Machine

Beckhoff — the machine in TwinCAT

This page is generated from the machine handoff and the TwinCAT solution. Published from _docs/context/machine.md — edit it there, not here. Changes made in the wiki are overwritten on the next sync.

How the twin's structure is realised on Beckhoff hardware. The machine itself - what the groups are, how the pallet ring works, what each group is for - is in the main repo: the machine.

Control PLC	PLC_1, AmsPort 851, drives the EtherCAT_1 master
Twin devices	SIM_1, AmsPort 852, bound by Unity over ADS
HMI	TE2000, bound to PLC_1 as ADS runtime PLC1 (by port, not by project name)
Solution	TwinCAT_1/PLC_TwinCAT.sln

Groups

Group	Control PLC path	Module	Devices	Process image	Linked
FG_System	MAIN.Machine.FG_System	yes	10	26	26
FG_Transport	MAIN.Machine.FG_Transport	yes	46	89	89
FG_01	MAIN.Machine.FG_01	yes	9	24	24
FG_02	MAIN.Machine.FG_02	yes	1	2	2
FG_03	MAIN.Machine.FG_03	yes	9	30	30
FG_04	MAIN.Machine.FG_04	yes	2	5	5
FG_05	MAIN.Machine.FG_05	yes	10	30	30

Also here

Page	Answers
plc-io.md	Which terminal channel every signal is on, what is free, and whether the link file and the project agree
devices/	Per twin device type: which control FB it becomes, its process-image members and channel widths
../reference/spt-framework.md	How the SPT framework is meant to be used, checked against the shipped V3.9 binary
../reference/plc-io-exceptions.md	Which signals are unlinked on purpose

Behaviour is not here. Sequences, interlocks, fault codes and the reset model are machine-level contracts that any control platform has to honour, and they live in the behaviour contracts in the main repo.