BECKHOFF TwinCAT 3 Basics

TR3020 | Training for new users | Overview
TwinCAT 3 New Automation Technology
Training fr Umsteiger
Identifier
Indentifier serves to assign individual names to variables, data types, functions, etc.
The identifier starts with a letter or underscore followed by numbers, letters and underscore No distinction is made between upper and lower case The following are not permitted special characters (!, , , $, etc.) spaces consecutive underscores umlauts
TwinCAT Training: Programmer
29.10.2013
Keywords
Keywords are identifiers specified by IEC61131-3. They are thus fixed components of the syntax and therefore may not be used for other purposes.
Examples Standard operators AND, OR, NOT Standard types BOOL, INT, REAL... Types TYPE, STRUCT Block types FUNCTION, FUNCTION_BLOCK, PROGRAM
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Keywords and comments

The comments are delimited by character strings with (* or *) at the beginning and at the end. Comments may be placed wherever spaces are also permitted. Exception: within string literals.
(*digitale Eingnge*) bStart AT %IX0.0 :BOOL;(*Anlagenstart*) (*analoge Eingnge*) TemK1 AT %IW10 (*Byte 10-11*) :WORD;
Comments to the end of the line bStart AT %IX0.0 :BOOL; // Anlagenstart
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Elementary data types

Type BOOL BYTE WORD DWORD Lower FALSE Upper TRUE 8 BIT 16 BIT 32 BIT Size Prefix x b by w dw Bitstring Bitstring Bitstring
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Typ SINT USINT INT UINT DINT UDINT LINT ULINT 0 Lower -127 0 -32768 0 -134 217 728 0 Upper 127 255 32767 65535 134 217 727 4294 967 295 Gre 8 Bit 8 BIT 16 BIT 16 BIT 32 BIT 32 BIT 64 BIT 64 BIT Prfix si usi i ui di udi li uli
Detail slides Overflows Example: EL3102 Example: KL2531

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Data types 1: Elementary data types

Type TIME_OF_DAY DATE DATE_AND_TIME TIME Lower TOD#0:0:0 D#1970:01:01
DT#1970:01:01:00:00:00
Upper TOD#23:59: 59 D#2106 ??? DT#2106 ???
Size 32 Bit 32 Bit 32 Bit
Prefix tod date dt tim
T#0s
T#49d17h2m 32BIT 47s295ms
Detail slides DT example - reading the system time DT example - working with standard operators
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Type REAL LREAL Lower Upper Size 4 Byte 8 Byte Prefix r lr
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Data types: STRING

Type STRING Description String in ASCII code. Standard length 80 characters. Maximum length 255. Strings are zero-terminated Example 1234ABCDE ABCDE$R$L ABCDE$0D$0A Size 80 +1 Prefix s
String length specifications Example declaration

sVar : STRING; sVar1 :STRING(1); sVar: STRING(255);
Assignment sVar:=ABC; sVar := X; sVar:=ABC;
Result SIZEOF 81 2 256
Result LEN 3 1 3
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Data types: STRING

Constants $<2 Hex values> $0D $R $L $N $T $r $l $n $t ASCII Code CR CR Line Feed New Line Tab
Detail slides Example: FIND Example: string functions LEN, REPLACE String conversion with Union
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Data types: WSTRING

Type WSTRING Description String in Unicode format Example Description Level 0,Block 0x0400-0x4FFF Cyrillic Pre fix ws
Training, seminar Level 0 Block 0x00000x007F Basic Latin
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Data types: Examples of literals

Variable Type BOOL WORD, DWORD INT TIME
d h m s ms day hours min sec ms
Examples TRUE FALSE 2#1 2#0 16#1 16#0 16#AFFE 16#8001 t#60m t#12h t#0.505025h 3.333e-1 1 0 45054 -32768 t#3600000ms t#43200000ms t#1818090ms
2#1010111111111110 2#1000000000000001 t#1h t#0.5d t#30m18s90ms 0.3333
REAL
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Data types 1: Variable declaration el. data types

A variable possesses a name behind which a value (number, string, date, etc.) is concealed. The variable name is a type of description of the path to the declared data. Variables are characterised above all by the fact that their contents can be changed at runtime.
Identifier
Data type
Initial value The physical-logical storage location of this variable is unknown to the user (unlocated)
bStellerUntenLinks:BOOL:=TRUE;
The degrees of freedom and restrictions in the assignment of the identifiers can be found on the slide entitled Identifiers and Prefixes
Data types 1: Located variables

