BECKHOFF New Automation Technology - PC-Based Control for Robotics in Handling. Production and Assembly

New Automation Technology BECKHOFF

PC-based Control for Robotics in Handling, Production and Assembly

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Beckhoff | Open automation solutions

A wide range of existing applications indicate that automation tech-nology from Beckhoff can signifi cantly enhance the productivity and fl exibility of automatic assembly and handling systems. PC-based control technology from Beckhoff enables the whole process chain for individual processing machines and complete production lines to be controlled and monitored: Feeding, joining (welding, gluing, etc.), assembly, checking, handling and palletising can be implemented consistently with Beckhoff Industrial PCs as hardware platform and TwinCAT as automation software.

Integrated control platform for all robot typesGantry robots, SCARA, articulated or parallel kinematics – the right robot for any machining step, yet only one automation platform. Highly dynamic handling devices with high repeatability require a system that guarantees minimum delays for all sub-processes including physical signal sampling, processing in the motion control-ler and response at a physical output. Beckhoff offers the required products and technologies: high-performance IPCs and Embedded PCs with Motherboards specially developed for industrial applications, Control Panels as control and display elements, fast and compact I/O components in IP 20 or IP 67, EtherCAT as open and ultra-fast com-munication system, versatile Servo Drive Technology, cost-effective stepper motor technology and the TwinCAT PLC and motion control software.

The functional safety of the application is ensured through Beckhoff TwinSAFE technology. Safe I/O components and drive-integrated safety functions that are linked to the safe Logic Terminal via a safe communication enable safe system operation.

TwinCAT: continuity with PC-based technologyTwinCAT integrates PLC and Motion Control functions and controls the individual process steps of the processing machines with high performance. Software PLC programming is based on the interna-tional IEC 61131-3 standard. A wide range of software modules for different tasks such as cams, synchronised and interpolating move-ments of several axes are available.

Solutions for different areas of application can be implemented due to the high fl exibility in terms of combination options for master and slave axes and the high-performance and diverse motion func-tions. Powerful tools such as TwinCAT Cam Design Tool and TwinCAT Scope 2 support system design and commissioning. PLC libraries with function blocks based on the PLCopen Motion Control standards sim-plify programming and enable the use of standardised components.

EtherCAT: maximum performance even for systems with many axesThe basis for the ultra-fast process communication is the EtherCAT Industrial Ethernet system, which is ideally suited for use in production machines. The fast communication between the controller and the I/O signals – without special hardware – offers the machine manufacturer undreamt-of possibilities: Motion Control with multiple axes, synchro-nised through distributed EtherCAT clocks, with nanosecond accuracy.

With XFC (eXtreme Fast Control Technology) from Beckhoff, any programmer is able to realise very fast and highly precise control solu-tions for special production machines simply and elegantly based on standard components.

New Automation Technology We reserve the right to make technical changes.BECKHOFF

This fl yer gives a concise overview of products and solutions

for applications in the fi eld of robotics. The main catalog

“New Automation Technology” and the web pages at

www.beckhoff.com offer detailed descriptions. 3

Robotics, Motion Control and PLC on one PC platform “TwinCAT Kinematic Transformation” software integrates robot con-trol into the TwinCAT automation software suite. The PLC, Motion Con-trol, HMI and robotic functions run on one powerful Industrial PC CPU. This provides the user with a whole series of advantages: – eliminating the additional CPU required for robot control – reduction in engineering costs: confi guration, parameterisation

and diagnostics in one system – TwinCAT, a well-known tool that adheres to global standards

for confi guration, programming and diagnostics – no friction losses due to the interaction of various CPUs

for PLC, motion and robotics – Higher performance and accuracy due to direct interfaces;

complex communication between CPUs is no longer required.

TwinCAT Kinematic Transformation integrates itself transparently in the existing Motion Control world: robotic and Motion Control func-tions can be optimally synchronised using TwinCAT NC PTP (point-to-point axis positioning) or NC I (axis interpolation in three dimensions). All NC characteristics, such as “cam plate” or “fl ying saw” (synchroni-sation of a slave axis with a moving master axis) can be combined as desired on a common hardware and software platform.

www. beckhoff.com/robotics

Beckhoff | New Automation TechnologyBeckhoff implements open automation systems based on PC Control technology. The product range covers Industrial PCs, I/O and Fieldbus Components, Drive Technology and automation software. Products that can be used as separate components or integrated into a complete and seamless control system are avail-able for all industries. The Beckhoff “New Automation Technology” philosophy represents universal and open control and automation solutions that are used worldwide in a wide variety of different applications, ranging from CNC-controlled machine tools to intel-ligent building automation.

Innovative products and a full range of servicesSince the foundation of the company in 1980, continuous devel-opment of innovative products and solutions using PC-based control technology has been the basis for the continued success of Beckhoff. Many automation technology standards that are taken for granted today were conceptualised by Beckhoff at an early stage and successfully introduced to the market.– 1982: P1000 – single-board motion controller– 1986: PC Control – fi rst PC-based machine controller– 1988: S1000 – software PLC/NC on PC (DOS)– 1989: Lightbus – high-speed fi eldbus utilising optical fi bre– 1990: All-in-one PC motherboard– 1995: Bus Terminal – fi eldbus technology in terminal

block format– 1996: TwinCAT – real-time software package under

Windows with PLC and Motion Control functions– 1998: Control Panel – remote IPC Control Panels– 1999: Fieldbus Box – the I/O system in IP 67– 2002: CX1000 – modular Embedded PCs for DIN rail mounting– 2003: EtherCAT – real-time Ethernet fi eldbus system– 2005: TwinSAFE – safety solution for the Bus Terminal system– 2005: AX5000 – EtherCAT Servo Drive– 2007: Industrial Motherboards – Made in Germany– 2008: XFC – eXtreme Fast Control Technology– 2009: HD Bus Terminals – 16-channel terminals in 12 mm

The Beckhoff PC Control philosophy and the invention of the Lightbus system, the Bus Terminals and TwinCAT automation software represent milestones in automation technology and have become accepted as high-performance alternatives to traditional control technology. EtherCAT, the real-time Ethernet solution, makes forward-looking, high-performance technology available for a new generation of leading edge control concepts.

