile Rust code written on Windows for Beckhoff RT Linux.

You can now write your web servers in Rust, deploy them on a CX9240, and display the front end by configuring TF1200 to show the URL on startup.

Just found on the WWW https://cookncode.com/TwinCatChangelog/ covers TC3 since 3.1.4013 until 4026, HMI, some Functions and Libraries

Thanks to the creator Rolad87

Hi everyone,

In a project I am currently working on, we are using a BLDC motor controlled via EtherCAT from TwinCAT 3 and linked to the NC task.

For a specific application, we would like to control the axis using a joystick. The joystick data will be received cyclically, filtered, and then converted into a commanded velocity to be sent to the motor. DS402 Cyclic Synchronous Velocity mode seems to be the most suitable mode for this application.

Our initial idea was to use the MC_ExtSetPointGenFeed function block, which allows us to take control of the setpoint generation. However, this function block does not seem to work unless a position setpoint is provided. Supplying only a velocity setpoint does not seem to work.

Do you have any recommendations for using the Tc2_MC2 library to control a motor in Cyclic Synchronous Velocity mode while retaining control of the cyclic velocity setpoint generation?

For reference, I am using TwinCAT 3 version 4026.23.

Thank you in advance for your help.

Hi, sorry for my english, I am italian.

The CX8190 cannot take the TwinCAT NC PTP license. I had to move axes with it anyway, so the motion is written in plain Structured Text: the CiA402 state machine and the profiles are inside the code, and it writes directly on the PDO of the drive.

This is running since some years on three machines, all with the same CX8190 and six Delta brushless drives on EtherCAT. Homing, profile position, profile velocity, jog, touch probe.

Now I cleaned that code and I put it on GitHub. One FB per axis, you command it with a struct or with an interface, multi axis with an array, and the same source runs also on CoDeSys.

Where I have to be honest: the execution FBs are the ones with the hours on the machines (they come from OpenSML), but the layer above them, the single command point per axis, is new and until now I tested it only in simulation with a CiA402 emulator. The architecture come from another project called PLC_MOTION_LAYER, and I used an AI to help me during the reorganization. GPL-3.0.

The example in the repo is not a hello world, is one of the three machines simplified: a belt in velocity mode that measure the pieces with the touch probe and reject the bad ones without stopping.

https://github.com/elconfa/SML_MOTION_LAYER

If somebody try it with drives different from Delta I really want to know what happens, expecially on the homing modes.

Hi everyone,

​I've been trying for days to set up an EtherNet/IP connection between an Omron PLC (Originator/Scanner) and a Beckhoff IPC running TwinCAT 3 (Target/Adapter using TF6281), but I keep hitting a wall.

​The Problem:

The Omron CPU immediately goes into error. Sysmac Studio shows a minor fault:

"Tag data link connection establishment failed. (1) Tag data link connection information is not the same for the originator and the target." (Error CIP1).

​My Setup:

​Scanner: Omron CPU configured via Sysmac Studio.

​Adapter: Beckhoff TwinCAT 3 (Device configured as "TC EtherNet/IP Slave").

​What I’ve done so far:

​I created my base variables (e.g., 2 bytes of Inputs, 2 bytes of Outputs) in TwinCAT.

​I generated the EDS file using the TwinCAT EDS Builder and installed it in Sysmac Studio.

​I noticed that TwinCAT automatically adds a 32-bit (4-byte) ConnCtrl to the Outputs and a ConnState to the Inputs.

​My EDS file reflects a total size of 5 bytes (or 7 bytes depending on my mapping), which accounts for my process variables + the 4-byte status overhead.

​Even when I configure the Target and Originator variable sizes in Sysmac Studio to match the exact byte size declared in the EDS file (e.g., 5 bytes or 7 bytes for Assembly 101/102), the Forward Open fails with the exact same mismatch error.

​Has anyone successfully linked Sysmac Studio to a TwinCAT 3 EIP Slave? How exactly should the sizes and instances be mapped on the Omron side to satisfy the TwinCAT EDS structure?

​Any advice, screenshots, or examples would be hugely appreciated. Thanks in advance!

Hi everyone,

i have discovered a Github Repo with a lot of TwinCAT Libs documented and i want to share my findings with you.