It is possible when declaring a variable to link the name with an address that must be explicitly specified. For the allocation of inputs and outputs of the hardware the incomplete location is to be carried out with I* and Q*
Identifier AT %I %Q* Data type;
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Data types 1: Located variables

Completely located variables.
Identifier AT %I %Q %M X B W D Byte . Byte Bit Type
These variables possess a clear address (located) In TwinCAT 3 incompletely located variables can be used for inputs and outputs Applications for %M variables can be solved simply with Unions and direct masking
Detail slides Detail - Replace %MB by UNION

Data types 1: Address division

Examples:
IX10.7 IX10.6 IX10.5 IX10.4 IX10.3 IX10.2 IX10.1 IX10.0
Din0 AT%IX10.0 : BOOL;
IB10
IB1 IW0
IB0
Ain AT%IB0 : INT; equivalent Ain AT%IW0 : INT;
IX22.7
IX22.6
IX22.5
IX22.4
IX22.3
IX22.2
IX22.1
IX22.0
BitVar AT%IX22.1 : BOOL; Posi AT%IB20 : UDINT;

equivalent
IB23 IW22
IB22
IB21 IW20 ID20
IB20
Posi AT%ID20 : UDINT;
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Data types 1: Variable classes, scope

Local variables are restricted to the block in which they were declared.
Keywords VAR .. END_VAR VAR_INPUT .. END_VAR VAR_IN_OUT .. END_VAR VAR_OUTPUT .. END_VAR
Global variables are known in each block within a project.

Keywords VAR_GLOBAL .. END_VAR VAR_CONFIG .. END_VAR
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Data types 1: I/O directly in an FB instance

In an FB the inputs and outputs to the periphery are to be created directly as local variables
Implementation
Data types 1: Access via the located variables

The variable locVar locally declared in Program B can be directly accessed from Program A via address %MB2.
Project machine
PROGRAM A VAR END_VAR PROGRAM B VAR locVar AT%MB2:WORD; END_VAR
LD %MB2
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Data types 1: Overlaps in the scope

Project machine
VAR_GLOBAL Var1:WORD; END_VAR
Example name: Gvl1
As shown on the left, there is an overlap in the scope. In this case the locally declared variable Var1 is loaded into the accumulator. The global variable can also be accessed with Namespaces.
PROGRAM A VAR Var1 :WORD; END_VAR LD Var1 LD Gvl1.Var1
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Data types 1: PERSISTENT attribute

Special properties of variables can be defined using attributes. Example: The variable(s) are saved when the PLC is shut down and loaded back on restarting.
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Data types 1: Initialisation and CONSTANT

Initial values, the variables are to be preset with a certain value when starting/resetting the PLC. VAR AccelerationTime : TIME := T#3s200ms; END_VAR Read-only: VAR_GLOBAL CONSTANT pi:REAL:=3.141592654; END_VAR VAR CONSTANT pi:REAL:=3.141592654; END_VAR
Global
Also locally possible
Data Types 2: Derived data types

The user can create his own data types on the basis of the elementary data types or data types that have already been created. The newlycreated data types are visible in the entire project. The declaration starts with TYPE and ends with END_TYPE.
Parent type
Name
Data type
Initial value
Area
New value
Inherit ance
Derivation
Name
Data type
Initial value
Area
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Data Types 2: References (alias types)

The purpose of the selfdefined data type Reference is to generate an alternative name for a variable, constant or function block. Create your references as objects in the object organiser on the Data Types tab. They start with the keyword TYPE and end with END_TYPE.
Syntax: TYPE <Bezeichner>:<Zuweisungsausdruck>; END_TYPE Type
Declaration
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Example: A global string variable is transferred to various blocks. If changes are made to the Global Variables, the declarations must also be changed in every block
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If a type has been created for the string, further changes are made only to the type
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Data Types 2: Enumerated type (Enum)

An enumerated type is a self-defined data type consisting of a number of string constants. These constants are called enumeration values. The enumeration values are always known in the entire project. It is best to create your enumerated types as objects in the object organiser on the Data Types tab. They start with the keyword TYPE and end with END_TYPE.
Syntax: TYPE <Bezeichner>:(<Enum_0> ,<Enum_1>, ...,<Enum_n>); END_TYPE Example: TYPE Woche:(Mo, Di, Mi, Dn, Fr, Sa, So:=10);(*Mo = 0 Di = 1.. .. Sa = 6 So = 10*) END_TYPE TYPE Richtung:(Up, Dn);(*Up = 0 Dn = 1*) END_TYPE
The same enumeration value can be used twice via Namespace. Example: Woche.Dn Richtung.Dn