Worldwide presence on all continentsThe central divisions of Beckhoff, such as development, production, administration, distribution, marketing, support and service are located at the Beckhoff Automation GmbH headquarters in Verl, Germany. Rapidly growing presence in the international market is taking place through 24 subsidiaries.

New Automation TechnologyBECKHOFFWe reserve the right to make technical changes.

TwinCATAutomation software for PLC and Motion Control with a uni-form engineering tool for different processor platforms. Cam plates, interpolating movement of various axes as well as a consistent framework for hydraulic and electric axes. TwinCAT with integrated robot controller enables the synchronisation of robotic and motion control functions in one system.

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Beckhoff | PC-based control for robotics in handling,

Feeding

Speed is primarily called for when feeding material into a production plant. Feeder applications with gantry robots are examples of this.

Assembly

Various assembly steps such as joining, gluing, screwing, welding, and chamfering require various handling devices. Gantry robots and articulated robots are often used here. Rapid tool changes must be checked by the controller.


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production and assembly

Checking

Automatic checking of products secures constant quality. The connectivity of the controller to various assistant systems, e.g. scales and vision systems, is a prerequisite.

Handling/Palletising

Palletising and packaging of the products requires free movement of the handling system. The connection of various lifting tools (grippers, suction units) is often accomplished via pneumatic valve terminals.

TwinCATAutomation software for PLC and Motion Control, choice of Windows XP or CE operating system with a uniform engineering tool for different processor platforms. Cam plates, interpolating movement of various axes as well as a consistent framework for hydraulic and electric axes.


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Beckhoff | PC-based control for robotics in handling, production

Feeding

The precise guidance of multiple coupled axes is one of the strengths of TwinCAT NC. The four axes of a gantry robot can be implemented with just two 2-channel Servo Drives to save space. The TwinSAFE products offer users the greatest possible degree of protection in their daily work.

Assembly

PC-based control, with multiple parallel tasks and extremely short cycle times, possesses the performance necessary to simul-taneously control many axes for automatic assembly machines. Furthermore, EtherCAT’s automatic link detection, together with the controller’s Hot Connect function, enables rapid tool changes.


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and assembly

Checking

The connectivity property of the TwinCAT automation package assists in the checking of products. Devices with almost any fi eldbus interface are connected either directly to the PC or, even simpler, via EtherCAT gateway. In this way, for example, test devices with Ethernet interface (vision systems, weighing equipment) can be integrated directly in the automation process.

Handling/Palletising

TwinCAT NC offers Motion Control for up to 255 axes on the PC. Free paths can be defi ned with axis interpolation in three dimen-sions for fl exible handling of the end products. Additional axes and peripheral tools are simply integrated in the PLC.


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Beckhoff | Universal system solutions for robotics applications

Ethernet

Industrial PCWith the Industrial PCs and Panel PCs, Beckhoff offers PC technology with top performance.

EtherCATEtherCAT is the real-time Ethernet fi eldbus for industrial automation, offering fl exible topology and simple handling, among other benefi ts. With its high communication speed and high user data rates, EtherCAT fea-tures the basic qualifi cation for fast control technology.

EtherCAT drivesThe AX5000 Servo Drive series is available in single- or multi-channel form and is optimised in terms of function and cost-effectiveness. Inte-grated control technology supports fast and highly dynamic positioning tasks. EtherCAT as a high-performance communication system enables ideal interfacing with PC-based control technology.


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EtherCAT I/O systemIndustrial Ethernet in an electronic terminal block: The EtherCAT

I/O system from Beckhoff offers full Ethernet compatibility, maximum utilisation of Ethernet bandwidth and outstanding real-time performance. PROFIBUS devices or DeviceNet, for example, can be integrated via fi eldbus gateway terminals.

TwinSAFEWith the TwinSAFE I/O terminals, secure input and output signals are linked with one another in a confi g-urable, secure logic.

XFC – eXtreme Fast Control TechnologyXFC is based on an optimised control and communication architecture comprising an advanced Industrial PC, ultra-fast I/O terminals with extended real-time characteristics, the EtherCAT high-speed Ethernet fi eldbus, and the TwinCAT automation software.

Software-SPS, Motion Control and RoboticTwinCAT integrates real-time control with PLC system, Motion Control, Robotic and programming environment in a single package. Programming is executed in ac cor-dance with the IEC 61131-3 standard.

TwinCAT Kinematic TransformationTwinCAT now permits the integration of robots (delta kinematics, SCARA) as well as their inter-action and synchronisation with existing Motion Control functions.


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➔ IPC

➔ CX

➔ CX

➔ BC

Beckhoff | Customised automation

Beckhoff offers a scalable, modular control system that provides suitable solutions for any task in terms of computing capacity, complexity and costs. All Beckhoff controllers, irrespective of their performance class, are programmed in IEC 61131-3 via the TwinCAT automation software.


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TwinCAT− software-based real-time controller with multiple PLCs,

Motion Control, robotics and programming environment− runs under Windows NT/2000/XP/Vista, Windows 7,

NT Embedded, Embedded Standard and Windows CE− connection to all common fi eldbuses and PC interfaces− data interfacing via open standards such as OPC− TwinCAT PLC is an IEC 61131-3 PLC with up to four

run-time systems for each PC.− highly deterministic real-time

PC Control− the most powerful hardware platform equipped

with top-performance components− based on open IT and automation standards− Individual housing constructions ensure optimised

adaptation to the control requirements.

Embedded Control− small controllers with integrated interface

for the Beckhoff Bus Terminal system− interfaces for all common fi eldbus and

Ethernet systems

Embedded PC Control− for control tasks in the medium performance range− DIN rail mountable, modular and can be confi gured

according to the task in hand− CX controllers combine PLC, Motion Control

and direct I/O interface− fanless CPU modules with different processors

without rotating storage media− expandable PC and fi eldbus interfaces


TwinCAT | Interpolated motion for robotic controlAdvantages of the integration of robotic control in TwinCAT:– confi guration, parameterisation, diagnostics

and programming in TwinCAT– optimum synergy between PLC, Motion Control

and robot control system– high performance and precision through direct interfaces

Kinematic calculation process:– forward transformation– backward transformation– calculation of the dynamic model

