This repository contains official sample code for the product TF5550 | TwinCAT 3 MC3 Camming offered by Beckhoff Automation. The sample code is provided as-is under the Zero-Clause BSD license.
TwinCAT 3 MC3 Camming extends TF5500 | TwinCAT 3 MC3 Base with non-linear couplings (cam plates) between axes.
TwinCAT 3 MC3 requires TwinCAT 3.1 Build >= 4026.23.1 and TE1300.ScopeViewProfessional.XAE is recommended.
These samples were created with TwinCAT 3 MC3 version 4.0.6.
Make sure to install the following packages for engineering system:
- TwinCAT.Standard.XAE
- TE1300.ScopeViewProfessional.XAE
- TF5550.MC3.Camming.XAE (no runtime installation required - automatic deployment of runtime components to the target system during activation of configuration)
Make sure to install the following packages for runtime system:
- TwinCAT.Standard.XAR (Windows)
- TF3300.ScopeServer.XAR (Windows)
- tc31-xar-um (Beckhoff RT Linux® Runtime)
| Sample | What it shows |
|---|---|
| CammingBasic | Basic camming where a slave axis follows a master via MC_CamIn and a precomputed periodic cam table (MotionFunctionPoint array, cubic-spline interpolation). The master moves while the slave motion is dictated entirely by the cam profile throughout the cycle. |
| CammingExtended | The full lifecycle of cam table management with MC_CamIn, MC_CamAdd, MC_CamRemove, MC_CamExchange, MC_CamTableSelect and CamCharacteristics. Demonstrates adding/removing tables, switching cam profiles during motion and computing cam characteristics in sequence. |
| ExchangeCam | Dynamic cam exchange mid-motion using MC_CamExchange combined with real-time MC_CamScaling (offset and scaling). Replacement cams are activated at defined master absolute positions via ECamActivationMode.AtMasterAbsolutePosition. |
| SwitchCam | Two parallel MC_CamIn profiles with staggered activation and mixed interpolation types (Linear, Polynomial5, CubicSpline). The first cam engages immediately while the second engages at a defined master position, illustrating seamless transitions between motion profiles. |
| Symmetry | A minimal cam table using a 2-point MotionFunctionPoint array with a Polynomial5 function and SymmetryRatio parameter. Focuses on the cam table UI and the symmetry-ratio feature for asymmetric acceleration/deceleration profiles. |
Each folder contains a self-contained TwinCAT solution (.sln) that can be opened and run independently:
- Open the sample's
.slnfile in TwinCAT XAE (Visual Studio / TcXaeShell). - Select your target system (local runtime or a remote target) via TwinCAT > Choose Target System.
- Build the solution (Build > Build Solution) and activate the configuration (TwinCAT > Activate Configuration), confirming the switch to Run mode.
- Log in and start the PLC (PLC > Login, then Start). The axes run in simulation by default, so no physical hardware is required.
- Open the
MAINprogram and use the declared trigger/command variables to step through the sample. In most cases setbStarttoTRUEto start the sample. Some samples provide a selection of different use cases or commands to be executed. - Where included, open the Scope/Measurement project to visualize the motion.
The samples use the included trial/simulation axis licenses. To run on real hardware, adapt the axis and drive configuration to your setup.
Should you have any questions regarding the provided sample code, please contact your local Beckhoff support team. Contact information can be found on the official Beckhoff website at https://www.beckhoff.com/contact/.
Further information about this sample code can be found on the Beckhoff Information System in the TF55xx | TwinCAT 3 MC3 documentation.