Example: signal light without Enum:
Declaration Use
Online
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Example: signal light with Enum:
Type Use
Declaration
Online
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Data Types 2: Structure declaration

Example: KL5101 Encoder Terminal Structures are self-defined data types.
They are an important aid to better administration of the process data. In addition, the structures are suitable for encapsulated data transfer to function blocks. Structures can be used like individual element variables.
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Data Types 2: Structures instancing
ST_KL5101In_1 AT%I* : KL5101_IN ST_KL5101Out_1 AT%Q* : KL5101_OUT
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Data Types 2: Arrays

Arrays represent lists or data fields. All elements in the arrays are of the same type. Naturally arrays can also consist of own data types (structures). One, two and three-dimensional arrays are possible. VAR Feld_1 :ARRAY[0..9] OF BYTE; Feld_2 :ARRAY[0..9, 0..1] OF UINT; Feld_3 :ARRAY[0..9, 0..1,0..1] OF DINT; END_VAR
1-dimensional 2-dimensional 3-dimensional
There is a possibility to place a data field in a directly addressed memory location VAR Feld_1 AT%MB100:ARRAY[1..10] OF BYTE; END_VAR Access to the sub-elements of a data field Feld_1[2] := 120; (* Expliziter Zugriff*) Feld_2[i,j] := EXPT(i,j); (*Indizierter Zugriff*)
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Data Types 2: Limit transgressions

A dangerous state can arise if an area outside the data field is accessed in the PLC program.
VAR Feld_1 :ARRAY[1..10] OF BYTE; Feld_2 :ARRAY[1..10, 2..5] OF UINT; END_VAR
i:= 9 Feld_1[i+2] := 120;
Feld_1[9]; Feld_2[1,2];
0 120
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Data Types 2: CheckBounds (FUN)

The access can be monitored by the PLC at PLC runtime This function enables a limit transgression occurring in the program to be recognised and rectified.
FUNCTION CheckBounds :DINT VAR_INPUT I,L,U : DINT; END_VAR
IF I< L THEN
Error case
CheckBounds := L;
ELSIF I > U THEN

Error case i Min Max Limited value
CheckBounds := U;
ELSE
OK case
CheckBounds := I;
END_IF
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Data Types 2: Adding CheckBounds 1 (FUN)

Adding Checkbounds:
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Data Types 2: Adding CheckBounds 2 (FUN)
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Data Types 2: Method of operation of CheckBounds (FUN) Example: user error source code Checkbounds is compiled-in in XAR
10
Do not write, it is called automaticall y (not visible in the code)
10
Can be checked with call build:
Note about further checker functions

The following further checker functions are possible from TwinCAT 2.8: Check for division by 0 CheckDivByte CheckDivWord CheckDivDWord CheckDivReal Check value ranges CheckRangeSigned CheckRangeUnsigned (see appendix)
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Data Types 2: Combination: structures and arrays

An array can consist of structures:
Structure:
TYPE DrillPos : STRUCT XPos: FeedrateX: AccelerationX: DeccelerationX: JerkX: YPos: FeedrateY: AcceleartionY: DeccelerationY: JerkY: FeedDrill: Kuehlen: END_STRUCT END_TYPE Declaration of the array: LREAL; LREAL; LREAL; LREAL; LREAL; LREAL; LREAL; LREAL; LREAL; LREAL; LREAL; BOOL; (*Pumpe ?*)
Positions :ARRAY[0..100] OF DrillPos;

Data Types 2: Combination: structures and arrays

Access to Drillpos 55: Access: MoveXAx (*FB Instanz*) ( Execute:= Position:= Velocity:= Acceleration:= Deceleration:= Jerk:= Direction:= Axis:= );
TRUE, Positions[55].XPos , Positions[55].FeedrateX Positions[55].AccelerationX, Positions[55].DeccelerationX, Positions[55].JerkX, ........., .............,
Block types
In IEC61131-3 there are three types of block covered by the generic term POU (PROGRAM ORGANISATION UNIT): Program Function Block Function
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Block types: program PRG

