Installation

The TF5400 TwinCAT 3 Advanced Motion Pack installation package contains the necessary components for the TwinCAT functions:

• TF5110 - TF5112 TwinCAT 3 Kinematic Transformation
• TF5410 TwinCAT 3 Motion Collision Avoidance
• TF5420 TwinCAT 3 Motion Pick-and-Place
• TF5430 TwinCAT 3 Planar Motion.

The installation differs from TwinCAT version 3.1 Build 4026 onwards compared to the previous versions.

Make sure that you install the Advanced Motion Pack both on the development computer and on the target system.

Installation requirements

The installation requires TwinCAT 3 and TF5000 NC PTP.

Target system

Windows 10

• Up to TF5400 v3.1.10.x: x86 and x64
• From TF5400 v3.2.x:             only x64

TwinCAT Package Manager: Installation (TwinCAT 3.1 Build 4026)

As of TwinCAT 3.1 Build 4026, TwinCAT products are installed via the TwinCAT Package Manager. Detailed instructions on installing products can be found in the chapter Installing workloads in the TwinCAT 3.1 Build 4026 installation instructions.

You can obtain a basic TwinCAT installation via the following workloads:

• TwinCAT.Standard.XAE (Engineering)
• TwinCAT.Standard.XAR (Runtime)

For TF50x0 | TwinCAT 3 NC PTP, prerequisite for TF5400, please install the workloads:

• TF5000.NcPtp.XAE (Engineering)
• TF5000.NcPtp.XAR (Runtime)

For TF5400, please install the workloads:

• TF5400.AdvancedMotionPack.XAE (Engineering)
• TF5400.AdvancedMotionPack.XAR (Runtime)

In addition, the installation of the TwinCAT Scope is recommended:

• TE1300.ScopeViewProfessional.XAE (Engineering)
• TF3300.ScopeServer.XAR (Runtime)

TwinCAT Setup: Installation (TwinCAT 3.1 Build 4024 and earlier)

TF5400 TwinCAT Advanced Motion Pack requires a TwinCAT 3 Full Installation up to TwinCAT 3.1 Build 4024 and is installed via a setup.

TF5110-TF5113 TwinCAT 3 Kinematic Transformation L1-L4

The TF5110 - TF5113 TwinCAT 3 Kinematic Transformation function is divided into four different levels, depending on the number of transformation axes. A higher level contains all sub-levels.

Level 1: Supports static transformation. This includes translation and rotation of the coordinate system.

Level 2: Supports level 1 and simple (mainly 2D) kinematic transformations such as H-bot and 2D parallel kinematics.

Level 3: Supports level 2 and more complex (3D, 4D) kinematic transformations such as delta robots.

Level 4: Supports level 3 and complex kinematic transformations (up to 6D).

Both the TF5400.AdvancedMotionPack.XAR workload and the TF5400 setup only contain the runtime components for TF5110-TF5112 TwinCAT 3 Kinematic Transformation L1-L3.

TF5113 | TwinCAT 3 Kinematic Transformation L4 TF5113 | TwinCAT 3 Kinematic Transformation L4 is subject to special legal restrictions. Please get in touch with your Beckhoff contact person.