System Configuration

This section shows the system configuration using the TwinCAT Motion linkage function.

Necessary Components

• RC9 series robot controller
• WINCAPSIII
• License for the TwinCAT Motinon linkage function
• Beckoff Automation TwinCAT licenses
• TwinCAT XAE Shell (*1)

*1: Regarding TwinCAT XAE Shell, be sure to use the latest version of 3.1.4024.xx.

License for the TwinCAT Motinon linkage function

For the TwinCAT Motion linkage function, two types of licenses are available: "TwinCAT3 Robot Motion Control (Not free)" and "TwinCAT3 Robot Motion Monitor (Free)" .

With "TwinCAT3 Robot Motion Monitor", available TcCOM modules are limited. Select a license suitable for your intended use.

For available modules, refer to "List of TcCOM Modules".

Beckoff Automation TwinCAT licenses

The system configuration requires the following TwinCAT licenses.

• TC1200 | TwinCAT 3 PLC
• TF5000 | TwinCAT 3 NC PTP 10 Axes

To control extra axes, select a necessary license from the following licenses in addition to the licenses above.

• TF5010 | TwinCAT 3 NC PTP Axes Pack 25
• TF5020 | TwinCAT 3 NC PTP Axes Pack unlimited

You can purchase these licenses from DENSO WAVE.