Beckhoff Robotics

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

Motion
Automation
I/O
IPC
Open automation systems
For over 30 years Beckhoff has been realising automation solutions on the basis of PC-based control technology, which
have proven themselves in the most diverse industries and applications on account of their openness and high perfor-
mance. The globally operative company, whose headquarters and production sites are in Verl, Germany, is represented
by 30* subsidiaries and distributors in over 60 countries and employs around 2100* people worldwide.
Beckhoff achieved a total turnover of 465 million Euros in 2011. The constant technological development, economic
growth, high depth of production and production capacities of Beckhoff guarantee long-term availability and delivery
reliability of PC-based control technology.
(*March 2012)
Open automation solutions for robotics Open automation solutions for robotics
Automation Motion I/O IPC
2
New Automation Technology BECKHOFF We reserve the right to make technical changes.
as a uniform control platform for all types of robots.
PC-based control technology from Beckhoff enables the whole process chain for individual processing machines and
complete productions lines to be controlled and monitored: feeding, joining (welding, gluing etc.), assembly, check-
ing, handling and palletising can be implemented universally with Beckhoff Industrial PCs as hardware platform and
TwinCAT as automation software. Beckhoff uses the high performance and multi-core architecture of modern PCs to
integrate robotics into the machine controller.
Whether gantry robot, SCARA, articulated robot or parallel kinematics regardless of the type of robot you use for your
processing step with PC Control solutions from Beckhoff you opt for a universal automation platform. As a result, you
not only save hardware costs for an additional robot CPU, you also reduce your engineering expenditure and optimise
your production process.

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www.beckhoff.com/robotics
3
Scientic Automation the future of PC-based automation
The integration of robotics
into the control solution
Beckhoff offers products and basic technologies for dynamic handling processes and assembly automation:
high-performance IPCs and Embedded PCs with motherboards specially developed for industrial applica-
tions, 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 communication system, versatile, dynamic Servo Drive technology and the
TwinCAT PLC and Motion Control software. Modern processor architectures and their high performance as
well as a fast communication system in EtherCAT are the basis for an extended automation concept, which
Beckhoff has brought onto the market under the name of Scientic Automation. Scientic Automation
allows the full exploitation of processor performance and multi-core support. In addition to measuring tech-
nology and Condition Monitoring, robotics also can be integrated seamlessly into the standard controller.
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Feeding
Checking
Assembly
Handling
optimises the manufacturing process
and reduces costs.
On the basis of Scientic Automation robotics and Motion Control functions can be optimally combined
and synchronised on a single platform. Friction losses or latency times, such as those that occur in commu-
nication between different systems, are thus avoided and the manufacturing process is optimised. The high
dynamics and repeatability demanded in handling processes can thus be easily achieved. Over and above
that, the seamless integration of the robotics into the automation platform makes a separate robot CPU
superuous. This reduces hardware costs and the Black Box of the robot controller can be dispensed with.
Programming using TwinCAT as a uniform software tool considerably simplies engineering without the
use of special robotic tools and languages and the expenditure of time and costs is reduced.
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PC-based control for robotics
Handling
Ethernet
Connectivity to
other eldbus
systems
Checking
Assembly
USB
Camera
DVI/
USB
Rapid tool change
due to Hot Connect
functionality
DVI
Ethernet
Ethernet
Scales
Feeding
Ethernet
Machine visualisation and
control via touch screen
Control Panel Control Panel
Safe monitoring
of the work room
Flexible acquisition of I/O signals TwinCAT
.
PLC
.
NC/CNC
.
Libraries
TwinCAT
.
NC PTP
.
XTS
Control Panel
Closure of control loops
via EtherCAT
Ethernet
Industrial PC
USB
DVI
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Handling
The eXtended Transport System XTS is ideal
for individual product transport applications
with a continuous ow of material. The motor
is completely integrated together with power
electronics and displacement measurement.
One or more wireless movers can be controlled
with high dynamics at up to 4 m/s on an al-
most arbitrary and exible path. The compact
size can signicantly increase the energy ef-
ciency and reduce the footprint of a machine.
Checking
Prerequisite for constant production quality
is the connection of suitable auxiliary sys-
tems to the controller. On account of its wide
variety of interfaces, TwinCAT allows the con-
nection of devices with any desired eldbus
interface. The monitoring of the condition of
machines and plants is integrated into the
controller without the use of additional
hardware modules via Condition Monitor-
ing terminals.
Assembly
Gantry robots or articulated robots are
frequently used for assembly steps such
as joining, gluing, screwing, welding, etc.
PC-based control, with multiple parallel
tasks and extremely short cycle times, has
the performance necessary to simulta-
neously control many axes. The EtherCAT
Hot Connect functionality enables fast tool
changes.
Feeding
TwinCAT automation software realises the
precise guidance of multiple coupled axes.
