Beckhoff TwinCAT RTLinux

README.md

Install Beckhoff TwinCAT on Debian Trixie

These instructions were created based on this github repository. Instead of fetching their stuff, I https://github.com/Beckhoff/TC_XAR_Container_Sample/tree/main

Step 1

Install Debian Trixie (13)

Step 2

Run the attached script to set things up

Step 3

Execute this command. I tried in LXC on ProxMox and am not getting the main command to run. I have tried setting the -f parameter to 0x4, 0x5, 0x6 which give errors.

/usr/bin/TcSystemServiceUm -f 0x7 -i "${AMS_NETID}" -p /var/run/TcSystemServiceUm.pid

Todo

1. Obviously, get it working
2. See if we have to use Beckhoff's Debian sources. It is slow.

setup.sh

#!/usr/bin/env bash



EMAIL=my-email@email.com
PASSWORD=my-password

# Update the package lists and install necessary packages
apt update \
    && apt-get install --yes --no-install-recommends \
    curl \
    ca-certificates

# Rename the default apt sources list to avoid conflicts with Beckhoff's apt repository
mv /etc/apt/sources.list.d/debian.sources /etc/apt/sources.list.d/debian.sources.bak

# Create login credentials for Beckhoff's apt repository
tee /etc/apt/auth.conf.d/bhf.conf > /dev/null <<EOF
machine deb.beckhoff.com login ${EMAIL} password ${PASSWORD}
machine deb-mirror.beckhoff.com login ${EMAIL} password ${PASSWORD}
EOF

# Get the apt sources for Beckhoff's apt repository (deb822 format)
tee /etc/apt/sources.list.d/debian-beckhoff.sources > /dev/null <<'EOF'
Types: deb
URIs: https://deb-mirror.beckhoff.com/debian
Suites: trixie
Components: main
Signed-By: /usr/share/keyrings/debian-archive-keyring.gpg

Types: deb
URIs: https://deb-mirror.beckhoff.com/debian-security
Suites: trixie-security
Components: main
Signed-By: /usr/share/keyrings/debian-archive-keyring.gpg
EOF

tee /etc/apt/sources.list.d/bhf.sources > /dev/null <<'EOF'
Types: deb
URIs: https://deb.beckhoff.com/debian
Suites: trixie-stable
Components: main
Signed-By: /usr/share/keyrings/bhf.asc
EOF

# Get the GPG key for Beckhoff's apt repository
curl --fail --netrc-file "/etc/apt/auth.conf.d/bhf.conf" \
    -o /usr/share/keyrings/bhf.asc \
    https://deb.beckhoff.com/repo.pub

apt install --yes tc31-xar-um

# --- TwinCAT 3 configuration ---
TC3_DIR=/etc/TwinCAT/3.1

# Static routes: ADS-over-MQTT via local mosquitto broker
mkdir -p "${TC3_DIR}/Target"
tee "${TC3_DIR}/Target/StaticRoutes.xml" > /dev/null <<'EOF'
<?xml version="1.0" encoding="utf-8"?>
<TcConfig xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
          xsi:noNamespaceSchemaLocation="http://www.beckhoff.com/schemas/2015/12/TcConfig">
  <RemoteConnections>
    <Mqtt>
      <Address Port="1883">mosquitto</Address>
      <Topic>AdsOverMqtt</Topic>
    </Mqtt>
  </RemoteConnections>
</TcConfig>
EOF

# Startup state: set TwinCAT to boot directly into RUN mode (0x05)
mkdir -p "${TC3_DIR}/Target/RegFiles"
tee "${TC3_DIR}/Target/RegFiles/SysStartupState.reg" > /dev/null <<'EOF'
Windows Registry Editor Version 5.00

; SysStartupState defines the TwinCAT System Service Startup State
; RUN = "SysStartupState"=dword:00000005
; CONFIG = "SysStartupState"=dword:0000000f
[HKEY_LOCAL_MACHINE\SOFTWARE\WOW6432Node\Beckhoff\TwinCAT3\System]
"SysStartupState"=dword:00000005
EOF