TwinCAT

TwinCATLink is a Link implementation that uses TwinCAT on Windows as the EtherCAT master.

Installation

Rust

cargo add autd3-rs-link-twincat

Python

pip install autd3-link-twincat

C#

dotnet add package AUTD3.Link.TwinCAT

Use it in a Windows environment where TwinCAT is already set up. For the TwinCAT setup procedure, see Installing TwinCAT.

It can also connect to a remote TwinCAT server via ADS.

API

Rust

TwinCATLinkOption::local();

TwinCATLinkOption::remote(addr, ams_net_id);

Python

TwinCATLinkOption.local()

TwinCATLinkOption.remote(addr, ams_net_id)

C#

TwinCATLinkOption.Local();

TwinCATLinkOption.Remote(addr, amsNetId);

Parameter	Type	Description
addr	IpAddr	IP address of the remote TwinCAT server
ams_net_id	AmsNetId	AMS Net ID of the remote TwinCAT server

To specify timeouts, use *_with_timeouts. The default is no timeout.