TwinCAT的功能TwinCAT是一个自动控制软件包包含工程和运行时间软件针对于：实时核·顺序控制（软PLC),·运动控制（软移动控制），・通讯(ADS),Vindows NT/XP和CE.NET.的硬实时环境下BECKHOFF New Automation Technology分时多任务控制系统的原理■PLC任务和运动控制任务可以精确地以设定的循环周期执行Real time operation of a PLC program and NC control with a PCNCPLC programWin NT HMI Interface50客232423e.g.:11ms2ms3ms4ms5msNC cycle (e.g.1ms)NC cycleNC cycleNC cycleSPS cycle (e.g.2ms)PLC cycleBECKHOFF New Automation TechnologyTwinCAT启动的顺序Power ON如果设置了允许Auto Log OnStart如果设置了AutoWindows NTBoot项为Enable2Start TwinCAT如果PLC属性中设置了Windows User Log onBoot Project项的PLC任务为EnableLoading the boot project3into the Run-Time如果已经在PLCControl中创建了启动程序，执行4Start PLC“Create boot project'"BECKHOFF New Automation TechnologyBECKHOFF The Automation CompanyCPU运算能力的分配一传统PLC与PC-Based控制系统的比较Read inputsOperate programWrite outputsWin NT HMI Interface传统PLC的CPU时间分配PLC cyclePLC cyclePC-Based控制系统的CPU时间的分配.PLC cyclePLC cycletBECKHOFF New Automation TechnologyPLC任务与Vindows任务的时间调度Cyclic PLC task e.g.10ms10ms20ms30ms控制任务实际使用的时间小于时基的定义ms80%80%80%TwinCATWTime slice forWindows0ms1ms2ms3msTime slice forTwinCATPLCPLCPLC programcyclic task在每一个时间片中，如果控制任务提前完成，则CPU自动交还给Vindows程序BECKHOFFNew Automation TechnologyTwinCAT系统服务Uber TwinCAT...TwinCAT系统服务是在本机上作为Windows NT的一个服务来运行的.所以在Windows.用户登陆之前，就首先启动EreignisanzeigeTwinCat服务，System ManagerTwinCat服务会在桌面右下方的后台运行任务条上显示其PLC Control活动符号，符号的颜色指示出TwinCat系统的状态EchtzeitRouterTwinCAT服务停止，实时核不工作StopTwinCAT模式切换中SystemRestartTwinCAT运行模式，即PLC已上电PLCKonfigTwinCAT配置模式，即PLC未上电EigenschaftenStart相当于把PLC切换到“RUN”模式Stop相当于把PLC切换到“Stop”模式1538目Reset相当于把PLC切换到“Reset”位置BECKHOFF New Automation TechnologyTwinCAT的启动设置Test1-TwinCAT System ManagerFile Edit Actions View Options HelpSYSTEM-ConfigurationReal-Time SettingsGeneralBoot SettingsAdditional TasksBoot SettingsRoute SettingsANC ConfigurationAuto Boot:C Run Mode [Enable]由yPLC-Configuration⊙Config ModeCam-ConfigurationAuto LogonUser NameUser1MappingsPassword12TwinCAT Auto bootAuto logonwith Win NTBECKHOFF New Automation TechnologyPLC启动设置Number of run time systemsTest1-TwinCAT System ManagercFile Edit Actions ViewOptions HelpSYSTEM-ConfigurationGeneral Plc SettingsAdditional TasksRoute SettingsNumber of Run-Times:ApplyNC-Configuration中到PLC-ConfigurationCam-ConfigurationBoot Project:Load/Store Retain Data:白-yI-Configuration1.Run-Time System (Port:801)1.Run-Time System (Port:801)由的O Devices2.Run-Time System (Port:811)2.Run-Time System (Port:811]告Mappings3.Run-Time System (Port:821)3.Run-Time System (Port:821]4.Run-Time System (Port:831]4.Run-Time System (Port:831]Clear Invalid Retain DataClear Invalid Persistent DataEnabling for loading the bootEnabling for loading and savingproject for the run time system 1.the RETAIN data for the runtime 1.BECKHOFF New Automation Technology