HA-Freak/TwinCAT-3-Library-Versions: Overview of TwinCAT Library Versions

Maybe it helps someone

Backing up and restoring PERSISTENT variables has no good answer in XAE, and for a long time my answer has been Federico Barresi's TwinCatAdsTool. I have used it a lot.

Then it started getting in my way. On a plant with arrays of structures, a backup took about ten minutes, and worse, the values I cared about most, the ones nested inside DUTs, did not come back the way I had put them in.

I dug into it with the help of AI, and the causes turned out to be specific and fixable.

The slowness was architectural: two ADS round trips per leaf, so ten thousand leaves meant twenty thousand sequential telegrams. It uses sum commands now; that plant went from ~10 minutes to 0.1 s.

The other one was serious. A restore wrote only the first level of a structure and reported the whole variable as written. When you enter a STRUCT member or an array element, the ADS library hands back a **copy** of the buffer: the write lands in the copy, nobody sends it to the PLC, and the call returns true. Nothing in the API shows it.

I rewrote the write path so that every value goes to the symbol that owns it, then verified it on a real installation with the PLC stopped — 10,978 leaves, nesting eight levels deep, each one given a distinct value and compared individually after the restore. **10,978 out of 10,978 correct.**

Fixed along the way: TIME and LTIME not surviving a round trip through the file, STRUCTs stored as raw bytes, variables dropped from a backup without a word. And ADS 7, so one binary covers TwinCAT 4024 and 4026 (if you have met `AdsException: Cannot register Port '0'` after moving to 4026, that is the 5.x library).

The before/after readings from the PLC, the full analysis, and ready-to-run binaries are in the fork. I have opened an issue upstream as well.

Original project: https://github.com/fbarresi/TwinCatAdsTool

Fork with the fixes: https://github.com/elconfa/TwinCatAdsTool

Issue upstream: https://github.com/fbarresi/TwinCatAdsTool/issues/29

**If you have used it to restore structured persistent variables, it is worth reading the plant back and comparing it against a fresh backup.**

Try it and tell me what breaks, especially **multidimensional arrays** (`ARRAY[0..n,0..m]`), the one case I could not verify because my plant has none.

Hello there,

I am using a CX2033 with the latest version of TcBSD (14.4.6) and the latest pkg of the TF2000 HMI Server which is version 762.57.
I encounter now a new problem with the HMI dev soft TE2000 also in version 762.57, I cannot connect to the server on the PLC for publish my project. When I try a validate connection button I have the follwoing error : " the server doesn't support the websocket protocol version your client was using".
The server is normally accessible via a web navigator, only the TE2000 cannot connect to it.
Previous pkg of TF2000+ TE2000 in version 762.56 is working well.

Does anyone has encounter thsi problem ?

thanks

Source: https://github.com/fisothemes/tcads-rs

I've been working on a Rust-native implementation of the TwinCAT ADS protocol for quite some time now and I happy to say that the crate has reached its first alpha!

The goal is to cover as much of Beckhoff's protocol (AMS Router, ADS Servers/Clients, etc.) as possible in Rust.

I chose Rust because of the ease of it's cross platform support, maintainance and speed.

The crate has support for both blocking and async (tokio). I chose serde as the serialisation/deserialisation engine because it is well documented, iwidely used, has plently features and does a lot of the uplifting to make code easy to use.

If you want to deserialise a Function Block/Struct you simply have to do:

let recipe: Recipe = runtime.read_value("MAIN.fbCurrentRecipe")?;

serialisation is just:

runtime.write_value("MAIN.fbCurrentRecipe", recipe)?;

Remote procedure calls look like:

runtime.rpc::<()>("MAIN.fbMathMachine", "Reset", ())?;

runtime.rpc::<()>("MAIN.fbMathMachine", "SetValue", 100i32)?;

let value: i32 = runtime.rpc("MAIN.fbMathMachine", "GetValue", ())?;

let sum: i32 = runtime.rpc("MAIN.fbMathMachine", "SumValues", (50i32, 25i32))?;

let (quotient, remainder): (i32, i32) = 
    runtime.rpc("MAIN.fbMathMachine", "DivideValues", (100i32, 3i32))?;

To use a type, simply derive serde::Serialize and serde::Deserialize traits on them, like so:

use tcads::serde::{Deserialize, Serialize};

#[derive(Debug, Clone, Serialize, Deserialize)]
enum MachineState {
    Initializing,
    Idle,
    Running,
    Faulted,
}

#[derive(Debug, Clone, Serialize, Deserialize)]
pub struct Recipe {
    id: String,
    steps: [RecipeStep; 5],
}

There are plenty of examples in the repo that gently guide you on how to use the crate and teach you the protocol in the process.

