Beckhoff EPP3504-0023 Short Manual page 132

Commissioning on EtherCAT Master
Fig. 58: Mapping of the configuration in the TwinCAT 2 System Manager
The whole process consists of two stages, which can also be performed separately (first determine the
devices, then determine the connected elements such as boxes, terminals, etc.). A scan (search function)
can also be initiated by selecting "Device ..." from the context menu, which then only reads the elements
below which are present in the configuration:
Fig. 59: Reading of individual terminals connected to a device
This functionality is useful if the actual configuration is modified at short notice.
Programming and integrating the PLC
TwinCAT PLC Control is the development environment for generating the controller in different program
environments: TwinCAT PLC Control supports all languages described in IEC 61131-3. There are two text-
based languages and three graphical languages.
• Text-based languages
◦ Instruction List (IL)
132 Version: 1.2 EPP3504-0023