For ex-ample, the four axes of a gantry robot
can be realised in a space-saving manner
with two 2-channel Servo Drives. The inte-
grated Beckhoff safety solution, TwinSAFE,
is available both for safe inputs and outputs
and for safe drive technology.
EtherCAT Box
XFC for reaction times < 100 s
Gantry robots Articulated robots Auxiliary axes
2 x-axes y/z-axis
Stepper motors
for auxiliary
drives
XTS eXtended Transport System
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www.beckhoff.com/XTS
7
TwinCAT Robotics, Motion Control and PLC on one platform
TwinCAT, the open
Beckhoff automation software
TwinCAT, the open, scalable Beckhoff automation software on the basis of Windows operating
systems, forms the heart of the PC-based controller. It replaces conventional PLCs and motion
controllers and transforms almost any compatible PC into a real-time controller with multi-PLC
system, Motion Control, programming environment and operation station. A connection to all
common eldbuses is integrated. TwinCAT version 3 includes alongside IEC 61131-3 C/C++
and Matlab
/Simulink
as programming languages for real-time applications.

Numerous PLC libraries with function blocks according to the PLCopen Motion Control standard
facilitate programming. Due to the multi-core capability of TwinCAT 3 all cores can be used to the
optimum, leading to a signicant increase in performance.

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www.beckhoff.com/TwinCAT
8
that provides for a leap in efciency
even during the engineering.
TwinCAT provides the user with a uniform tool for universal conguration, programming and diag-
nostics. Robotic and Motion Control functions can be synchronised optimally using TwinCAT NC PTP
(point-to-point axis positioning) or NC I (axis interpolation in three dimensions). All NC characteris-
tics such as cam plate or ying saw can be combined as desired on a common hardware and
software platform.
Using TwinCAT almost all robot kinematics can be programmed in normal PLC programming
language without special robotic tools and languages. This guarantees efcient engineering and
the engineering costs can be considerably lowered. TwinCAT 3 enables the integration of C or C++
code. This way, you can simply continue to use existing robot kinematics. In addition to C/C++,
existing models can also be integrated into Matlab
/Simulink
models. These can be used for con-

trollers or for simulations.
9
TwinCAT robot kinematics
TwinCAT Kinematic
Transformation
The TwinCAT Kinematic Transformation software library integrates the robot controller into
TwinCAT, so that PLC, Motion Control, HMI and robotics are now integrated on one Industrial PC.
The following kinematics have been implemented so far: Cartesian gantry, shear kinematics, roller
kinematics (H-Bot), SCARA, 2-D kinematics, 2-D parallel kinematics and 3-D delta-kinematics.
Further kinematics are planned. The respective kinematics can be selected and parameterised con-
veniently in the TwinCAT System Manager. The kinematic channel is used to parameterise the type
(e.g. delta or SCARA) and the bar lengths and offsets. Mass and mass inertia values can be specied
for dynamic pre-control. In addition, TwinCAT Kinematic Transformation offers tracking functions.
This means that the robot is synchronised with a moving object, so that it can pick up workpieces
from conveyor belts or inclined turntables, for example.
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www.beckhoff.com/kinematics
10
Level 1
Level 2
Level 3
for the integration of robot kinematics
into a standard controller.
Using TwinCAT Kinematic Transformation, various parallel and serial kinematics such as those
used, for example, for pick-and-place tasks can be realised. The seamless integration of the robot
kinematics into the controller allows not only an additional robot CPU to be dispensed with, but
also provides for optimal interaction and synchronisation with the PLC and the existing Motion
Control functions. Direct interfaces take the place of complex communication between different
controllers and systems. This results in high performance and improved accuracy. The universality
of the solution provides the user with a number of further benets: conguration, programming
and diagnostics take place with TwinCAT in a single system or with uniform tools, so that the engi-
neering is considerably simplied.
Level 1: Static transformation
(translation & rotation)
and various compensations
.
Cartesian portal
Level 2: includes Level 1 and
additionally contains simpler
kinematic transformations
.
Shear kinematics
.
Roller kinematics (H-Bot)
.
2-D parallel kinematics
Level 3: includes Level 2 and
more complex kinematics e.g.
3-D delta, Hexapod
.
3-D kinematics
Cartesian portal
Shear kinematics
3-D kinematics
Roller kinematics (H-Bot)
SCARA
2-D parallel kinematics
3-D delta kinematics
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Industrial PC
(EtherCAT master)
EtherCAT drives AX5000
EtherCAT Terminals (IP 20)
EtherCAT Box (IP 67)
TwinSAFE
Safety drives
Embedded PC (EtherCAT master),
EtherCAT Terminals
Ethernet
T EtherCA Automation Protocol
EtherCAT, the ultra-fast
process communication
EtherCAT (Ethernet for Control Automation Technology) is the real-time Ethernet solution
from Beckhoff for industrial automation. It is characterised by outstanding performance,
with 1000 distributed I/Os in 30 s, almost unlimited network expansion, exible topology
and, thanks to Ethernet and Internet technologies, optimal vertical integration of the con-
troller into the factory automation. All I/O components can be integrated directly into the
EtherCAT communication, so that lower-level communication systems can be completely
dispensed with. Synchronised by the EtherCAT distributed clocks, Motion Control applica-
tions with multiple axes and an accuracy of the order of nanoseconds can be controlled
precisely and with exact repeatability. Safe transmission of data is possible with the Safety
over EtherCAT protocol up to SIL 3 of IEC 61508.
