I was wondering if there is a way, and what is the correct way, of creating PLC templates. By default in TwinCAT you are provided with “Empty” and “Standard” projects – empty one is useless since it does not even include basic libraries and once you add task reference you start to scratch your head with all the errors (Tc3_Module needs to be added manually for tasks to work).

I have a motor that I usually control in torque mode using MC_TorqueControl. In order to quickly stop it, my idea was to use the fast axis stop. However, when I trigger the fast stop, nothing happens. Why is that?

I have come across the following issue. The variable list PLC Instance Variables in the PLC instance looks good (right side), the addresses and offsets are correct. But in the solution view (left side), the order of the variables does not match the list. Have you also faced such a problem, in which direction should I look more?

One option is to remove a library, rebuild the project, and check for errors. Is there a better and faster way?

I’m trying to read out the Resistor Measurement Settings from a EL3356 over Can over Ethernet (CoE). I’m using the FB_EcCoeSdoReadEx function block for this.