C++-samples

Numerous samples are available – further samples follow.

This picture provides an overview in graphical form and places the emphasis on the interaction possibilities of a C++ module.

Beyond that, this is a table with brief descriptions of the samples.

Number	Title	Description
01	Sample01: Cyclic with IO module	This article describes the implementation of a TC3 C++ module that uses an IO module mapped with physical IO. This sample describes the quick start for the purpose of creating a C++ module that increments a counter on each cycle and assigns the counter to the logical output "Value" in the data area. The data area can be assigned to the physical IO or another logical input or another module instance.
02	Sample02: Cyclic with IO task	Describes the flexibility of C++ code when working with IOs that are configured at the task. Thanks to this approach, a finally compiled C++ module can affect various IOs connected with the IO task much more flexibly. One application could be to check cyclic analog input channels, where the number of input channels can differ from one project to another.
03	Sample03: ADS Server Client	Describes the design and implementation of one's own ADS interface in a C++ module. The sample contains two parts: ADS Server implemented in TC3 C++ with user-specific ADS interface ADS Client UI implemented in C#, which transmits user-specific ADS messages to the ADS server.
05	Sample05: CoE access via ADS	Shows how CoE registers of EtherCAT devices can be accessed over ADS.
06	Sample06: ADS C# client uploads ADS symbols	Shows how symbols in an ADS server can be accessed via the ADS interface. C# ADS client connects to a module implemented in PLC/C++/Matlab. Upload the available symbol information and read/write subscription for process values.
07	Sample07: Receiving ADS Notifications	Describes the implementation of a TC3 C++ module that receives ADS notifications regarding data changes on other modules.
08	Sample08: provision of ADS-RPC	Describes the implementation of methods that can be called by ADS via the task.
10	Sample10: Module communication: Use of data pointers	Describes the interaction between two C++ modules with a direct data pointer. The two modules must be implemented on the same CPU core in the same real-time context.
11	Sample11: Module communication: PLC module calls a method of a C-module	This sample contains two parts A C++ module which functions as a state machine that provides an interface with methods for starting/stopping and also for setting/maintaining the state machine. Second PLC module for interacting with the first module by calling methods from the C++ module.
11a	Sample11a: Module communication: C-module cites a method in the C-module	This sample contains two classes in one driver (can also be done between two drivers) One module that provides a calculation method. Access is protected through a Critical section. A second module that acts as the caller in order to use the methods in the other module.
12	Sample12: Module communication: IO mapping used	Describes how two modules can interact with each other via mapping of symbols from the data area of different modules. The two modules can be executed on the same or different CPU cores.
13	Sample13: Module communication: C-module calls PLC methods	Describes how a TwinCAT C++ module calls a PLC function block using TcCOM interface methods.
19	Sample19: Synchronous File Access	Describes how the File IO function can be used in a synchronized manner with C++ modules. The sample writes process values in a file. The writing of the file is triggered by a deterministic cycle - the execution of File IO is decoupled (asynchronous), i.e.: the deterministic cycle continues to run and is not hindered by writing to the file. The status of the routine for decoupled writing to the file can be checked.
20	Sample20: FileIO-Write	Describes how the File IO function can be used with C++ modules. The sample writes process values in a file. The writing of the file is triggered by a deterministic cycle - the execution of File IO is decoupled (asynchronous), i.e.: the deterministic cycle continues to run and is not hindered by writing to the file. The status of the routine for decoupled writing to the file can be checked.
20a	Sample20a: FileIO-Cyclic Read / Write	A more extensive sample than S20 and S19. It describes the cyclic read and/or write access to files from a TC3 C++ module.
22	Sample22: Automation Device Driver (ADD): Access DPRAM	Describes how the TwinCAT Automation Device Driver (ADD) is to be written for access to the DPRAM.
23	Sample23: Structured Exception Handling (SEH)	Describes the use of Structured Exception Handling (SEH) based on five variants.
24	Sample24: Semaphores	Describes the use of semaphores.
25	Sample25: Static Library	Describes how to use the TC3 C++ static library contained in another TC3 C++ module.
26	Sample26: Order of execution in a task	Describes the determination of the task execution order, if a task is assigned to more than one module.
30	Sample30: Timing Measurement	Describes the measurement of the TC3 C++ cycle or execution time.
31	Sample31: Functionblock TON in TwinCAT3 C++	Describes the implementation of a behavior in C++, which is comparable to a TON function block of PLC / 61131.
37	Sample37: Archive data	Describes the loading and saving of the state of an object during the initialization and de-initialization.
TcCOM	TcCOM samples	Several samples are provided to illustrate the module communication between PLC and C++.

Further Information