BECKHOFF-TC3-003-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
Lower
Upper
BOOL
FALSE
TRUE
Size
Prefix
x
b
BYTE
8 BIT
by
Bitstring
WORD
16 BIT
Bitstring
DWORD
32 BIT
dw
Bitstring
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Typ
Lower
Upper
Gre
Prfix
SINT
-127
127
8 Bit
si
USINT
255
8 BIT
usi
INT
-32768
32767
16 BIT
UINT
65535
16 BIT
ui
DINT
-134 217 728
134 217 727
32 BIT
di
UDINT
4294 967 295
32 BIT
udi
64 BIT
li
64 BIT
uli
LINT
ULINT
Detail slides
Overflows
Example: EL3102
Example: KL2531
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Data types 1: Elementary data types

Type
Lower
Upper
Size
Prefix
TIME_OF_DAY
TOD#0:0:0
TOD#23:59:
59
32 Bit
tod
DATE
D#1970:01:01
D#2106 ???
32 Bit
date
DATE_AND_TIME
DT#1970:01:01:00:00:00
DT#2106
???
32 Bit
dt
TIME
T#0s
T#49d17h2m 32BIT
47s295ms
tim
Detail slides
DT example - reading the system time
DT example - working with standard operators
29.10.2013

Type
Lower
Upper
Size
Prefix
REAL
4 Byte
LREAL
8 Byte
lr
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Data types: STRING

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

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

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

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

Variable Type
Examples
BOOL
TRUE
2#1
16#1
FALSE
2#0
16#0
WORD,
DWORD
2#1010111111111110
16#AFFE
45054
INT
2#1000000000000001
16#8001
-32768
TIME
t#1h
t#60m
t#3600000ms
t#0.5d
t#12h
t#43200000ms
day
hours
min
sec
ms
ms
REAL
t#30m18s90ms
t#0.505025h
0.3333
3.333e-1
t#1818090ms
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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
bStellerUntenLinks:BOOL:=TRUE;
The physical-logical storage

location of this variable is
unknown to the user
(unlocated)
The degrees of freedom and restrictions in the

assignment of the identifiers can be found on
the slide entitled Identifiers and Prefixes
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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
Data type;
%Q*
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Data types 1: Located variables

Completely located variables.
Identifier
AT
%I
%Q
%M
Byte
Bit
Type
Byte
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
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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
IB0
Ain AT%IB0 : INT;

equivalent
IW0
Ain AT%IW0 : INT;

IX22.7
IX22.6
IX22.5
IB23
IX22.4
IX22.3
IB22
IX22.2
IX22.1
IB21
IW22
IB20
IW20
ID20
IX22.0
BitVar AT%IX22.1 : BOOL;

Posi AT%IB20 : UDINT;
equivalent
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 ..
Global variables are

known in each block
within a project.
Keywords
VAR_GLOBAL ..
END_VAR
VAR_CONFIG ..
END_VAR
END_VAR
VAR_OUTPUT ..
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
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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
PROGRAM B
VAR
VAR
locVar AT%MB2:WORD;
END_VAR
END_VAR
LD %MB2
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Data types 1: Overlaps in the scope

Project machine
VAR_GLOBAL
Var1:WORD;
END_VAR
PROGRAM A
VAR
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.
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;
Global
END_VAR
VAR CONSTANT
pi:REAL:=3.141592654;
Also locally possible
END_VAR
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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
New value
Derivation
Name
Data type
Initial value
Area
Inherit
ance
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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only to the type
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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
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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];
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:
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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
LREAL;
LREAL;
LREAL;
LREAL;
LREAL;
LREAL;
LREAL;
LREAL;
LREAL;
LREAL;
LREAL;
BOOL; (*Pumpe ?*)
Declaration of the array:
Positions :ARRAY[0..100] OF DrillPos;

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Data Types 2: Combination: structures and arrays

Access to Drillpos 55:
Access:
MoveXAx (*FB Instanz*)
(
Execute:=
TRUE,
Position:=
Positions[55].XPos ,
Velocity:=
Positions[55].FeedrateX
Acceleration:=
Positions[55].AccelerationX,
Deceleration:=
Positions[55].DeccelerationX,
Jerk:=
Positions[55].JerkX,
Direction:=
.........,
Axis:=
.............,
);
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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
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ST Structured Text: Instructions