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High-end PLC– international IEC 61131-3

programming standard– reusable software modules– almost unlimited memory– no restrictions in terms of number

of blocks and variables– minimum PLC cycle times through

native code generation– 1,000 instructions in < 1 µs

(Intel® Core™2 Duo)– high-speed software solutions

for camming, controllers, etc.– up to four run-time systems

per PC, up to four tasks per run-time system

Highly deterministic real-time capability– pure software solution, developed

by Beckhoff– highly deterministic– pre-emptive multi-tasking from 50 µs– low jitter (< 2 µs)– open fi eldbus interface

Motion Control functionality– point-to-point motion– gear coupling– master/slave coupling

– cam plates– CAM Design Editor– Motion laws can be modifi ed

from within the PLC.– position-synchronous coupling

(fl ying saw, fl ying shear)– synchronisation from any

dynamic phase– superposition– axis interpolation in 3 dimensions– programming according

to DIN 66025– PLC library for NC interpolation

Beckhoff | TwinCAT – The universal solution for PLC and Motion

TwinCAT NC– PC-based Motion Control

for up to 255 axes– support for a wide range

of axis types:– electrical servo axes– stepper axes– DC motors– hydraulic axes

– support for a wide range of drive interfaces:– EtherCAT and Lightbus– SERCOS– Profi Drive– CANopen– SSI– analog interfaces

– convenient commissioning and maintenance

Software libraries– wide range of TwinCAT

libraries available– PLCopen Motion Control

blocks– serial coupling– control technology

www. beckhoff.com/TwinCAT


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Control

www. beckhoff.com/kinematics

The standard TwinCAT components such as PTP, cam plate, G code (DIN 66025) and TcPlcInterpolation Library can be used for the programming of the positioning commands in the Cartesian coordinate system.

Motor 1

Motor 2

...

Torque M1

Pos M1

Torque M2

Pos M2

PosX, Y, Z...

VeloX, Y, Z...

AccX, Y, Z...

CartesianSet-PointGenerator

KinematicTransformation(Backward)& Dynamic Modell

Additional torque command

U– – –

Actual position

Actual velocity

Actual current

CurrentControl Unit

VelocityControl Unit

PositionControl Unit

Cartesian portal

Level 1

Static transformation (translation & rotation) and various compensations

Shear kinematics

Roller kinematics (H-Bot)

2-D parallel kinematics

Level 2

Level 2 includes Level 1 and additionally contains simpler kinematic transformations (e.g. shear and roller kinematics).

SCARA

3-D delta kinematics

3-D kinematics

Level 3

Level 3 includes Level 2 and more complex kinematics (e.g. 3-D delta, Hexapod).

TwinCAT Kinematic Transformation“TwinCAT Kinematic Transformation” software is the fi rst step toward integrating robot control into the TwinCAT automation software suite. The PLC, Motion Control, HMI and robotic functions run on one powerful Industrial PC CPU. This provides the user with a whole series of advantages:− eliminating the additional CPU required for robot control − reduction in engineering costs: confi guration, parameterisation and diagnostics in one system− TwinCAT, a well-known tool that adheres to global standards for confi guration, programming and diagnostics

The supplement product requires the TwinCAT NC I level and is subdivided into three levels:


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Beckhoff | EtherCAT – Ethernet for Control Automation Technology

Industrial PC(EtherCATMaster)

EtherCAT Drives AX5000

EtherCAT Terminals (IP 20)

TwinSAFE

Ethernet

EtherCAT is the Ethernet solution for industrial automation, characterised by outstanding performance and particularly simple handling.The use of EtherCAT in the fi eld of robotics offers decisive advantages:– top performance on the basis of Industrial Ethernet– Extremely short update times are possible for the process image (50 µs).– Control loops (up to the current controller) can be closed via the bus.

Control of the axes can take place centrally in the controller – including the coupled movement function.

– No subordinate I/O subsystems; each I/O terminal is an EtherCAT device. This makes extremely short reaction times possible.

– The application determines the topology, not the communication system: line, star, tree.

– Redundancy, Hot Connect and Hot Swap options are integrated in the system.

– Safe transfer of data is possible with the Safety over EtherCAT protocol up to SIL 3 of IEC 61508.

– A standard Ethernet port can be used for the EtherCAT master; no special master interface card is necessary.

TwinSAFECompact Safety PLC for up to 128 safety-relevant bus devices at one Safety PLC terminal

Ethernet, PROFIBUS,...Optional fi eldbus integration via decentralised fi eldbus master/slave terminals

www. beckhoff.com/EtherCAT

www. beckhoff.com/EtherCAT-Terminals

EtherCAT TerminalsEtherCAT down to the terminal: the EtherCAT protocol is main-tained down to each device; no sub bus is required.


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EtherCAT Box (IP 67)

Embedded PC (EtherCAT Master),EtherCAT Terminals

EtherCAT Automation Protocol

Freedom in the choice of topologyMaximum fl exibility for wiring: with or without switch, line or tree topologies can be freely selected and com-bined. Address assignment is automatic; no IP address setting is required.

EtherCAT Technology GroupThe EtherCAT Technology Group (ETG) is an association of automation users and manufactur-ers aiming to support the development of the EtherCAT technology. The consortium represents a wide range of sectors and application areas. This ensures that the EtherCAT technology functions and interfaces are ideally prepared for a wide range of applications. The organisation ensures that EtherCAT can easily and cost-effec-tively be integrated in a wide range of automa-tion devices, and it also ensures interoperability of the implementations. The EtherCAT Technology Group is the offi cial IEC partner organisation for fi eldbus standardisation. Membership is open to all companies.

For further information see www.ethercat.org

EtherCAT– real-time Ethernet for automation– fl exible topology– maximum performance– easy confi guration– fully Ethernet-compatible

EtherCAT Box– EtherCAT I/O system in IP 67– high performance for harsh

environments– compact and robust– fi tted directly to machines without

control cabinets and terminal boxes

www. beckhoff.com/EtherCAT-Box


State monitoring and monitoring

of mode selector switches (EL1904 )

Control and monitoring

of indicator lamps

(EL2904)

State monitoring

and monitoring

of light barriers

(EL1904 )


of safety light barriers (EL1904 )


of emergency stop button (EL1904)

State monitoring, monitoring and control

of protective door safety switches (EL1904 , EL2904)

State monitoring

and monitoring

of cable-operated

switches (EL1904)

TwinSAFE

4-channel

digital input

TwinSAFE

4-channel

digital output TwinSAFE Logic16

Beckhoff | TwinSAFE – Safety and I/O technology in one system


State monitoring

and monitoring of

safety position

switches (EL1904 )


of two-hand switches (EL1904 )


of safety foot switch (EL1904 )


of safety confi rmation switch (EL1904 )

State monitoring,

monitoring and control

of power contactors,

stop category 0 and 1

(EL1904 , EL2904)


of surface scanners (EL1904 )

www. beckhoff.com/TwinSAFE

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The I/O construction kit is extended “safely”With the TwinSAFE Bus Terminals, Beckhoff offers the option of simply expanding the proven Bus Terminal system and to transfer the complete cabling for the safety circuit into the already existing EtherCAT cable. Safe signals can be mixed with standard signals without restriction. This saves design effort, installation and material. Maintenance is simplifi ed signifi cantly through faster diagnosis and simple replacement of only a few components.