Program PRG
Called by a task (one program can call another) Calls: FBs, functions, (programs) Local variable: static, i.e. the local data are available again in the next cycle. Inputs: usually 0, but VAR_INPUT possible Outputs: usually 0, but VAR_OUTPUT possible Transfer by reference VAR_IN_OUT likewise possible Monitoring: Local data are immediately visible in the online mode of the PLC control Use: Main programs, Main, Manual, Automatic, etc.
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Block types: function block FB

Function block FB
Called by programs or other FBs Calls: FBs, functions, Local variable: static, i.e. the local data are available again in the next cycle. Can be instanced in case of multiple calls (multipliable). Each FB call can have its own local data. Inputs: 0,1,2,3VAR_INPUT Outputs 0,1,2,3.. VAR_OUTPUT Transfer by reference 0,1,2,3.. VAR_IN_OUT Monitoring: In the online mode of the PLC control the instance of the call concerned must first be specified. The local data are then visible for each call. Use: multiple-used modules, each of which requires its own data area. Step chains...
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Block types: Function: FC

Function: FC
Called by programs, function blocks and other functions Calls: Functions Local variable: temporary, i.e. the local data are available only for the processing time of the function. Afterwards this data area is used by other functions. Inputs: 1,2,3........ VAR_INPUT Outputs: precisely 1!, but structure variable possible. The name of the output is at the same time the name of the function. Transfer by reference 1,2,3........ VAR_IN_OUT , Monitoring: In the online mode of the PLC control only ??? are visible for the local variables, since this data area is used by all functions in the cycle and monitoring (debug) takes place only at the cycle limits. Remedy: program development with breakpoints Use: algorithms where the result is available after a run. Scaling, comparison, etc.
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ST Structured Text: Operators

Operation put in parentheses Function call Exponentiation Negate Build. complements Multiply Divide Modulo Add Subtract Compare Equal to Not Equal to BOOL AND BOOL XOR BOOL OR Symbol Binding strength (expression) Strongest binding Function name (parameter list) EXPT NOT * Same binding strength, processing from left to right /
(10/2*5 = 25 ) MOD + Same binding strength <,>,<=,>= = <> AND XOR OR
Weakest binding
ST Structured Text: Instructions

Instruction Assignment:= Calling a Function Block RETURN IF CASE FOR WHILE REPEAT EXIT Empty instruction ; Example PosWert := 10; Ton1(IN:=Start, PT:=T2s); Output:= Ton1.Q; RETURN; more precise explanations and examples on the following pages
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ST: IF instruction
Is needed to branch in a program, depending on conditions. With the IF instructions its not possible to jump back in the PLC cycle. GOTO is also not available
Keywords:
IF ELSIF ELSE END_IF
THEN
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ST: IF instruction
IF Condition THEN Instruction block; END_IF
No Condition Yes
Instruction block
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ST: IF instruction
IF a>b THEN Instruction block A; ELSE Instruction block B; END_IF
Condition Yes
No
Instruction block A
Instruction block B
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ST: IF instruction
IF Condition1 THEN Instruction block A; ELSE IF Condition2 THEN Instruction block B; Condition 1 ELSE No Yes IF Condition3 THEN Condition 2 Instruction block C; ELSE Yes Instruction block D; END_IF END_IF END_IF Instruction Instruction
block A block B
No Condition 3 No Yes Instruction block C Instruction block D
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ST: IF instruction
IF Condition1 THEN Instruction block A; ELSIF Condition2 THEN Instruction block B; ELSIF Condition3 THEN Instruction block C; ELSE Instruction block D; END_IF
Condition 1 No Yes Condition 2 No Yes Condition 3 No Yes Instruction block A Instruction block B Instruction block C Instruction block D
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ST: IF instruction
What can the BOOLEAN EXPRESSION be? Conditions:
BOOLEAN variable Comparison Function calls IF bVar THEN . IF a>b THEN . IF LEFT(STR:= strVar, SIZE:=7) = 'TwinCAT' THEN . IF Ton1.Q THEN . IF Ton1(IN:=bVar, PT:=T#1s ) THEN
Querying of FB instances NO FB call!
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ST CASE Instruction
CASE Selection criterion OF 1: Instruction 1
Selection criterion = 1
Yes No No
Selection criterion = 2 or 4 or 6 Selection criterion = 7 or 8 or 9 or 10?
2, 4, 6: Instruction 2 7..10: Instruction 3 .. ELSE Default instructions END_CASE; Two identical values may not be available for selection in the list.
Yes No Yes
Instruction 1
Instruction 2
Instruction 3
Default instructions
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ST: CASE instruction: possibility for a step chain / state machine

