Twincat

FB_init and the Call After Init pragma may seem like the perfect place to put code that only needs to be run once, but be sure to check the fine print. The information may not be available outside the cyclic PLC context. Here are functions that might not work as expected.

Does your PLC program catch all possible sensor failure modes, however unlikely?

The many different ways Beckhoff allows servo offsets. This post covers four different ways with PLC code examples and their respective pros and cons.

The trigger output behavior of the R_TRIG vs F_TRIG is different on the first PLC cycle. During normal operation they are inversely identical.

Edge localization testing using a variety of algorithms and parameters. Results on edge detection performance and steady state as well as computation load and CPU sizing.

Investigating irregular edge distance calculation using TwinCAT standard tools. Explanation of root cause and discussion of potential solutions.

All POUs can have their device tree path automatically initialized into a variable. This can used as a unique string identification for the part of the code and can be used for easy identification of errors, logs, counters, etc.

First steps into Beckhoff's newly released TC3 Vision. Setting up basic metrology using the provided convulated functions and simplifying them using custom structs and functions.

Creating a deterministic, persistent enabled, HashTable FB which uses strings as keys

EtherCAT CRC error between IPC and first ethercat device due to cycle time and port ethernet election