This library is intended to provide easy use as ADS client applications running on non-windows systems (e.g. FreeBSD, Linux, ...) to communicate with TwinCAT devices via TCP/IP. To build this library a recent compiler with C++14 support is required. Currently (2022-02-21) tested with: =================================== host (amd64) | target| compiler -----------------|-------|------------- TC/BSD 12 | amd64 | clang 10.0.1 Debian Bullseye | amd64 | clang 11.0.1 Debian Bullseye | amd64 | gcc 10.2.1 Debian Bullseye | i686 | gcc 10.2.1 Debian Bullseye | mips | gcc 10.2.1 Ubuntu 18.04 LTS | win32 | gcc 5.5.0 Windows 10 | win64 | gcc 8.3.0 compile & usage =============== # clone the repository git clone https://github.com/Beckhoff/ADS.git # change into root of the cloned repository cd ADS # configure meson to build the library into "build" dir meson build # let ninja build the library ninja -C build Prepare your target to run the example ====================================== - Download your PLC project to your target e.g. "PLC-TestProject" of our GitHub repository. - Authorise your ADS client for the TwinCAT target by adding an AMS route. Sample AMS route: Name: MyAdsClient AMS Net Id: 192.168.0.1.1.1 # NetId of your ADS client, derived from its IP address or set by bhf::ads:SetLocalAdress(). Address: 192.168.0.1 # Use the IP of the ADS client, which is connected to your TwinCAT target Transport Type: TCP/IP Remote Route: None / Server Unidirectional: false Secure ADS: false Routes can be configured by several possibilities TwinCAT Engineering: Go to the tree item SYSTEM/Routes and add a static route. TwinCAT Systray: Open the context menue by right click the TwinCAT systray icon. (not available on Windows CE devices) TC2*: Go to Properties/AMS Router/Remote Computers TC3: Go to Router/Edit routes. TcAmsRemoteMgr: Windows CE devices can be configured locally (TC2*/TC3). Tool location: /Hard Disk/System/TcAmsRemoteMgr.exe IPC Diagnose: Beckhoff IPC’s provide a web interface for diagnose and configuration. Further information: http://infosys.beckhoff.de/content/1033/devicemanager/index.html?id=286 *Requires a TwinCAT restart. Prepare your client to run the example/example.cpp ================================================== - set "remoteNetId" to the AMS NetId of your TwinCAT target (this is the AMS NetId found in the "About TwinCAT System window" e.g. "192.168.0.2.1.1"). - set "remoteIpV4" to the IP Address of your TwinCAT target (e.g. 192.168.0.2) - (optional) enable bhf::ads::SetLocalAddress() and set to the AMS NetId you choose for the ADS client (e.g. 192.168.0.1.1.1). # configure meson to build example into "build" dir meson example/build example # let ninja build the example ninja -C example/build # and run the example ./example/build/example --- ADS/AMS Specification: https://infosys.beckhoff.com/content/1033/tc3_ads_intro/index.html
tecnalia-advancedmanufacturing-robotics/ADS
Beckhoff protocol to communicate with TwinCAT devices.
C++MIT