Beckhoff Training Series

Module 2: TwinCAT Remote Connectivity

12150 Nicollet Avenue South / Burnsville, MN 55337 / 877 TWIN-CAT (877 894-6228)

12150 Nicollet Avenue South / Burnsville, MN 55337 / 877 TWIN-CAT (877 894-6228)

2007 Beckhoff Automation GmbH

This document is not to be replicated in part or in
whole, either electronically, by copy machine,
photographically, or by scanning without the written
consent of Beckhoff USA.
Beckhoff Automation LLC
12150 Nicollet Avenue South
Burnsville, MN 55337
877 894-6228
beckhoff.usa@beckhoff.com
Version: 07102007

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Table of Contents
Introduction ......................................................................................................... 5
Beckhoff Embedded PC ..................................................................................... 6
Embedded PC Bus Coupler Nomenclature ................................................................................ 6
Bus Terminals ............................................................................................................................. 7

Networking Troubleshooting ............................................................................. 8

Physical Connections .................................................................................................................. 8
TCP/IP Connections .................................................................................................................... 9

Establishing a Route ........................................................................................ 13

Configuring PLC Control for the Remote System .......................................... 19
Accessing the Remote Systems Desktop ...................................................... 20
Connecting to couplers running XP ........................................................................................... 20
Connecting to couplers running CE .......................................................................................... 23

Documentation .................................................................................................. 26
Beckhoff Information System .................................................................................................... 26

Other resources ................................................................................................ 29

www.beckhoff.com .................................................................................................................... 29
PC Control ................................................................................................................................. 29
Main Catalog ............................................................................................................................. 29
Products & Solutions ................................................................................................................. 29

Glossary ............................................................................................................ 30

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Introduction
Remote connectivity is achieved with PCs and embedded processors. These systems generally
run a version of Windows CE or an NT based Windows OS (NT, 2000, XP, XPe or Vista).
The main element in play is a sub-system called a router. As the name implies, the router, routes
messages to and from all the remote devices to a single controller and manages them all.
Remote connectivity involves ADS or Automation Device Specification. This is an interface that
enables communication between ADS compliant devices and systems over TCP/IP.
The following diagram seems complicated and will be discussed in later modules but just realize
that the TwinCAT system is your computer. Message router talks to and through the TCP/IP
port to the remote system (ADS interface):

GUI

Router

Realtime
Server

NOTE: This manual assumes complete understanding of all the functionality discussed in Module
1: Introduction to TwinCAT; please refer to Module 1 for specific instruction. Call 877 TWIN-CAT
to obtain a copy of Module 1 or for further assistance.

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Beckhoff Embedded PC
For embedded systems, if the task requires a complex program and/or has extensive
visualization then XPe would be the right choice. On the other hand, if the program is simple
and/or has simple visualization or no visualization at all, then the lower-cost CE might be
sufficient.

Embedded PC Bus Coupler Nomenclature

All Embedded PC Bus Couplers carry the CX designator followed by a model number which
describes the processor:
CXxxxx-xxxx:

CX900x Ethernet controller with Intel IXP420 XScale technology, 266 MHz processor.

CX9010 Ethernet controller with Intel IXP420 XScale technology, 533 MHz processor.

CX1000 Basic controller with Pentium MMX-compatible CPU, 266 MHz processor.

CX1010 Basic controller with Pentium MMX-compatible CPU, 500 MHz processor.

CX1020 High-performance controller with Intel Celeron M ULV CPU, 1 GHz processor.

CX1030 High-performance controller with Pentium M CPU, 1.8 GHz processor.

The last three digits after the hyphen on the 1010, 1020
and 1030 describe specifics about the module (be sure to
always look at the module with the 5 LEDs):
CX10x0-xpot:
p (port options):
0 = CPU without DVI
1 = CPU with DVI
o (OS options):
0 = without operating system
1 = operating system = Windows CE
2 = operating system = Windows XP Embedded
t (TwinCAT options):
0 = without TwinCAT
1 = with TwinCAT PLC run-time
2 = with TwinCAT PLC/NC run-time
CX1010 with a CPU with DVI, but no
operating system and without
TwinCAT PLC runtime.
Three of the digits after the hyphen of the 900x and 9010, describe specifics about the module
plus the last digit before the hyphen of the 900x describes the memory options:
CX900m-bp0t/CX9010-bp0t:
m (memory):
b (bus options):
0 = 16 MB flash/64
0 = E-bus interface
MB RAM
for EtherCAT
1 = 32 MB flash/128
Terminals
MB RAM
1 = K-bus interface
for Bus Terminals

p (port options):
0 = without DVI/USB
1 = with DVI/USB

t (TwinCAT options):
0 = without TwinCAT
1 = with TwinCAT
PLC run-time
2 = with TwinCAT
PLC/NC run-time