EtherCAT Ethernet for Control Automation Technology
12
offers high speed even
with many axes.
The use of EtherCAT in the eld of robotics offers numerous benets, such as maximum
performance, extremely short update times for the process image (to less than 50 s),
exible topology, simple conguration and unrestricted Ethernet compatibility. Even control
loops (up to the current controller) can be closed via EtherCAT. Control of the axes can thus
take place centrally in the controller including the coupled motion functions. EtherCAT
provides the user with maximum exibility in choosing between a line, star or tree structure
for the control topology. Addresses are assigned automatically. Since the EtherCAT proto-
col is retained into each device, lower-level bus systems can be dispensed with, allowing
extremely short reaction times.

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www.beckhoff.com/XFC
13
Seattle
Denver
Chicago
Minneapolis Toronto
Detroit
San Diego
Los Angeles
North Fond
du Lac
London
San Luis Potos
Raleigh
Charlotte
Atlanta Dallas
Rogers
Austin
San Francisco
Indianapolis
Bogot
Coplay
Baltimore
NORT H AME RI CA
Worldwide presence on all continents
Beckhoff New Automation Technology
Beckhoff implements open automation systems based on PC Control technology.
The product range covers Industrial PCs, I/O and Fieldbus Components, Drive Technol-
ogy and automation software. Products that can be used as separate components or
integrated into a complete and seamless control system are available 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 intelligent
building automation.

u
www.beckhoff.com
Beckhoff at a glance
.
Headquarters Verl, Germany
.
Sales 2011: 465 million
.
Staff worldwide: over 2,100
.
Branch Ofces Germany: 11
.
Subsidiaries/Branch Ofces worldwide: 30
Distributors worldwide: in more than 60 countries
(as of 03/2012)
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Turnover development
14
Auckland Melbourne
La Paz
Campinas
Joinville
So Paulo
Montevideo
Buenos Aires
Johannesburg
Seoul
Beijing
Taipei
Bangkok
Singapore
Jakarta
Pune
Dubai
Tehran
Beirut
Moscow
Samara
Ekaterinburg
Saint-Petersburg
Verl
Kuala Lumpur
Shenyang
Cape Town
Lod
Ahmedabad
North Ryde
Durban
Krasnodar
Guangzhou
Shenzhen
Yokohama
Wuhan Hangzhou
Chengdu
Qingdao
Hefei
Ningbo
Wuxi
Xian
Jinan
Nanjing
Chongqing
Shanghai
Bangalore
Penang
AUS T RAL I A
AF RI CA
E UROP E
AS I A
S OUT H AME RI CA
Seinjoki
Tampere
Hyvink
Kaunas
Piaseczno
Berlin
Vrnamo
Malm
Glostrup
Tnsberg
Hobro
Kolding
Lbeck
Hanover
Verl
Moers
Brno
Berndorf
Cluj-Napoca
Soa
Istanbul
Athens
Bologna
Padua
Zagreb
Ljubljana Brs
Locarno
Milan
Frankfurt
Nuremberg
Munich
Balingen
Hasselt Neuville en Ferrain
Haarlem
Montagny-prs-Yverdon
Bilbao
Barcelona
Madrid
Aveiro
Zurich
Gothenburg
Stockholm
Mosta
Hallein
Hagenberg
Innsbruck
Kortrijk
Budapest
Ravensburg
Derendingen
Paris
Schaffhausen
Henley on Thames
Metz-Tessy
Worldwide presence
on all continents
The central divisions of Beckhoff, such as devel-
opment, production, administration, distribution,
marketing, support and service are located at the
Beckhoff Automation GmbH headquarters in Verl,
Germany. Rapidly growing presence in the interna-
tional market is taking place through 30 subsidiaries.
Through worldwide co-operation with partners,
Beckhoff is represented in more than 60 countries.
Headquarters distributor
Subsidiary distributor
Headquarters
Subsidiary
Further information
The web pages PC-based Control for Robotics in Handling, Production and Assembly
offer further information.
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www.beckhoff.com/robotics
The Beckhoff catalogs and yers are available for download on the Internet.

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www.beckhoff.com/media
Picture credits: ABB ROBOTICS, Sweden | ARC Specialties, USA | IMA Meinert GmbH | KOCH Pac-Systeme GmbH |
KUKA Roboter GmbH
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 05/2012
15
D
K
3
5
8
2
-
0
5
1
2 Japan
Beckhoff Automation K.K.