The new ELx9xx series Bus Terminals only include three basic functionalities: digital inputs EL1904, digital outputs EL2904 and a link unit EL6900. The TwinSAFE I/O terminals enable the connection of all common safety sensors and actuators. The TwinSAFE Logic Bus Terminal is the link unit between the TwinSAFE input and output terminals. It enables the confi guration of a simple, fl exible and cost-effective decen-tralised safety control system. Therefore, there are no safety requirements for the higher-level control. The typical safety functions required for the automation of machines, such as emergency stop, safety door monitoring, two-hand control, etc., are already permanently programmed in the EL6900. The user confi gures the EL6900 terminal according to the safety requirements of his appli-cation. The EL6900 is suitable for applications up to SIL 3 according to IEC 61508 and performance level e (PL e) as specifi ed in ISO 13849-1.

Open communication with Safety over EtherCATIn the interest of realising safe data communi-cation for EtherCAT, the Safety over EtherCAT protocol has been disclosed within the EtherCAT Technology Group. This protocol has been assessed by German Technical Inspection Agency (TÜV). It is certifi ed as a protocol for transferring process data between Safety over EtherCAT devices up to SIL 3 according to IEC 61508. Any transmission link can be used, including fi eldbus systems, Ethernet or similar transfer routes, optical fi bres, copper cables or radio links.


Beckhoff | eXtreme Fast Control Technology (XFC)

With XFC technology (eXtreme Fast Control Technology) Beckhoff presents an ultra fast control solution: With XFC it is possible to achieve I/O response times < 100 µs. This technology opens up new process optimisation opportunities that were not possible in the past due to technical limitations.

Signal oversampling– multiplex signal conversion

within one control cycle– hard time synchronisation

through distributed clocks– for digital/analog input/output

signals– sampling rates up to 100 kHz

(analog) and 500 kHz (digital)– application

– fast signal monitoring, fast signal generator output

– signal sampling independent of cycle time

– fast controllers

Signal time stamp (resolution 10 ns)– exact edge time measurement

for local digital inputs– exact timing of local output

signals, independent of the control cycle

Cost benefi ts from using XFC– increased machine and system

throughput due to signifi cantly reduced signal delays

– achieves faster sequences of motions

– condition monitoring with standard control system

– standard I/O instead of expensive special local controllers

– standard I/O instead of expensive instrumentation interfaces

– measurement technology in integrated control system, no separate system required

Very short controller cycle time– new performance class for PLC

applications: from 50 µs

Very fast I/O response time– from 85 µs– Deterministically synchronised

conversion of the input and output signal leads to reduced process timing jitter, independent of the communication and CPU jitter.

Distributed clocks– local absolute system synchronisation

for CPU, I/O and drive units– resolution: 10 ns, accuracy < 100 ns

XFC is based on optimised control and communication architectures:– advanced Industrial PC– ultra-fast I/O terminals– high-speed Ethernet EtherCAT– automation software TwinCAT

18 www. beckhoff.com/XFC


www. beckhoff.com/scientifi c-automation

Scientifi c Automation: From the black box into the PCScientifi c Automation is the integration of automation soft-ware with fi ndings from engineering science which go beyond the limits of conventional control.– The power of the PC Control philosophy offers

suffi cient capacity to integrate numerous advanced functions beyond standard control.

– Scientifi c Automation complements the conventional areas of control technology such as PLC, Motion Control and control technology, for instance, with precise and fast measurement technology and the associated engi-neering algorithms.

– The Beckhoff PC-based control technology provides the necessary basic foundation with powerful CPUs, fast I/O, the fast EtherCAT bus system and TwinCAT software.

Beckhoff | Scientifi c Automation

Robotics, measurement technology and Condition Monitoring as an integral part of PC-based controlThe concept of Scientifi c Automation serves as the prerequisite to enable functions such as Condition Monitoring or robotics for a wide range of PLC programmers in a familiar format.– The aim is to integrate the functions from the

traditional “black box” into a standard PC-based software environment. This results in seamless inte -gration in the overall control system as well as dispensing with additional CPUs.

– The PC-based control system from Beckhoff combines PLC, Motion Control, measurement techno logy and Robotics on a single hardware and software platform.

– Further functions such as the integration of Vision System will follow.

– Scientifi c Automation from Beckhoff is available in products in real terms and offers enough further potential for future developments and visions.

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Beckhoff | System overview

Ethernet

Digital Compact Servo DrivesAX20xx

Synchronous ServomotorsAM2xxx, AM3xxx

Digital Compact Servo DrivesAX25xx

Digital Compact Servo DrivesAX5xxx

Bus Coupler BK1120 (K-bus inter face), Bus Terminals KL / KSxxxx

PCI Ethernet FC90xx

Coupler EK1xxx, EtherCAT Terminals EL/ESxxxx

Compact Box IPxxxx-B31x

Coupler Box IL230x-B31x

ExtensionBox IExxxx

PLC Box IL230x-C31x(IEC 61131-3)

Bus Coupler BK3xx0,Bus Terminals KL / KSxxxx

PCI PROFIBUS FC310x

Bus Terminal Controller BC / BX31x0 (IEC 61131-3)