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CX 1020/1030 9000/9010 Notes

The CX 1020/1030 includes a built-in network
switch. Either of the two Ethernet (RJ54) ports
can be used to connect to the coupler and can
be used to daisy-chain couplers.

When looking at Network Connections on the

CX 1020/1030, there will be two Local Area
Connections. Only the first relates to standard
Ethernet and applies to BOTH jacks on the
coupler. The second connection is for EtherCAT
and will be discussed in a future module.

Bus Terminals
Terminals come in a number of varieties as well depending on the needs of the
system. Refer to Module 1: Introduction to TwinCAT for descriptions of Bus Terminals

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Networking Troubleshooting
The majority of issues with remote connectivity manifest in the connection itself and not with the
Beckhoff remote connectivity configuration tools. Though you are welcome to skip this section for
now, stepping through it will help guarantee that the following sections will go smoother.
In any case, refer to this section if problems arise in later sections. Furthermore, this information
is relevant for everyday networking issues and can be of use whether Beckhoff software and
hardware are involved or not.
There are a number of things that can affect remote connectivity. Everything from physical
connections to the handling of network traffic must be analyzed in the course of troubleshooting.

Physical Connections
80% of connectivity issues are related to the physical connections. It is the easiest to diagnose,
easy as well to correct but usually the last to be investigated.
Get in the habit of following these steps early in the troubleshooting and you are sure to save time
in the long run:
1. Look for link and activity lights on both the controller (computer) and the Bus Coupler (CXxxxx
unit). Even laptops and Ethernet adapters have link and activity lights these days.
2. If either device does not have a steady link light AND a blinking activity light, cycle power on
that device.
3. If the computer is directly connected to the Coupler (no hub,
switch, router or wall jacks are used) than a crossover cable
must be used. Hold the ends of the cable up together. If the
wire colors are the same in every position from left to right,
than it is a standard straight-through cable. If the sequence is
different, than it is more likely that it is a crossover cable (see
image)
4. If a hub, switch, router or wall jacks are used to connect the
computer to the device, than standard straight-through cables
are required.

Crossover Ethernet cable

5. Keep in mind that although the 1020 and 1030 have a built-in switch, they also have cable
sensing so either a crossover or straight-through cable can be used.
Note: DO NOT rely on the color of the entire cable itself. Some companies use consistently
colored cables for different purposes, but that doesnt mean that the colors are standard,
universal or even without exception in your company.
1. If a hub, switch or router is used, make sure that connection and activity lights on it are also on.
2. Cycle power on any networking device that is not responding correctly. Please consider who
and what else might be connected to the device before cycling power.
3. If using wall jacks, ask your network administrator to verify that the jacks are hot. Be sure that
the jack your computer is connected to and the jack the remote system is on are both checked.

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TCP/IP Connections
After ensuring the physical path is sound, the next step is to see if the devices can communicate
on that path. Communication is achieved via the TCP/IP protocol.
Follow these steps to troubleshoot the communication:
1. Ping the device from the computer used as a controller. Do not assume that connecting
from one computer is the same as connecting with any computer.
2. Determine the network name of the Bus Coupler:
Look at the label on the left side of the coupler and find the MAC-ID. The network name of
the coupler is cx_ followed by the last six characters of the MAC-ID (minus the hyphens).
If the MAC-ID is 00-01-05-00-27-7B than the last six characters are 00277B and the network
name of the coupler is cx_00277b.
3. Bring up the Command Prompt. Click the
Start button and select Run. Type cmd in the
Open field and hit Enter. (Use command for
older OSes.)
Once cmd.exe launches, type:
ping cx_00277b (use the actual name of
your device) and hit the Enter key.