Instruction
Example
Assignment:=
PosWert := 10;
Calling a Function Block
Ton1(IN:=Start, PT:=T2s); Output:= Ton1.Q;
RETURN
RETURN;
IF
more precise explanations and examples on the

following pages
CASE
FOR
WHILE
REPEAT
EXIT
Empty instruction
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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
THEN
ELSIF
ELSE
END_IF
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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
No
Yes
Instruction block A
Instruction block B
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ST: IF instruction
IF Condition1 THEN
ELSE
IF Condition2 THEN
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
ELSIF Condition2 THEN
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
Querying of FB instances
NO FB call!
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
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ST CASE Instruction
CASE Selection criterion OF
1:
Selection criterion = 2
or 4 or 6
Instruction 1
2, 4, 6: Instruction 2
Selection
criterion = 1
7..10: Instruction 3
Selection criterion = 7
or 8 or 9 or 10?
No
Yes
..
No
ELSE
Yes
Default
instructions
No
Yes
END_CASE;
Two identical values
may not be available
for selection in the list.
Instruction 1
Instruction 2
Instruction 3
Default
instructions
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ST: CASE instruction: possibility for a step chain /

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

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

state machine
TYPE Schritte :
( INIT:=0, START, AUTOMATIK, ENDE);
END_TYPE
Instructions for the step

(Actions)
CASE State OF
INIT:
Q0:=TRUE;
IF Transition THEN state := START; END_IF
START:
Step-further condition
(Transition)
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
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with constants
CASE State OF
VAR CONSTANT
Step1 : INT:=
0;
Step1:
Step2 : INT:=
1;
Step2:
Step3 : INT:=
2;
Step3..Step4:
Instructions;(*State=2 oder 3*)
Step4 : INT:=
3;
END_CASE
END_VAR
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
1
e.g.: 1ms
2
2ms
3
3ms
Begin of a new
time slice
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
Processing
n cycle fix
FOR
SINT/INT/DINT
Yes
Instructions
follow condition
WHILE
BOOL
Instructions
No
follow condition
REPEAT
BOOL
Condition
follows
instructions
No
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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.
Start i:=StartValue
Yes
i
>EndValue
No
Instruction block
i: = i + step size
FOR i:=1 TO 12 BY 2 DO
Feld[i]:=i*2;(*Anweisung*)
END_FOR
Cycle n
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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
i:=i+1;
END_WHILE
Cycle n
Yes
Boolean
expression
No
Instruction block
i: = i + step size
Cycle n
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ST: REPEAT loop

Cycle n
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.
Instruction block
i:= i + step size
i:=0;
REPEAT
i:=i+1;
UNTIL i>100
No
Boolean
expression
Yes
END_REPEAT
Cycle n
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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 (
xog:=
x:=
Eingang,
xug:=
0.0,
32767.0,
yug:=
0.0,
yog:=
100.0
);
In case of functions, all inputs must be occupied
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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);
Result
CALL
Input parameters
(* Gleichwertig:*)
Result:=Scale
(
x:=
xug:=
xog:=
yug:=
yog:=
);
Eingang,
0.0,
32767.0,
0.0,
100.0
29.10.2013
69

BECKHOFF-TC3-003-TwinCAT 3 Basics

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BECKHOFF-TC3-003-TwinCAT 3 Basics

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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

TwinCAT Training: Programmer

Elementary data types

TwinCAT Training: Programmer

Elementary data types

-134 217 728

134 217 727

4294 967 295

Data types 1: Elementary data types

TwinCAT Training: Programmer

Elementary data types

TwinCAT Training: Programmer

Data types: STRING

String length specifications

TwinCAT Training: Programmer

Data types: STRING

TwinCAT Training: Programmer

Data types: WSTRING

TwinCAT Training: Programmer

Data types: Examples of literals

TwinCAT Training: Programmer

Data types 1: Variable declaration el. data types

The physical-logical storage

The degrees of freedom and restrictions in the

Data types 1: Located variables

TwinCAT Training: Programmer

Data types 1: Located variables

These variables possess a clear address

Data types 1: Address division

Din0 AT%IX10.0 : BOOL;

Ain AT%IB0 : INT;

Ain AT%IW0 : INT;

BitVar AT%IX22.1 : BOOL;

Posi AT%ID20 : UDINT;

TwinCAT Training: Programmer

Data types 1: Variable classes, scope

Global variables are

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

As shown on the left, there is

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)

The same enumeration value can be used twice via Namespace.

Instructions;(State=2 oder 3)