Nisseki Yokohama Building
18
th
Floor
1-1-8 Sakuragicho, Naka-ku
Yokohama-shi Kanagawa-ken
231-0062
Phone: + 81 45 650 1612
info@beckhoff.co.jp
www.beckhoff.co.jp
K.MECS Co., Ltd.
Yusen Iwamotocho Blg. 3F
2-3-3 Iwamotocho, Chiyoda-City,
Tokyo 101-0032
Phone: + 81 3 5825 5333
info@kmecs.co.jp
www.kmecs.com
Lebanon, Jordan, Syria
Industrial Technologies (itec) S.A.L.
Afrah Plaza Center, Blvd Fouad Chehab
Sin El Fil, Beirut
Phone: + 961 (1) 49 11 61
info@iteclb.com
www.iteclb.com
Malaysia
Beckhoff Automation Sdn. Bhd.
(889044-H)
Unit 2.1, 2
nd
Floor, Surian Tower
No.1 Jalan PJU 7/3
Mutiara Damansara
47810 Petaling Jaya
Phone: + 60 (3) 7731 8388
info@beckhoff.com.my
www.beckhoff.com.my
TDS Technology (KL) Sdn. Bhd.
5-1, Jalan Anggerik Vanilla T
Section 31/T, Kota Kemuning
40460 Shah Alam
Phone: + 60 (3) 5122 4220
marketing_kl@tdstech.com
www.tdstech.com
Singapore, Philippines,
Vietnam, Indonesia
Beckhoff Automation Pte. Ltd.
3 International Business Park
#07-08 Nordic European Centre
Singapore 609927
Phone: + 65 / 66 35 50 00
info@beckhoff.com.sg
www.beckhoff.com.sg
TDS Technology (S) Pte Ltd
64 Sungei Kadut Loop
(Hocen Building)
Singapore 729493
Phone: + 65 / 63 66 16 61
sales_sg@tdstech.com
www.tdstech.com
Thailand
TDS Technology (Thailand) Co., Ltd.
50/962 Moo 2
Bengyeetos Thanyaburi
Pratumthanee
12130 Bangkok
Phone: + 66 (0) 2569 5511
sales_th@tdstech.com
www.tdstech.com
T & R Electronic (Thailand) Co., Ltd.
120/62 Moo 8 Bang Sare
Sattahip
Chonburi 20250
Phone: + 66 (0) 3873 7487
trthailand@trelectronic.co.th
www.trelectronic.co.th
South Korea
Tri-TEK Corp.
717 DaeRyung TechnoTown III
448 KasanDong Kumcheongu
Seoul 153-803
Phone: + 82 2 / 2107-32 42
tritek@tritek.co.kr
www.tritek.co.kr
Taiwan
JI-DIEN Co., Ltd.
9F., No. 22, Sec. 1, Zhongshan Rd.
Xingzhuang City
Taipei County 242
Phone: + 886 (2) 8522 3237
jidien@chgroup.com.tw
www.chgroup.com.tw
United Arab Emirates,
Oman, Qatar, Bahrain,
Kuwait, Saudi Arabia, Egypt
Beckhoff Automation FZE
C# 608, Dubai Silicon Oasis
P.O. Box No. 341007
Dubai
United Arab Emirates
Phone: + 971 4 5015480
info@beckhoff.ae
www.beckhoff.ae
Australia
Australia
Headquarters
Beckhoff Automation Pty. Ltd.
Level 16, 10 Queens Road
Melbourne, Victoria, 3004
Phone: + 61 (3) 99 12 54 30
info@beckhoff.com.au
www.beckhoff.com.au
Sales Ofce North Ryde
Beckhoff Automation Pty. Ltd.