Command.exe should respond similar to this:

Record the IP number (in this case: 10.12.2.57) as you may need it later.

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4. If instead of the above, you see:

Then something is blocking the communication.

5. Run through the Physical Connections troubleshooting again.
6. Also try connecting the computer directly to the Bus Coupler using a crossover cable or
two standard straight-through cables and a hub or switch (not a router).
If you already were using a single hub or switch to connect, try a different hub or switch then
try different cables.
7. Try disabling the firewall:
7.a. Click the Start button, select Control Panel and
double-click on Security center.
7.b. Make sure Firewall is set to Off and click the OK
button.
Try to ping the coupler again.

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8. Also verify that Automatic private IP address is set on both your PC and the CX coupler.
8.a. Click the Start
button and select
Control Panel.
8.b. Click on Network
and Internet
Connections

8.c. Click Network

Connections.

8.d. Double click on Local Area

Connection

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8.e. Click the Properties button

8.f. Scroll down and select Internet Protocol (TCP/IP) and

click the Properties button.

8.g. Select the Alternate Configuration tab and make

sure Automatic private IP address is set.
8.h. Click the OK button on this and the last screen.

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Establishing a Route
The connection between a computer and a remote system which is running Windows or Windows
embedded OS is called a Route. To achieve a communication link between the systems, a route
must be established.
With the different varieties of OSes only step 5 below depends on knowing which OS is being
accessed. On a CX coupler, the OS may be listed on the label on the side, but as different OSes
can be installed, it is best to refer to the Purchase Order or contact your Beckhoff representative if
you have any questions.
1. Launch System
Manager
1a. Enter Config mode
2. Select SYSTEM Configuration
2a. Click on the Choose
Target button

3. The Choose Target System window shows all

available systems on all the available Ethernet
networks. The first time this is opened, only the
network adapter will be displayed and cannot be
expanded. The IP address listed is the PCs AMS
address that was automatically assigned by
TwinCAT.
3a. Click on the Search (Ethernet) button.

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4. In the Add Route Dialog window, click

the Broadcast Search button to begin
discovering all connected systems.

4.a. The discovered systems will be

displayed. If the computer doing the
searching is also on a LAN with other
computers, every computer and CX
coupler with TwinCAT installed and in
Config or Run mode will be listed.
4.b. Select the remote system, even if it
is the only one listed.
4.c. Click the Add Route Button.

5. In the Login Information window that comes up, enter the

username and password for the remote system. If it hasnt
been changed, the default is a username of Administrator.
5.a. If the CX is running CE then by default the password field
should be left blank.
5.b. If the CX is running XPe then by default the password will be 1 (numeral one).
5.c. If the remote system is a PC then both the User name and Password have to be a local
administrator on that computer.
5.d. Click the OK button.
If the remote system is not
getting discovered, it may be
on another subnet. Enter its
IP address in the Enter Host
Name / IP field and click the
button. Your network
administrator can also allow
broadcast messaging on
port 48899 on all routers.

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6. The remote system should now have

an X in the Connected column. This
makes if easy to find connected systems
when numerous systems are visible,
such as when the systems are
connected to a LAN.
6.a. Click the Close button.

7. The remote system should be listed in the Choose

Target System window. Select the remote system and
click the OK button to return to System Manager.

8. System Manager now

displays extra tabs related to
modifying the remote system.
The remote system that is
connected is identified in the
lower right corner in red.
8.a. Click on the Version
(Target) tab to view the
version of the installed
TwinCAT software on the
remote system.

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If there is a communication
problem, the lower right corner
will report a time out.

9. If the lower right corner

displays RTime, then it must
be put in Config mode before
continuing.

9.a. Enter Config mode by clicking the Set/Reset TwinCAT to Config Mode button (Shift+F4).

9.b. Click the OK button when asked to Restart TwinCAT

System in Config Mode.

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10. Right click on I/O Devices

and select Scan Devices.

10.a. Click OK when warned.

11. Deselect everything that is not the main

remote system (On a CX coupler, this is the piece
with the display).
11.a. Click the OK button.

11.b. Click the Yes button to Scan for boxes.

