Beckhoff EPP3504-0023 Short Manual page 144

Commissioning on EtherCAT Master
Fig. 78: Reading of individual terminals connected to a device
This functionality is useful if the actual configuration is modified at short notice.
Programming 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)
◦ Structured Text (ST)
• Graphical languages
◦ Function Block Diagram (FBD)
◦ Ladder Diagram (LD)
◦ The Continuous Function Chart Editor (CFC)
◦ Sequential Function Chart (SFC)
The following section refers solely to Structured Text (ST).
In order to create a programming environment, a PLC subproject is added to the example project via the
context menu of the "PLC" in the project folder explorer by selecting "Add New Item....":
144 Version: 1.2 EPP3504-0023