Suite 508, 32 Delhi Road
North Ryde, NSW, 2113
Phone: + 61 (2) 80 69-23 33
info@beckhoff.com.au
New Zealand
Beckhoff Automation Limited
Unit C2, 59 Apollo Drive
Albany, Auckland 0632
Phone: + 64 (9) 281 2736
info@beckhoff.co.nz
www.beckhoff.co.nz
CSE-W. Arthur Fisher Ltd
P.O. Box 58955
Botany
Manukau 2163
Phone: + 64 (9) 271 3810
sales@cse-waf.co.nz
www.cse-waf.co.nz
Headquarters
Beckhoff Automation GmbH
Eiserstrae 5
33415 Verl
Germany
Phone: + 49 (0) 52 46 / 9 63 - 0
info@beckhoff.com
www.beckhoff.com
Europe
Germany
Ofce Balingen
Karlstrae 19
72336 Balingen
Phone: + 49 (0) 74 33 / 2 60 24 - 0
balingen@beckhoff.de
Ofce Berlin
Fasanenstrae 81
10623 Berlin
Phone: + 49 (0) 30 / 88 71 16 - 0
berlin@beckhoff.de
Ofce Frankfurt
Torhaus Westhafen
Speicherstrae 59
60327 Frankfurt am Main
Phone: + 49 (0) 69 / 68 09 88 - 0
frankfurt@beckhoff.de
Ofce Hanover
Podbielskistrae 342
30655 Hanover
Phone: + 49 (0) 5 11 / 87 57 58 - 0
hannover@beckhoff.de
Ofce Lbeck
Wahmstrae 56
23552 Lbeck
Phone: + 49 (0) 4 51/ 20 39 88 - 0
luebeck@beckhoff.de
Ofce Munich
Oppelner Strae 5
82194 Grbenzell/Munich
Phone: + 49 (0) 81 42 / 4 10 59 - 0
muenchen@beckhoff.de
Ofce Nuremberg
Ostendstrae 196
90482 Nuremberg
Phone: + 49 (0) 9 11 / 5 40 56 - 0
nuernberg@beckhoff.de
Sales Ofce Ravensburg
Parkstrae 48
88212 Ravensburg
Phone: + 49 (0) 7 51 / 3 54 15 50
ravensburg@beckhoff.de
Ofce Rhein/Ruhr
Eurotec-Ring 7
47445 Moers
Phone: + 49 (0) 28 41/ 9 08 16 - 6
rhein-ruhr@beckhoff.de
Austria
Headquarters
Hauptstrae 4
6706 Brs
Phone: + 43 (0) 55 52 / 6 88 13 - 0
info@beckhoff.at
www.beckhoff.at
Sales Ofce
Obersterreich
Softwarepark 35
4232 Hagenberg
Phone: + 43 (0) 72 36 / 2 09 25 - 0
oberoesterreich@beckhoff.at
Sales Ofce
Niedersterreich
Schloss 2B/Top 3
2542 Kottingbrunn
Phone: + 43 (0) 22 52 / 25 17 23
niederoesterreich@beckhoff.at
Sales Ofce Salzburg
Europastrae 32
5400 Hallein
Phone: + 43 (0) 62 45 / 7 00 96 11
salzburg@beckhoff.at
Sales Ofce Tirol
Soho 2.0
Grabenweg 68
6020 Innsbruck
Phone: + 43 (0) 512 / 236 043
tirol@beckhoff.at
Belgium, Luxembourg
Headquarters
Beckhoff Automation bvba
Kempische Steenweg 305 bus 202
3500 Hasselt
Belgium
Phone: + 32 (0) 11 / 24 08 00
info@beckhoff.be
www.beckhoff.be
Sales Ofce West
Beckhoff Automation bvba
President Kennedy park 6 bus 24
8500 Kortrijk
Belgium
Phone: + 32 (0) 56 / 20 20 37
info@beckhoff.be
Bulgaria
Kastiva GmbH
68-72 Ami Bue Str., 4. Floor
1612 Soa
Phone: + 3 59 (2) 9 50 44 31
ofce@kastiva.com
www.kastiva.com
Croatia
Krovel d.o.o.
Barutanski jarak 114
10000 Zagreb
Phone: + 3 85 / 1 230 5788
beckhoff@krovel.hr
www.krovel.hr
Czech Republic,
Slovac Republic
Dyger s.r.o.
Vystaviste 1
648 59 Brno
Phone: + 420 5 / 41 32 10 04
info@dyger.cz
www.dyger.cz
Denmark
Headquarters
Beckhoff Automation ApS
Naverland 2
2600 Glostrup
Phone: + 45 43 / 46 76 20
info@beckhoff.dk
www.beckhoff.dk
Ofce Hobro
Majsmarken 1
9500 Hobro
Phone: + 45 76 / 36 38 31
info@beckhoff.dk
Ofce Kolding
Birkemose all 25
6000 Kolding
Phone: + 45 76 / 31 20 72
info@beckhoff.dk
Finland, Estonia
Headquarters
Beckhoff Automation Oy
P.O. Box 23
Kankurinkatu 4-6
05801 Hyvink
Finland
Phone: + 358 (0) 20 / 7 42 38 00
info@beckhoff.
www.beckhoff.
Sales Ofce Seinjoki
Tiedekatu 2
60320 Seinjoki
Finland
Phone: + 358 (0) 20 / 7 42 38 50
info@beckhoff.
Sales Ofce Tampere
Hermiankatu 1 B
33720 Tampere
Finland
Phone: + 358 (0) 20 / 7 42 38 70
info@beckhoff.