TwinCAT NC PTP: PTP axis positioning software

TwinCAT PLC: IEC 61131-3 multi-PLC

TwinCAT NC I: 3-D axis interpolation software

TwinCAT

Industrial PC

DriveTechnology

Embedded PC

Fieldbus Box

Bus Terminal

PC Fieldbus Cards

Aut

omat

ion

IPC

I/O

Mot

ion

Embedded PC CX1010 Bus Terminals or EtherCAT Terminals

Embedded PC CX5010, CX5020 Bus Terminals or EtherCAT Terminals

Embedded PC CX1020, CX1030Bus Terminals or EtherCAT Terminals

Panel PC CP65xx

Panel PCC33xx

Panel PC C36xx

Panel PC CP71xx

Panel PCCP77xx

Panel PC CP72xx

Panel PC CP62xx

Panel PC CP64xx

EtherCAT

EtherCAT Box EPxxxx

EtherCAT Terminals

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Ethernet TCP/IP

Linear ServomotorsAL2xxx, AL3xxx

Stepper MotorsAS1xxx

Compact Box IPxxxx-B5x0

Coupler Box IL230x-B5xx

ExtensionBox IExxxx

Compact Box IPxxxx-B5x 8

Bus Coupler BK5xx0,Bus Terminals KL / KSxxxx

Bus Terminal Controller BC/BX5xx0 (IEC 61131-3)

PCI CANopen FC510x PCI DeviceNet FC520x

Bus Coupler BK9xx0, Bus Terminal Controller BC/BX9xx0 (IEC 61131-3)

Coupler Box IL230x-B90x, PLC Box IL230x-C900 (IEC 61131-3)

Ethernet Switch CU20xx PCI Ethernet FC90xx

TwinCAT CNC: CNC path control software

TwinCAT I/O: I/O software interface

TwinCAT CP: Control Panel driver

TwinCAT OPC: Visualisation interface

DVI/USB Extended

Ethernet DVI/USB Extended

19-inch slide-in PCC51xx

Control cabinet PC C62xx



Built-in Control Panel CP66xx

Built-in Control Panel CP69xx

Control Panel CP79xx


Built-in Industrial PC C65xx


Embedded PC CX9000, CX9010Bus Terminals

K-bus extension

Industrial MotherboardsCBxxxx

Embedded PC CX9000, CX9010EtherCAT Terminals

Embedded PC CX8000Bus Terminals or EtherCAT Terminals DALI EIB

LON

DALI

Fipio

EIBLON

MP-Bus

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Seattle

DenverChicago

Minneapolis TorontoDetroitCleveland

HarrisburgPittsburgh

RaleighCharlotteDallas

Austin

San DiegoLos Angeles

San Jose

North Fond du Lac

London

San Luis Potosí

San José

La Paz

CampinasSão Paulo

SantiagoMontevideoBuenos Aires

Johannesburg

Pune

Dubai

TehranBeirut

Nasr City/Cairo

MoscowSamara

Ekaterinburg

Saint-Petersburg

Verl

N O R T H A M E R I C A

A F R I C A

E U R O P E

A S I A

S O U T H A M E R I C A

Seinäjoki

Tampere

Hyvinkää

Kaunas

PiasecznoBerlin

Danderyd

Värnamo

MalmöGlostrup

Tønsberg

Hobro

Kolding

LübeckHanover

VerlMoers

Brno

Berndorf

VeszpremCluj-Napoca

Sofia

Istanbul

Athens

Bologna

Padua Zagreb

LjubljanaInnsbruck

BürsLocarno

Milan

FrankfurtNuremberg

Munich

Ravensburg Hagenberg

BalingenHasseltNeuville en Ferrain

Henley-on-ThamesAalst

HaarlemDublin

Montagny-près-Yverdon

Derendingen

ParisSchaffhausen

Bilbao

BarcelonaMadrid

Aveiro

Zurich

Headquarters

Subsidiary

Headquarters distributor

Subsidiary distributor

Picture credits:

ABB ROBOTICS, SwedenHusky Injection Molding Systems Ltd., Canada IMA Meinert GmbH, Germany KUKA Roboter GmbH, Germany Reis GmbH & Co. KG Maschinenfabrik, Germany

Beckhoff®, TwinCAT®, EtherCAT®, Safety over EtherCAT®, TwinSAFE® and XFC® are registered trademarks of and licensed by Beckhoff Automation GmbH. Other designations used in this publication may be trademarks whose use by third parties for their own purposes could violate the rights of the owners.

© Beckhoff Automation GmbH 05/2010

The information provided in this brochure contains merely general descriptions or characteristics of performance which in case of actual application do not always apply as described or which may change as a result of further development of the products. An obligation to provide the respective characteristics shall only exist if expressively agreed in the terms of contract.22

Beckhoff | Worldwide


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TokyoSeoul

Beijng

Shanghai

Taipei

WuhanChengdu

Guangzhou

Bangkok

Singapore

Jakarta

Kuala Lumpur

A U S T R A L I A

Main catalog Product overview News catalog PC Control Magazine Product DVD

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Products onlineAt www.beckhoff.com you can get detailed information on the range of products from Beckhoff. Animations, videos and interactive online presentations supplement the large variety of information.

www. beckhoff.com/media

Print media onlineThe Beckhoff catalogs and fl yers are available for download on the Internet. Printed copies are available on request. Please use our online order form to specify your requirements.

www. beckhoff.com

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DK3

582-

0510

www.beckhoff.com

IndiaBeckhoff Automation Pvt. Ltd. Suite 4, Level 6, Muttha Towers Don Bosco Marg Pune – 411 006 India Phone: + 91 20 / 40 00 48 00 [email protected] www.beckhoff.co.in

Inteltek Automation Pvt. Ltd.Sr.no.100/5, AmbegaonPune – 411 046MaharashtraIndiaPhone: + 91 20 / 24 31 81 [email protected]

JapanK.MECS Co., Ltd.Yusen Iwamotocho Blg. 3F2-3-3 Iwamotocho, Chiyoda-City,Tokyo 101-0032JapanPhone: + 81 3 5825 [email protected]

Lebanon, Jordan, SyriaIndustrial Technologies (itec) S.A.L.Afrah Plaza Center, Blvd Fouad ChehabSin El Fil, BeirutLebanonPhone: + 961 (1) 49 11 [email protected]

MalaysiaBeckhoff Automation Sdn. Bhd. (889044-H) Unit 2.1, 2nd. Floor, Surian TowerNo.1 Jalan PJU 7/3Mutiara Damansara47810 Petaling JayaMalaysiaPhone: + 60 (3) 7731 [email protected]