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12. The I/O should now be

listed.

At this point you are ready to switch to Module 1: Introduction to TwinCAT to learn how to
configure, test and program the bus.

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Configuring PLC Control for the Remote System

1. In PLC Control, go under the Online menu and select
Choose Run-Time System.

2. Click the

next to the remote system.

2.a. Select the Run-Time port under the

remote system.
2.b. Click the OK button.

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Accessing the Remote Systems Desktop

Once the route is established, the rest of the configuration of a CX unit is accomplished using
TwinCAT System Manager (see Module 1: Introduction to TwinCAT). This section is only for the
rare occasion that the desktop of the remote system needs to be accessed.

Connecting to couplers running XP

Connection to a remote system running a version of Windows utilizes Windows built-in Remote
Desktop program. To use Remote Desktop you must use a computer running Windows XP
Professional with Service Pack 2 or Windows Server 2003 with Service Pack 2.
1. Launch Remote Desktop
1.a. Click on the Start button and select Programs or All Programs.
1.b. Go to Accessories then go to Communications and select Remote Desktop Connection.
2. Enter the name of the remote system
(review the TCP/IP Connections section
earlier in this manual to determine the
name of the remote system).

3. Enter Administrator in the User name field.

On a CX coupler, by default, the Password should be
1 (the numeral one).
On a remote computer, the local administrator User
name and Password must be used.
3.a. Click the OK button.

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4. The desktop will appear. Notice that the bar at the top lists the name of the remote system.

5. Transferring files to the remote system is the same as moving files between two PCs, even
when connected to a CX coupler. One method is to mount the remote system:
5.a. Click the Minimize button on the top bar.
5.b. Click on the Start button of your PC and select Run.
5.c. Enter \\<remote system name>\c$
(e.g.\\cx_016520\c$).

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6. A window will open

showing the files and
folders on the remote
system.
6.a. Move or copy files as
you would normally on a
PC; click-and-drag or copy
(or cut) and paste.

7. To properly disconnect from the remote system, click the Start button on the remote systems
desktop and select Disconnect.

7.a. Click the Disconnect button to verify that you want to

disconnect.

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Connecting to couplers running CE

Connection to a coupler running CE utilizes Microsofts CE Remote Display Control for Windows
CE. The software is available for download from Beckhoffs ftp site:
ftp://ftp.beckhoff.com/Software/embPC-Control/CE/Tools/RemoteDisplay/CeRemDispHost.zip
After the program is unzipped, you can save time by creating easy access to the program. Go to
wherever the CERHOST.exe program was saved, and simply click-and-drag the icon to the Start
button. Now it will be easy to find in the future just click the Start button and CERHOST.exe will
be near the top.
Launch CERHOST.exe by double-clicking on the icon or selecting it under the Start menu if the
alias is saved there.
1. Go under the File menu and select Connect.

2. Enter the name of the coupler in the Hostname field (review the
TCP/IP Connections section earlier in this manual to determine the
name of the coupler).
Chances are the Password should be left blank.
2.a. Click the OK button.

3. When you connect, you will see the

desktop of the coupler.
3.a. If instead you receive a connection
error:

Go through the Network

Troubleshooting section earlier in this
manual.

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4. If you need to copy files to the

coupler, you must first activate ftp on
the coupler.
4.a. Click the Start button on the
couplers desktop.
4.b. Select Settings then select Control
Panel.

5. Double click on CX Configuration.

5.a. Click on the FTP tab
5.b. Select the Server active checkbox.
5.c. Click the OK button and click the
Yes button to Reset the device.
5.d. Your screen will not show any
change after clicking the Yes button, but
the LEDs on the coupler will all flash,
indicating that the coupler has been
restarted.
Wait until all the red LEDs are off and
the ACT LED is flashing amber before
continuing (takes about 30 seconds).
6. To copy files to the coupler,
launch Microsoft Internet
Explorer from the PC (another
browser may produce
unexpected results).
6.a. Put ftp:\\<the name of your
coupler> (e.g. ftp:\\cx_00277b)
in the Address field and hit the
Enter key on the keyboard.
6.b. Either drag the folder (or
files) containing your project
into the Explorer window or
copy and paste them into the
Explorer window.