France
Headquarters
Beckhoff Automation Sarl
Immeuble Le Montral
ZA de Courtaboeuf
19 bis, avenue du Qubec
91951 Courtaboeuf Cedex
Phone: + 33 (0) 1 69 29 83 70
info@beckhoff.fr
www.beckhoff.fr
Sales Ofce North
28, Rue de Tourcoing
59960 Neuville en Ferrain
Phone: + 33 (0) 3 20 11 00 08
info@beckhoff.fr
Sales Ofce South-East
PAE La Bouvarde Park Nord
23 A, Immeuble Les Pliades
74370 Metz-Tessy
Phone: + 33 (0) 4 50 23 22 75
info@beckhoff.fr
Greece, Cyprus
L. J. Skourgialos
Industrial Automation Systems
241 EL. Venizelou
176 73 Kallithea /Athens
Greece
Phone: + 30 / 21 09 51 02 60
ias@otenet.gr
Hungary
Beckhoff Automation Kft.
Gubacsi t 6.
H-1097 Budapest
info@beckhoff.hu
www.beckhoff.hu
Italy
Headquarters
Beckhoff Automation S.r.l.
Via E. Majorana, 1
20834 Nova Milanese (MB)
Phone: + 39 03 62 / 36 51 64
info@beckhoff.it
www.beckhoff.it
Ofce Bologna
Via Zanini, 7
40011 Anzola dellEmilia (BO)
Phone: + 39 05 1 / 73 15 09
bologna@beckhoff.it
Ofce Padua
Via Alsazia, 3/B
35127 Padua (PD)
Phone: + 39 0 49 / 8 70 48 38
padova@beckhoff.it
Lithuania, Latvia,
Belarus
UAB Santavilte
Europos pr. 121
LT-46339 Kaunas
Lithuania
Phone: + 3 70 37 21 13 60
info@santavilte.lt
www.santavilte.lt
Malta
JMartans Automation
Ivy, Flat 1,
Salvu Barbara Street,
Mosta, MST 2433
Phone: + 3 56 21 42 06 55
info@jmartans.com
www.jmartans.com
Netherlands
Industrial Automation Link
Kppersweg 71
2031 EB Haarlem
Phone: + 31 23 / 5 18 51 40
sales@ial.nl
www.ial.nl
Norway
Beckhoff Automation AS
Stensarmen 16
3112 Tnsberg
Phone: + 47 33 50 46 90
info@beckhoff.no
www.beckhoff.no
Poland
Beckhoff Automation Sp. z o.o.
abieniec, ul. Ruczajowa 15
05-500 Piaseczno
Phone: + 48 22 / 7 50 47 00
info@beckhoff.pl
www.beckhoff.pl
Portugal
Bresimar Automao, S.A.
Quinta do Simo
EN109 Esgueira
Apartado 3080
3801-101 Aveiro
Phone: + 351 234 / 30 33 20
bresimar@bresimar.pt
www.bresimar.pt
Romania
Kreatron Automation S.R.L.
Str. Octavian Fodor nr. 113, ap. 13
400434, Cluj-Napoca
jud. Cluj
Phone: + 40 364 40 16 12
ofce@kreatron.ro
www.kreatron.ro
Russia
Headquarters
Beckhoff Automation OOO
Staraya Basmannaya 14/2 str. 2
105064 Moscow
Phone: + 7 495 / 9 81 64 54
russia@beckhoff.com
www.beckhoff.ru
Representation
North-West Federal District
Vasilyevsky Island,
7-ya Liniya St. 76, Ofce 620
199178 Saint-Petersburg
Phone: + 7 812 / 332 62 05
north-westfo@beckhoff.ru
Representation
Southern Federal District
Dalnyaya St. 43, Ofce 202
350051 Krasnodar
Phone: +7 861 / 279 67 23
south@beckhoff.ru
Representation
Ural Federal District
Komsomolskaya St. 37,
Ofce 402/4
620049 Ekaterinburg
Phone: + 7 3 43 / 3 79 98 73
uralfo@beckhoff.ru
Representation
Volga Federal District
Krasnoarmeyskaya St.1,
Ofce 312
443010 Samara
Phone: + 7 846 / 2 69 80 67
volgafo@beckhoff.ru
Slovenia
Beckhoff Avtomatizacija d.o.o.
Zbiljska cesta 4
1215 Medvode
Phone: + 3 86 / 13 61 30 80
info@beckhoff.si
www.beckhoff.si
Spain
Headquarters
Beckhoff Automation S.A.