Singapore, Philippines, Vietnam, IndonesiaTDS Technology (S) Pte Ltd 64 Sungei Kadut Loop(Hocen Building)Singapore 729493SingaporePhone: + 65 / 63 66 16 61 [email protected]

Thailand TDS Technology (Thailand) Co., Ltd.50/962 Moo 2Bengyeetos ThanyaburiPratumthanee12130 BangkokThailandPhone: + 66 (0) 2569 [email protected]

T & R Electronic (Thailand) Co., Ltd.120/62 Moo 8 Bang Sare Sattahip Chonburi 20250 ThailandPhone: + 66 (0) 3873 [email protected]

South KoreaTri-TEK Corp.717 DaeRyung TechnoTown III 448 KasanDong KumcheonguSeoul 153-803KoreaPhone: + 82 2 / 2107-32 [email protected]

TaiwanJI-DIEN Co., Ltd.9F., No. 22, Sec. 1, Zhongshan Rd.Xingzhuang CityTaipei County 242Taiwan (R.O.C.) Phone: + 886 (2) 8522 3237 [email protected]

United Arab Emirates, Oman, Qatar, Bahrain, Kuwait, Saudi Arabia Beckhoff Automation FZEC# 608, Dubai Silicon OasisP.O. Box No. 341007DubaiUnited Arab EmiratesPhone: + 971 4 5015480 [email protected]

AustraliaAustraliaBeckhoff Automation Pty. Ltd.Level 16, 10 Queens RoadMelbourne, Victoria, 3004AustraliaPhone: + 61 (3) 99 12 54 [email protected]

New ZealandCSE-W. Arthur Fisher LtdP.O. Box 58955BotanyManukau 2163New ZealandPhone: + 64 9 271 [email protected]

Headquarters

Beckhoff Automation GmbHEiserstraße 533415 VerlGermanyPhone: + 49 (0) 52 46 / 9 63 - [email protected]

EuropeGermanyOffi ce BalingenBeckhoff Automation GmbHKarlstraße 1972336 BalingenGermanyPhone: + 49 (0) 74 33 / 2 60 24 - [email protected]

Offi ce BerlinBeckhoff Automation GmbHFasanenstraße 8110623 BerlinGermanyPhone: + 49 (0) 30 / 88 71 16 - [email protected]

Offi ce FrankfurtBeckhoff Automation GmbHTorhaus WesthafenSpeicherstraße 5960327 Frankfurt am MainGermanyPhone: + 49 (0) 69 / 68 09 88 - 0 [email protected]

Offi ce HanoverBeckhoff Automation GmbHPodbielskistraße 34230655 HanoverGermanyPhone: + 49 (0) 5 11 / 87 57 58 - [email protected]

Offi ce Lübeck Beckhoff Automation GmbHWahmstraße 56 23552 LübeckGermany Phone: + 49 (0) 4 51/ 20 39 88 - 0 [email protected]

Offi ce MunichBeckhoff Automation GmbHOppelner Straße 582194 Gröbenzell/MunichGermanyPhone: + 49 (0) 81 42 / 4 10 59 - [email protected]

Offi ce NurembergBeckhoff Automation GmbHOstendstraße 19690482 NurembergGermanyPhone: + 49 (0) 9 11 / 5 40 56 - [email protected]

Sales Offi ce RavensburgBeckhoff Automation GmbHParkstraße 4888212 RavensburgGermanyPhone: + 49 (0) 7 51 / 3 54 15 [email protected]

Offi ce Rhein/RuhrBeckhoff Automation GmbHEurotec-Ring 747445 MoersGermanyPhone: + 49 (0) 28 41/ 9 08 16 - [email protected]

AustriaHeadquartersBeckhoff Automation GmbHHauptstraße 46706 BürsAustriaPhone: + 43 (0) 55 52 / 6 88 13 - [email protected]

Sales Offi ce OberösterreichBeckhoff Automation GmbHSoftwarepark 354232 HagenbergAustriaPhone: + 43 (0) 72 36 / 2 09 25 - [email protected]

Sales Offi ce NiederösterreichBeckhoff Automation GmbHLeobersdorferstraße 422560 BerndorfAustriaPhone: + 43 (0) 26 72 / 8 20 [email protected]

Sales Offi ce TirolBeckhoff Automation GmbHKlammstraße 66 / 396020 InnsbruckAustriaPhone: + 43 (0) 512 / 236 [email protected]

Belgium, LuxembourgBeckhoff Automation bvbaKempische Steenweg 305 bus 2023500 HasseltBelgiumPhone: + 32 (0) 11 / 24 08 [email protected]

Multiprox N.V.Lion d‘Ôrweg 12P.b. 719300 AalstBelgiumPhone: + 32 (0) 53 / 76 65 [email protected]

BulgariaKastiva GmbH 68-72 Ami Bue Str., 4. Floor1612 Sofi aBulgaria Phone: + 3 59 (2) 9 50 44 31 offi [email protected]

CroatiaKrovel d.o.o.Barutanski jarak 11410000 ZagrebCroatiaPhone: + 3 85 / 16 11 77 [email protected]

Czech Republic, Slovac RepublicDyger s.r.o. Vystaviste 1648 59 BrnoCzech RepublicPhone: + 420 5 / 41 32 10 04 [email protected]

DenmarkHeadquartersBeckhoff Automation ApSNaverland 22600 GlostrupDenmarkPhone: + 45 43 / 46 76 [email protected]

Offi ce HobroBeckhoff Automation ApSMajsmarken 19500 HobroDenmarkPhone: + 45 76 / 36 38 [email protected]

Offi ce KoldingBeckhoff Automation ApS Birkemose allé 25 6000 Kolding Denmark Phone: + 45 76 / 31 20 72 [email protected]

Finland, EstoniaHeadquartersBeckhoff Automation OyP.O. Box 23Kankurinkatu 4-605801 HyvinkääFinlandPhone: + 358 (0) 20 / 7 42 38 [email protected] www.beckhoff.fi

Sales Offi ce SeinäjokiBeckhoff Automation OyTiedekatu 260320 SeinäjokiFinlandPhone: + 358 (0) 20 / 7 42 38 [email protected]

Sales Offi ce TampereBeckhoff Automation OyHermiankatu 1 B33720 TampereFinlandPhone: + 358 (0) 20 / 7 42 38 [email protected]

