Learn BECKHOFF-TWINCAT with Real Code Examples
Updated Nov 27, 2025
Architecture
XAE Engineering on Windows
XAR Runtime executes on Windows real-time layer
EtherCAT master controls field devices
Modular PLC, motion, and CNC tasks
ADS handles internal/external communication
Rendering Model
Windows-based engineering UI
Real-time kernel extension
Cyclic tasks for deterministic execution
Distributed clock synchronization
ADS communication layer
Architectural Patterns
Task-driven execution model
Function-block structured logic
Modular motion libraries
Device-tree-based I/O configuration
Real-time PC runtime abstraction
Real World Architectures
Semiconductor fabrication machines
High-speed packaging lines
Robotic pick-and-place cells
Modular production systems
PC-based CNC/laser automation
Design Principles
PC-based control
Deterministic real-time performance
Modularity and scalability
Open communication interfaces
High-speed EtherCAT integration
Scalability Guide
Use multi-core task assignment
Modularize PLC code with FBs
Use solution-wide libraries
Segment tasks by cycle time
Optimize EtherCAT topology
Migration Guide
TwinCAT 2 -> TwinCAT 3 conversion tool
Rebuild I/O config
Retest tasks for timing
Migrate CNC/robotics carefully
Update routing and ADS settings