CASE State OF 0: Q0:=TRUE; IF Transition THEN state := 1; END_IF 1: Q1:=TRUE; IF Transition THEN state := 2; END_IF 2: Q2:=TRUE; IF Transition THEN state := 3; END_IF 3: Q3:=TRUE; IF Transition THEN state := 0; END_IF END_CASE Step-further condition (Transition) Instructions for the step (Actions)
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ST: CASE instruction Integer Selector Value with constants

CASE State OF 0: Instructions;(*State=0*) IF THEN 1: Instructions;(*State=1*) Instructions if state = 1 Instructions if state = 2 Instructions if state = 3 Instructions if state = 0
2:
Instructions;(*State=2*)
3:
Instructions;(*State=3*)
END_CASE
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ST: CASE instruction Integer Selector Value with Enum types
Enum-Typ: TYPE Schritte : (INIT:=0, START, AUTOMATIK, ENDE); END_TYPE
CASE State OF INIT: START: AUTOMATIK: ENDE: END_CASE Instructions;(*State=0*) Instructions;(*State=1*) Instructions;(*State=2*) Instructions;(*State=3*)
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ST: CASE instruction: suggestion for a step chain / state machine

TYPE Schritte : ( INIT:=0, START, AUTOMATIK, ENDE); END_TYPE
CASE State OF INIT: Q0:=TRUE; IF Transition THEN state := START; END_IF START: Q1:=TRUE; IF Transition THEN state := AUTOMATIK; END_IF AUTOMATIK: Q2:=TRUE; Step IF Transition THEN state := ENDE; END_IF ENDE: Q3:=TRUE; IF Transition THEN state := INIT; END_IF END_CASE
Instructions for the step (Actions) Step-further condition (Transition)
ST: CASE instruction Integer Selector Value with constants

VAR CONSTANT Step1 : INT:= Step2 : INT:= Step3 : INT:= Step4 : INT:= END_VAR 0; 1; 2; 3; CASE State OF Step1: Step2: Step3..Step4: END_CASE Instructions;(*State=0*) Instructions;(*State=1*) Instructions;(*State=2 oder 3*)
VAR State:INT; END_VAR
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ST: Repeat instructions

The process sequence often requires the multiple processing of precisely the same program sequences, where their number is known only at runtime. Disadvantage of loops: In the case of wrong programming, an infinite number of repetitions takes place. If a continuous loop is executed, this does not impair the start of the time slices (real-time). Tasks with a higher priority will still be executed on time. Tasks with a lower priority will no longer be executed.
Forced switchover to Win NT Begin of a new time slice
1
e.g.: 1ms
2
2ms
3
3ms
4
4ms
1
5ms
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ST: Loops (overview)

All loops can be terminated with the help of the EXIT instruction, regardless of the abort condition.
Expression FOR WHILE SINT/INT/DINT BOOL
Processing
n cycle fix
Yes Instructions follow condition Instructions No follow condition Condition follows instructions No
REPEAT
BOOL
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ST: FOR loop

At the beginning of the loop the Cycle n control variable i is set to the starting value (see example). The control variable is decremented or incremented in each loop, depending on the step size (value after the keyword BY). If i exceeds the end value (after TO), the loop is no longer processed. FOR i:=1 TO 12 BY 2 DO Feld[i]:=i*2;(*Anweisung*) END_FOR
Cycle n
Start i:=StartValue
i >EndValue No Instruction block
Yes
i: = i + step size
ST: WHILE loop

The instruction block of a WHILE loop is executed continuously until the Boolean expression returns TRUE. The abort condition can contain variables that can be changed in the instruction block. If the Boolean expression is FALSE at the beginning, then the instruction block of the WHILE loop is not processed. i:=0; WHILE i<100 DO Feld[i]:=i*2;(*Anweisung*) i:=i+1; END_WHILE
Cycle n
Yes
Boolean expression
No
Instruction block i: = i + step size
Cycle n
ST: REPEAT loop

The instruction block of a REPEAT loop is executed as long as the Boolean expression is satisfied. The instruction block is processed at least once.
Cycle n
Instruction block i:= i + step size
i:=0; REPEAT Feld[i]:=i*2;(*Anweisung*) i:=i+1; UNTIL i>100 END_REPEAT