FranceHeadquartersBeckhoff Automation SarlImmeuble “Le Montréal”ZA de Courtaboeuf19 bis, avenue du Québec91951 Courtaboeuf CedexFrance Phone: + 33 (0) 1 69 29 83 [email protected]

Sales Offi ce Neuville en FerrainBeckhoff Automation Sarl28, Rue de Tourcoing59960 Neuville en FerrainFrancePhone: + 33 (0) 3 20 11 00 [email protected]

Greece, CyprusL. J. Skourgialos Industrial Automation Systems241 EL. Venizelou176 73 Kallithea /AthensGreecePhone: + 30 / 21 09 51 02 [email protected]

HungaryControrg Kft.Pajta u. 148200 VeszpremHungaryPhone: + 36 / 88 42 40 [email protected]

ItalyHeadquartersBeckhoff Automation S.r.l.Via E. Majorana, 120054 Nova Milanese (MI)ItalyPhone: + 39 03 62 / 36 51 [email protected]

Offi ce BolognaBeckhoff Automation S.r.l.Via Zanini, 740011 Anzola dell‘Emilia (BO)ItalyPhone: + 39 05 1 / 73 15 [email protected]

Offi ce PaduaBeckhoff Automation S.r.l.Via Alsazia, 3/B35127 Padua (PD)ItalyPhone: + 39 0 49 / 8 70 48 [email protected]

Lithuania, Latvia, BelarusSantavilté UABTaikos 14952119 Kaunas Lithuania Phone: + 3 70 37 / 35 01 66 [email protected]

NetherlandsIndustrial Automation LinkKüppersweg 712031 EB HaarlemNetherlandsPhone: + 31 23 / 5 18 51 [email protected]

NorwayBeckhoff Automation ASTræleborgodden 6 3112 TønsbergNorwayPhone: + 47 33 50 46 [email protected]

PolandBeckhoff Automation Sp. z o.o.Stara Iwiczna, ul. Sloneczna 116A05-500 PiasecznoPoland Phone: + 48 22 / 7 57 26 10 [email protected]

PortugalBresimar Automação, S.A.Quinta do Simão – EN109 – EsgueiraApartado 30803801-101 AveiroPortugalPhone: + 351 234 / 30 33 [email protected]

Romania Kreatron Automation S.R.L.Str. Octavian Fodor nr. 113, ap. 13400434, Cluj-Napocajud. ClujRomania Phone: + 40 264 / 48 47 08 offi [email protected]

RussiaHeadquarters Beckhoff Automation OOOUl. Bakuninskaya 14, Building 9105005 MoscowRussiaPhone: + 7 495 / 9 81 64 [email protected]

Representation North-West Federal DistrictBeckhoff Automation GmbHV.O., 7-ya Liniya, 76, Offi ce 620 199178 Saint-Petersburg Russia Phone: + 7 812 / 332 62 05 [email protected]

Representation Ural Federal DistrictBeckhoff Automation GmbHUliza Komsomolskaya 37,Offi ce 402/4620049 EkaterinburgRussiaPhone: + 7 3 43 / 3 79 98 [email protected]

Representation Volga Federal DistrictBeckhoff Automation GmbHKrasnoarmayskaya ul.1, Offi ce 312 443010 SamaraRussiaPhone: + 7 846 / 2 69 80 [email protected]

SloveniaBeckhoff Avtomatizacija d.o.o.Zbiljska cesta 41215 MedvodeSloveniaPhone: + 3 86 / 13 61 30 [email protected]

SpainHeadquartersBeckhoff Automation S.A.Edifi cio Testa Sant CugatAvda. Alcalde Barnils, 64-6808174 Sant Cugat (Barcelona)SpainPhone: + 34 93 / 5 84 49 [email protected]

Sales Offi ce BilbaoBeckhoff Automation S.A.Edifi cio UdondoC. Ribera de Axpe, no 504a planta, Ofi cina 4-548950 Erandio (Bilbao)SpainPhone: + 34 94 / 4 31 40 [email protected]

Sales Offi ce MadridBeckhoff Automation S.A.Edifi cio CimagaSierra de Cazorla, 1Planta Baja, Ofi cina E28290 Las Matas (Madrid)SpainPhone: + 34 91 / 6 36 43 [email protected]

SwedenHeadquartersBeckhoff Automation AB Stenåldersgatan 2A 21376 Malmö Sweden Phone: + 46 (0) 40 / 6 80 81 60 [email protected] www.beckhoff.se

Sales Offi ce DanderydBeckhoff Automation ABEnebybergsvägen 10B18236 DanderydSwedenPhone: + 46 (0) 8 / 4 46 30 [email protected]

Sales Offi ce VärnamoBeckhoff Automation ABVästbovägen 5333153 VärnamoSweden Phone: + 46 (0) 40 / 6 80 81 [email protected]

SwitzerlandHeadquartersBeckhoff Automation AGRheinweg 98200 SchaffhausenSwitzerlandPhone: + 41 (0) 52 / 6 33 40 [email protected]

Offi ce ZurichBeckhoff Automation AGFelsenrainstrasse 18052 ZurichSwitzerlandPhone: + 41 (0) 52 / 633 40 [email protected]

Offi ce DerendingenBeckhoff Automation AGApplication/Software DevelopmentHauptstrasse 394552 DerendingenSwitzerlandPhone: + 41 (0) 32 / 682 04 [email protected]

Sales + Support Center Suisse RomandeBeckhoff Automation AGEn Chamard 351442 Montagny-près-YverdonSwitzerlandPhone: + 41 (0) 24 / 447 27 - [email protected]

Support Center Ticinop.project saglVia Pianella 196596 GordolaSwitzerland Phone: + 41 (0) 91 / 745 01 [email protected]

TurkeyBeckhoff Otomasyon ltd. şti.Gardenya-3 Plaza No: 18-1934758 Ataşehir IstanbulTurkeyPhone: + 90 216 580 [email protected]

UK, IrelandBeckhoff Automation Ltd.The BoathouseStation RoadHenley-on-ThamesOxon RG9 1AZGreat BritainPhone: + 44 14 91 / 41 05 [email protected]

North AmericaUSAHeadquarters and Training CenterBeckhoff Automation LLC12150 Nicollet Avenue SouthBurnsville, MN 55337USAPhone: + 1 952 / 890 [email protected]

