Implementation with Beckhoff TwinCAT 3
You can use Beckhoff TwinCAT 3 software to test the connectivity with the RoboDK OPC UA Server.
Add TwinCAT3 Server
You can start by creating the OPC UA Client byselecting 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;
