Installing TwinCAT 3 runtime

Please note that authentication on the Beckhoff TwinCAT Package Server must be set up for the installation of the TwinCAT runtime and current package information must be downloaded:

• Authenticate on the Beckhoff Package Server
• Download current package information

The installation of the TwinCAT runtime can then be started with the following command:

sudo apt install tc31-xar-um

After installation, the status of the service can be checked with the following command:

sudo systemctl status TcSystemServiceUm

The output looks as follows:

● TcSystemServiceUm.service - TwinCAT Usermode System Service
     Loaded: loaded (/usr/lib/systemd/system/TcSystemServiceUm.service; enabled; preset: enabled)
     Active: active (running) since Tue 2026-02-03 15:07:20 UTC; 38min ago
 Invocation: f2dac25f7de54b41bdfbad6b8ee09ac3
   Main PID: 389 (TcSystemService)
      Tasks: 25 (limit: 991)
     Memory: 104.1M (peak: 104.4M)
        CPU: 2min 9.634s
     CGroup: /system.slice/TcSystemServiceUm.service
             └─389 /usr/bin/TcSystemServiceUm -f 0x5 -p /var/run/TcSystemServiceUm.pid