East Region Headquarters and Training CenterBeckhoff Automation LLCCharlotte, NCUSAPhone: + 1 704 / 910 [email protected]

East Region SalesBeckhoff Automation LLCCoplay, PAUSAPhone: + 1 952 / 212 [email protected]

Beckhoff Automation LLCHanover, PAUSAPhone: + 1 717 / 634 [email protected]

Beckhoff Automation LLCCanton, MIUSAPhone: + 1 248 / 230 [email protected]

Beckhoff Automation LLCMedina, OHUSAPhone: + 1 330 / 725 [email protected]

Beckhoff Automation LLCLake Wylie, SCUSAPhone: + 1 803 / 746 [email protected]

Beckhoff Automation LLCApex, NCUSAPhone: + 1 919 / 367 [email protected]

Central Region Sales and Training CenterBeckhoff Automation LLCFond du Lac, WIUSAPhone: + 1 920 / 929 [email protected]

Central Region SalesBeckhoff Automation LLCBurnsville, MN 55337USAPhone: + 1 952 / 808 [email protected]

Beckhoff Automation LLCLemont, ILUSAPhone: + 1 630 / 631 [email protected]

Beckhoff Automation LLCRogers, ARUSAPhone: + 1 479 / 925 [email protected]

Beckhoff Automation LLCCedar Park, TXUSAPhone: + 1 512 / 250 [email protected]

Beckhoff Automation LLCJustin, TXUSAPhone: + 1 817 / 428 [email protected]

West Region SalesBeckhoff Automation LLCSan Diego, CAUSAPhone: + 1 858 / 546 [email protected]

Beckhoff Automation LLCLa Crescenta, CAUSAPhone: + 1 818 / 224 [email protected]

Beckhoff Automation LLCSan Jose, CAUSAPhone: + 1 408 / 823 [email protected]

Beckhoff Automation LLCPhoenix, AZUSAPhone: + 1 602 / 354 [email protected]

Beckhoff Automation LLCArvada, COUSAPhone: + 1 303 / 429 [email protected]

Beckhoff Automation LLCMill Creek, WAUSAPhone: + 1 425 / 451 [email protected]

West Region Technical CenterBeckhoff Automation LLCSan Diego, CAUSAPhone: + 1 858 / 546 [email protected]

CanadaHeadquarters Sales, Training Center andApplication DevelopmentBeckhoff Automation Canada Ltd.130 Research LaneGuelph, ON N1G 5G3CanadaPhone: + 1 905 / 852 [email protected]

Canada SalesBeckhoff Automation Canada Ltd.London, ONCanadaPhone: + 1 519 / 451 [email protected]

MexicoMexico Sales and Application DevelopmentIntegra Automation, SA de CVAv. Industrias 325-A78399 Fracc. TalleresSan Luis Potosí, S.L.P.MéxicoPhone: + 52 444 / 822 2615 al [email protected]

Central and South AmericaArgentinaeFALCOMAlcorta 2411CPA B1744HFMMoreno / Buenos AiresArgentinaPhone: + 54 237 / 463 [email protected] www.efalcom.com

BoliviaBAVARIA S.R.L.P.O. Box: 4923C. Mario Diez de Medina, N° 32Zona MorocolloLa PazBoliviaPhone: + 591 2 277 13 [email protected]

BrazilHeadquartersBeckhoff Automação Industrial Ltda. Rua Continental, 146São Bernardo do Campo São Paulo 09750-060 Brazil Phone: + 55 (11) 4126-3232 [email protected] www.beckhoff.com.br

Sales Offi ce CampinasBeckhoff Automação Industrial Ltda.Edifício Empresarial Torre do CasteloRua Francisco Otaviano, 60Sala 94 – Bairro ChapadãoCampinas 13070-056 – SPBrazilPhone: + 55 (19) [email protected]

ChileTecmel Chile S.A.Padre Orellana 1486 SantiagoChile Phone: + 562 / 596 [email protected] www.tecmelchile.cl

Costa Rica, Nicaragua, Honduras, El Salvador, Guatemala, Belize, PanamaTAAC S.A.50 Sur Hotel Grano de OroCalle 30, Avenidas 4-6San José 10103Costa RicaPhone: + 506 / [email protected]

UruguayComando Ltda.Dr. J. de Salterain 1142Montevideo 11200UruguayPhone: + 598 (2) / [email protected]

AfricaEgypt Industrial Control Systems ICS 29 Dr. Mohamed El Harouny Street Nasr City, Cairo 11371 Egypt Phone: + 20 2 / 2 75 50 31 [email protected] www.ics-me.com

South AfricaBeckhoff Automation (Pty) Ltd Unit 8, Boskruin Business Park, Randpark Ridge Randburg 2188 South Africa Phone: + 27 (0) 11 792 3374 [email protected] www.beckhoff.co.za

AsiaChina HeadquartersBeckhoff Automation (Shanghai) Co., Ltd.5th Floor, No. 163 JiangChang San Road Shanghai Shibei Industrial ZoneShanghai, 200436P. R. ChinaPhone: + 86 21 / 66 31 26 [email protected]

Offi ce Beijing Beckhoff Automation (Shanghai) Co., Ltd.Room 1801-1803, Tower T3, Xihuan Plaza, No.1, Xizhimenwai Avenue Xicheng DistrictBeijing, 100044P. R. ChinaPhone: + 86 10 / 58 30 12 36 [email protected]

Offi ce ChengduBeckhoff Automation (Shanghai) Co., Ltd.8F, G of The City Tower,No. 86, Section one,South Peoples RoadChengdu, Sichuan, 610016P. R. China Phone: + 86 28 / 86 20 25 81 [email protected]

Offi ce Guangzhou Beckhoff Automation (Shanghai) Co., Ltd.Room 4118-4119Yaozhong Plaza9 West Linhe RoadTianhe DistrictGuangzhou, 510620P. R. ChinaPhone: + 86 20 / 38 01 03 [email protected]

Offi ce WuhanBeckhoff Automation (Shanghai) Co., Ltd.Room 1803, 18/F., Wuhan Zhongshang Plaza,NO.7, Zhongnan Road, Wuhan, Hubei P.R. ChinaPhone: + 86 27 / 81 34 87 [email protected]

Documents

BECKHOFF New Automation Technology - PC-Based Control for Robotics in Handling. Production and Assembly