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Beckhoff TwinCAT Integration

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Overview

Beckhoff automation systems can be integrated via two methods: Modbus TCP (for EK9000 Ethernet couplers) or native ADS protocol (for TwinCAT systems).

Integration Options

EK9000 + Modbus TCP

Recommended for new installations

  • Simple configuration
  • Standard Modbus TCP protocol
  • Direct I/O access without PLC program
  • Cost-effective solution

TwinCAT ADS

For existing TwinCAT systems

  • Native Beckhoff protocol
  • Symbol-based access
  • Integration with TwinCAT programs
  • Advanced diagnostics

EK9000 with Modbus TCP

The Beckhoff EK9000 is an Ethernet coupler that provides Modbus TCP access to EtherCAT I/O terminals.

Typical Hardware Configuration

I/O Terminal Configuration (48 zones)

EK9000 Ethernet Modbus TCP Coupler
EL4008 x6 8-channel 0-10V Analog Output (48 outputs)
EL3008 x6 8-channel 0-10V Analog Input (48 inputs)
EL9011 End Terminal

EK9000 Configuration

  1. Configure IP Address

    Use Beckhoff KS2000 or web interface to set static IP

  2. Enable Modbus TCP

    Modbus TCP is enabled by default on EK9000

  3. Note Register Addresses

    EK9000 maps I/O to Modbus registers automatically

Dilution Control Configuration

Connection Settings

Protocol Modbus TCP
IP Address 192.168.1.41 EK9000 IP
Port 502
Slave ID 1

Register Map (EK9000)

Register Count Description
0x0800 48 Analog Outputs (Setpoints)
0x0000 48 Analog Inputs (Feedbacks)
Register Addresses

Actual register addresses depend on the terminal configuration. Use Beckhoff documentation or TwinCAT to determine exact addresses for your setup.

TwinCAT ADS Protocol

For TwinCAT-based systems, ADS provides native access to PLC variables.

ADS Configuration

Connection Settings

Protocol Beckhoff ADS
Target AMS Net ID 192.168.1.41.1.1
Target Port 851 TwinCAT 3 PLC
Local AMS Net ID 192.168.1.10.1.1

Symbol Access

Configure variable names for setpoints and feedbacks:

Symbol Configuration

Setpoints Symbol GVL.Setpoints
Feedbacks Symbol GVL.Feedbacks
Status Symbol GVL.Status

Testing

  1. Test Connection

    Verify connection status shows green/connected

  2. Check I/O Values

    Verify analog inputs are reading correctly

  3. Test Output

    Write a test value and verify with multimeter at terminal