Cycle n
No
Boolean expression Yes
ST: FB calls in ST
VAR TON1:TON; END_VAR TON1 (IN:= NOT TON1.Q , PT:=T#1s ); Q0:= TON1.Q;
TON1(IN:= NOT TON1.Q, PT:=T#1s , Q=>Q0 );
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ST: FB calls in ST (alternative)

VAR TON1:TON; END_VAR
TON1.IN:= NOT TON1.Q; TON1. PT:=T#1s; TON1(); Q0:= TON1.Q;
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ST: FC calls in ST
Result:=Scale (x:=Eingang, xug:=0.0, xog:=32767.0, yug:=0.0,yog:=100.0); (* Gleichwertig:*) Result:=Scale (Eingang, 0.0, 32767.0, 0.0, 100.0); (* Gleichwertig:*) Result:=Scale ( x:= xug:= xog:= 32767.0, yug:= yog:= ); In case of functions, all inputs must be occupied
Eingang, 0.0,
0.0, 100.0
ST: FC calls in ST
Result := Scale (x:=Eingang, xug:=0.0, xog:=32767.0, yug:=0.0,yog:=100.0);
Result
CALL
Input parameters
(* Gleichwertig:*)
Result:=Scale ( x:= xug:= xog:= yug:= yog:= ); Eingang, 0.0, 32767.0, 0.0, 100.0
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BECKHOFF TwinCAT 3 Basics

Uploaded by

BECKHOFF TwinCAT 3 Basics

Uploaded by

TR3020 | Training for new users | Overview

TwinCAT 3 New Automation Technology

TwinCAT Training: Programmer

TwinCAT Training: Programmer

Keywords and comments

Comments to the end of the line bStart AT %IX0.0 :BOOL; // Anlagenstart

TwinCAT Training: Programmer

Elementary data types

TwinCAT Training: Programmer

Elementary data types

Detail slides Overflows Example: EL3102 Example: KL2531

Data types 1: Elementary data types

Upper TOD#23:59: 59 D#2106 ??? DT#2106 ???

Size 32 Bit 32 Bit 32 Bit

Prefix tod date dt tim

T#49d17h2m 32BIT 47s295ms

TwinCAT Training: Programmer

Elementary data types

TwinCAT Training: Programmer

Data types: STRING

String length specifications Example declaration

Assignment sVar:=ABC; sVar := X; sVar:=ABC;

Result SIZEOF 81 2 256

TwinCAT Training: Programmer

Data types: STRING

TwinCAT Training: Programmer

Data types: WSTRING

Training, seminar Level 0 Block 0x00000x007F Basic Latin

TwinCAT Training: Programmer

Data types: Examples of literals

2#1010111111111110 2#1000000000000001 t#1h t#0.5d t#30m18s90ms 0.3333

TwinCAT Training: Programmer

Data types 1: Variable declaration el. data types

Data types 1: Located variables

TwinCAT Training: Programmer

Data types 1: Located variables

Detail slides Detail - Replace %MB by UNION

Data types 1: Address division

Din0 AT%IX10.0 : BOOL;

Ain AT%IB0 : INT; equivalent Ain AT%IW0 : INT;

BitVar AT%IX22.1 : BOOL; Posi AT%IB20 : UDINT;

IB21 IW20 ID20

Posi AT%ID20 : UDINT;

TwinCAT Training: Programmer

Data types 1: Variable classes, scope

Global variables are known in each block within a project.

TwinCAT Training: Programmer

Data types 1: I/O directly in an FB instance

Data types 1: Access via the located variables

TwinCAT Training: Programmer

Data types 1: Overlaps in the scope

Example name: Gvl1

PROGRAM A VAR Var1 :WORD; END_VAR LD Var1 LD Gvl1.Var1

TwinCAT Training: Programmer

Data types 1: PERSISTENT attribute

TwinCAT Training: Programmer

Data types 1: Initialisation and CONSTANT

Also locally possible

Data Types 2: Derived data types

TwinCAT Training: Programmer

Data Types 2: References (alias types)

TwinCAT Training: Programmer

Data Types 2: References (alias types)

TwinCAT Training: Programmer

Data Types 2: References (alias types)

TwinCAT Training: Programmer

Data Types 2: References (alias types)

TwinCAT Training: Programmer

Data Types 2: References (alias types)

TwinCAT Training: Programmer

Data Types 2: Enumerated type (Enum)

Data Types 2: Enumerated type (Enum)

TwinCAT Training: Programmer

Data Types 2: Enumerated type (Enum)

TwinCAT Training: Programmer

Data Types 2: Structure declaration