Edicio Testa Sant Cugat
Avda. Alcalde Barnils, 64-68
08174 Sant Cugat (Barcelona)
Phone: + 34 93 / 5 84 49 97
info@beckhoff.es
www.beckhoff.es
Sales Ofce Bilbao
Edicio Udondo
C. Ribera de Axpe, no 50
4a planta, Ocina 4-5
48950 Erandio (Bilbao)
Phone: + 34 94 / 4 31 40 75
info@beckhoff.es
Sales Ofce Madrid
Edicio Cimaga
Sierra de Cazorla, 1
Planta Baja, Ocina E
28290 Las Matas (Madrid)
Phone: + 34 91 / 6 36 43 57
madrid@beckhoff.es
Sweden
Headquarters
Beckhoff Automation AB
Stenldersgatan 2A
21376 Malm
Phone: + 46 (0) 40 / 6 80 81 60
info@beckhoff.se
www.beckhoff.se
Sales Ofce Gothenburg
Tillfllavgen 15
43363 Svedalen
Phone: + 46 (0) 40 / 6 80 81 41
info@beckhoff.se
Sales Ofce Stockholm
Frsundaviks All 15
16970 Solna
Phone: + 46 (0) 40 / 6 80 81 60
info@beckhoff.se
Sales Ofce Vrnamo
Vstbovgen 53
33153 Vrnamo
Phone: + 46 (0) 40 / 6 80 81 60
info@beckhoff.se
Switzerland
Headquarters
Beckhoff Automation AG
Rheinweg 9
8200 Schaffhausen
Phone: + 41 (0) 52 / 6 33 40 40
info@beckhoff.ch
www.beckhoff.ch
Ofce Zurich
Felsenrainstrasse 1
8052 Zurich
Phone: + 41 (0) 52 / 633 40 40
info@beckhoff.ch
Ofce Derendingen
Application/Software Development
Hauptstrasse 39
4552 Derendingen
Phone: + 41 (0) 32 / 566 16 50
info@beckhoff.ch
Sales + Support Center
Suisse Romande
En Chamard 35
1442 Montagny-prs-Yverdon
Phone: + 41 (0) 24 / 447 27 - 00
yverdon@beckhoff.ch
Support Center Ticino
p.project sagl
Via Pianella 19
6596 Gordola
Phone: + 41 (0) 91 / 745 01 11
ticino@beckhoff.ch
Turkey
Beckhoff Otomasyon ltd. ti.
Gardenya-3 Plaza No: 18-19
34758 Ataehir Istanbul
Phone: + 90 216 580 9830
info@beckhoff.com.tr
www.beckhoff.com.tr
UK, Ireland
Beckhoff Automation Ltd.
The Boathouse
Station Road
Henley on Thames
Oxon RG9 1AZ
Great Britain
Phone: + 44 14 91 / 41 05 39
info@beckhoff.co.uk
www.beckhoff.co.uk
North America
USA
Headquarters
and Training Center
Beckhoff Automation LLC
12150 Nicollet Avenue South
Burnsville, MN 55337
Phone: + 1 952 / 890 0000
beckhoff.usa@beckhoff.com
www.beckhoffautomation.com
East Region Headquarters
and Training Center
Charlotte, NC
Phone: + 1 704 / 910 4367
east.usa@beckhoff.com
East Region Sales
Coplay, PA
Phone: + 1 952 / 212 6226
newengland@beckhoff.com
Hanover, PA
Phone: + 1 717 / 634 5536
northeast.sales@beckhoff.com
Rochester Hills, MI
Phone: + 1 248 / 828 5310
michigan@beckhoff.com
Indianapolis, IN
Phone: + 1 317 / 703 9115
mideast.usa@beckhoff.com
Lake Wylie, SC
Phone: + 1 803 / 746 5491
east.usa@beckhoff.com
Apex, NC
Phone: + 1 919 / 367 0349
southeast.usa@beckhoff.com
Atlanta, GA
Phone: + 1 770 / 403 8868
georgia@beckhoff.com
Central Region Sales
and Training Center
Fond du Lac, WI
Phone: + 1 920 / 251 2777
wisconsin@beckhoff.com
Central Region Sales
Burnsville, MN 55337
Phone: + 1 952 / 890 0000
north.usa@beckhoff.com
Lemont, IL
Phone: + 1 630 / 631 8467
midwest.usa@beckhoff.com
Rogers, AR
Phone: + 1 479 / 925 2951
south.usa@beckhoff.com
Cedar Park, TX
Phone: + 1 512 / 250 9809
southwest.sales@beckhoff.com
Justin, TX
Phone: + 1 817 / 428 5314
southwest.sales@beckhoff.com
West Region Sales
San Diego, CA
Phone: + 1 858 / 546 1111
west.sales@beckhoff.com
La Crescenta, CA
Phone: + 1 818 / 224 9065
losangeles@beckhoff.com
San Francisco Bay Area, CA
Phone: + 1 408 / 425 1025
norcal@beckhoff.com
Phoenix, AZ
Phone: + 1 602 / 354 0506
arizona@beckhoff.com
Arvada, CO
Phone: + 1 303 / 429 0758
mountain.sales@beckhoff.com
Mill Creek, WA
Phone: + 1 425 / 451 4444
northwest.sales@beckhoff.com
West Region Technical Center
San Diego, CA
Phone: + 1 858 / 546 1111
west.application@beckhoff.com
Canada
Headquarters
Sales, Training Center and
Application Development
Beckhoff Automation Canada Ltd.