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7. To access the files uploaded to the

coupler, reconnect (start of this section)
and double click on My Device.
7.b. Double click on Hard Disk and the
files (and folders) will be in the FTP
folder.

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Documentation
A number of sources of information are available when learning about, using specific Beckhoff
tools, Beckhoff products and services and company information. As a customer of Beckhoff, all of
this information will be at your disposal.

Beckhoff Information System

By far, the most complete source of information is the Beckhoff Information System. It includes
information about every Beckhoff product, its use and interoperability. When TwinCAT is installed
from the CD, the complete Information System is automatically installed. If TwinCAT was installed
from a download, a slimmed-down version may have been installed to save download time. The
full version can also be downloaded from the Beckhoff site.
Arguably, Information Systems greatest asset is in its help with troubleshooting. Information
System includes explicit details of programming and hardware elements. This includes error
codes plus their causes and potential remedies.
To access Information System, click the Start button, then Programs (or All Programs) then
BECKHOFF, then Information System and finally the language of your choice.

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There are three main ways to find information in the Information System:
Contents shows a tree of topics that can be browsed.

Index takes a keyword and shows items specified as being related to that keyword.

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Search returns every page that contains the entered search term.

If you find something close to what you are looking for in a search, try clicking on the Contents
tab to see where the selected page falls in the tree. You can then browse from there to pinpoint
the information you require.

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Other resources
www.beckhoff.com
This is the official website of Beckhoff Automation. At this site you will have access to company
information, including news, training locations, contact information, products and services.

PC Control
This printed, monthly magazine, published by Beckhoff offers stories about companies that are
benefiting from the incorporation of Beckhoff products plus tips, new product announcements and
general news. It can also be read online at www.pc-control.net.

Main Catalog
This printed document contains all of Beckhoffs products and services and also includes some
company information. See the I/O section in this manual for a description of model numbering
and color scheme.

Products & Solutions

This CD set includes a CD with the entire website, Main Catalog, documentation, all of the
publications of PC Control available at the time plus a second, installation CD of Beckhoff
software products.

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Glossary
ADS (Automation Device Specification), an
interface that utilizes a Message Router to
communicate between ADS devices over
TCP/IP.
AMS (Automation Message Specification)
Bus Terminal (aka slice), the part of the box
that handles I/O and sometimes added
communication and specific electrical
requirements.
Crossover Cable (Ethernet), a cable used
to connect two computer systems where no
Hub, Switch or Router is used.
DVI (Digital Visual Interface), the external
monitor connector on some CX couplers.
Ethernet, a networking hardware protocol
identified with an eight contact (RJ-45)
cable.
Fieldbus, an industrial network system for
real-time distributed control.
GUI (Graphic User Interface), the visual part
of a program or system.
Hub, an Ethernet hub is a low-cost device
for connecting multiple systems via
Ethernet. Unlike a Switch, it is unmanaged
(all messages are sent to all ports at once);
collisions can slow or stop communication.
I/O (Input/Output), communication between
a computer and its users, its storage
devices, other computers (via a network) or
attached hardware.
LAN (Local Area Network), a network
connecting systems in a small geographical
area (e.g. one or more buildings in a
campus).

MAC (Media Access Control), an unique

address assigned to every networking
device.
Message Router, a part of the TwinCAT
ADS system that handles communication
between the program and the network and
between the network and the ADS compliant
device.
OS (Operating System), the software that
runs a computer or is embedded in and runs
Fieldbuses.
Ping, a program used to verify that a
networked system is reachable.
PLC (Programmable Logic Controller), a
small special-purpose computer used to
automate machines.
Realtime system, a computer system that
is forced to respond to an input in an
explicitly allotted time.
Router, similar to a switch but is designed
specifically to connect multiple networks. A
router can be configured as to the types of
messages and port addresses that will be
forwarded. (See also, Message Router.)
Switch, a network device for connecting
multiple systems and/or multiple network
segments. Unlike a Hub, messages are sent
only to the specific port addressed. This can
reduce or eliminate collisions and increase
speed and security.
TCP/IP (Transmission Control
Protocol/Internet Protocol), a networking
communication protocol used to send
messages between systems.
TwinCAT (The Windows Control and
Automation Technology)