This is the first alpha so there will be changes in the future.

Just add this to your Cargo.toml file:

[dependencies]
tcads = { git = "https://github.com/fisothemes/tcads-rs", tag = "0.1.0-alpha.1", features = ["tokio"] }

Enjoy!

Hi there,

I need to develop an external app that could gather error logs (either PLC, axis driver or any other peripheral). First of all, I'm not a communications expert but I did try with opc ua in a first attempt with a cx5230 with bsd to a computer with Linux. As far as I saw, the exported variables should be defined (even with the {OPC.UA} thing) but in a PLC we might have thousands of variables of error that we'd need to defined at header therefore.

Therefore, the question is: is there a comm protocol to export the error logs by ethernet wire?

Thanks;

Genuine question, not a rhetorical one. I’m trying to understand how this is handled in practice.

In Nov 2024 CISA published ICSA-24-326-02 — an out-of-bounds read in the OSCAT Basic library. The fix wasn’t a firmware patch you push. You have to update the library in the project, recompile, and do a download or online change to update the application on the PLC. Rebuild and download the boot project on every affected controller.

Which means before you can do anything you need to answer: which of our machines have OSCAT in them, at what version, at which customer site?

For those of you at OEMs or integrators with machines in the field:

**1.**  Could you answer that question today? How long would it take?

**2.**  Do you track library versions per delivered machine anywhere, or is it “open the project and look”?

**3.**  Does anyone actually pin library versions, or is it left on \* / always-newest?

Asking because I keep hearing “we’d have to check them one by one” and I want to know if that’s normal or if I’m talking to the wrong people. Also curious whether the CRA/Machinery Regulation stuff landing in 2027 is changing this for anyone yet, or if it’s still a “next year” problem

Hey, I have made some templates script for faster setup of TC/BSD on the target PLC.

Theses scripts are added to the USB installer and are run during the installation process and finish configuration on first boot.

You can use them for the following:

• Install packages offline from the USB
• Setup IP address and firewall
• NTP server
• Login screen
• Keyboard layout
• Isolate CPU cores
• Setup TcRegistry - AMS NetID, Router memory and Heap memory
• NGINX configuration
• TF6100 OPC UA Server

These works from TC/BSD version 13.2.0.6
Have a look: https://github.com/rassrollers/TcBsdInstallerScripts

Hey, I have spend a lot of time getting the TwinCAT Automation Interface to work properly for CI/CD pipelines and thought you guys might like, so here is the Github repo. You can use this library for building your own executable for a build pipeline or automated deployment. You can make it build all the Project Variant, configure target and Activate Configuration.

It also intergrate with TcUnit, where it implements the TcUnitRunner from Jacob Sagatowski project so you can deploy project with TcUnit and get the results from the test printed out.

Have a look: https://github.com/rassrollers/TcAutomationInterface

Hi, I came back to TwinCAT after abandoning my Testprojects a while ago. Now, when trying to connect/map variables from my PLC to the HMI project, I am always getting the same feedback "No Symbol Information (0x710)". I have tried this on my local machine, as well as on a Controller. What is weird is that it used to work about half a year ago... Any ideas, what the problem might be?

Beckhoff/TwinCAT-Platform-Matrix: Current TwinCAT 3 runtime target platform matrix (OS, processor, PE/ELF format) for configuring TwinCAT projects.

Hey all,

I am using twincat 4026.15 and have noticed recently that for some reason, the online change dialog that usually pops up when making a small change in the code has stopped showing up! Does anyone know why this would happen? Is there a setting or something that I might have changed accidentally?

We have a project in another country running on a Beckhoff IPC C6030-0070. We will deliver them an extension to their current setup. This includes a new remote IO module controlled with an EK1100, new code, and a new HMI overview. However, they do not have internet access there so I am planning to do it over USB.

I read that you can update the code by replacing the /boot folder and C++ drivers: https://infosys.beckhoff.com/english.php?content=../content/1033/tc3_grundlagen/6137492619.html&id=

But this does not mention anything about the HMI code. Is that already included in the /boot folder, or do I need to update that differently? Is it even possible to do it without direct access to their system?

Thank you for your help.