2900 Argentia Road, Suite 7
Mississauga, ON L5N 7X9
Phone: + 1 289 / 627 1900
canada@beckhoff.com
Canada Sales
Toronto, ON
Phone: +1 905 / 466 4371
canada@beckhoff.com
London, ON
Phone: + 1 519 / 451 8572
canada@beckhoff.com
Mexico
Mexico Sales and
Application Development
Integra Automation, SA de CV
Av. Industrias 325-A
78399 Fracc. Talleres
San Luis Potos, S.L.P.
Phone: + 52 444 / 822 2615 al 17
mexico@beckhoff.com
South America
Argentina
eFALCOM
Alcorta 2411
CPA B1744HFM
Moreno / Buenos Aires
Phone: + 54 237 / 463 1151
info@efalcom.com
www.efalcom.com
Bolivia
BAVARIA S.R.L.
P.O. Box: 4923
C. Mario Diez de Medina, N 32
Zona Morocollo
La Paz
Phone: + 591 2 277 13 78
alvarobaptista@bavaria.bo
www.bavaria.bo
Brazil
Headquarters
Beckhoff Automao Industrial Ltda.
Rua Continental, 146
So Bernardo do Campo
So Paulo 09750-060
Phone: + 55 (11) 4126-3232
info@beckhoff.com.br
www.beckhoff.com.br
Ofce Campinas
Beckhoff Automao Industrial Ltda.
Edifcio Empresarial Torre do Castelo
Rua Francisco Otaviano, 60
Sala 94 Bairro Chapado
Campinas 13070-056 SP
Phone: + 55 (19) 3368-7288
Ofce Joinville
Beckhoff Automao
Industrial Ltda.
Rua Dona Francisca, 1113
Salas 904/905
Bairro Saguau
Joinville 89221-006 SC
Phone: + 55 47 3439 - 0908
Colombia
SENTRONIC LTDA
Calle 112 70-B-18
Bogot
Phone: + 57 1 533 4323
sensores@sentronic.com.co
www.sentronic.com.co
CONTROLTECH Ltda
Cra 21 159-12 of 103
C.P: 110131
Bogot
Phone: + 57 1 471 4890
controltech@controltech.co
www.controltech.co
Uruguay
Comando Ltda.
Dr. J. de Salterain 1142
Montevideo 11200
Phone: + 598 (2) / 400-7923
comando@comandonet.com
www.comandonet.com
Africa
South Africa
Headquarters
Beckhoff Automation (Pty) Ltd
6 Ateljee Street
Randpark Ridge
Randburg
Gauteng
2194
Phone: + 27 (0) 11 795 2898
info@beckhoff.co.za
www.beckhoff.co.za
Ofce Cape Town
Giuliva House,
47 Blaauwberg Road
Table View, 7441
Phone: + 27 (0) 79 493 2288
info@beckhoff.co.za
Ofce Durban
Suite 7A, 58A Beechgate Crescent
Southgate Business Park
KwaZulu-Natal
Phone: +27 (0) 861 2325 4633
info@beckhoff.co.za
Asia
China
Headquarters
Beckhoff Automation
(Shanghai) Co., Ltd.
5
th
Floor,
No. 163 JiangChang San Road
Shanghai Shibei Industrial Zone
Shanghai, 200436
Phone: + 86 21 / 66 31 26 66
info@beckhoff.com.cn
www.beckhoff.com.cn
Ofce Beijing
Beckhoff Automation
Room 1801-1803, Tower T3,
Xihuan Plaza,
No.1, Xizhimenwai Avenue
Xicheng District
Beijing, 100044
Phone: + 86 10 / 58 30 12 36
beijing@beckhoff.com.cn
Ofce Guangzhou
Beckhoff Automation
Room 4118-4119
Yaozhong Plaza
9 West Linhe Road
Tianhe District
Guangzhou, 510620
Phone: + 86 20 / 38 01 03 00
guangzhou@beckhoff.com.cn
Ofce Chengdu
Beckhoff Automation
8F, G of The City Tower,
No. 86, Section one,
South Peoples Road
Chengdu, Sichuan, 610016
Phone: + 86 28 / 86 20 25 81
chengdu@beckhoff.com.cn
Ofce Wuhan
Beckhoff Automation
Room 1803, 18/F.,
Wuhan Zhongshang Plaza,
NO.7, Zhongnan Road,
Wuhan, Hubei
Phone: + 86 27 / 87 71 19 92
wuhan@beckhoff.com.cn
Ofce Shenyang
Beckhoff Automation
(Shanghai) Co. Ltd.
Room1803, LAnenue
No.10 Hui Gong Street
Shen he district
Shenyang City, 11013, Liaoning
Phone: + 86 24 / 22 78 88 96
shenyang@beckhoff.com.cn
Ofce Qingdao
Beckhoff Automation
(Shanghai) Co. Ltd.
Room 812-813, Building B
Wanda Plaza Business Building
Qingdao, Shandong Province
Phone: + 86 532 / 55 66 38 57
qingdao@beckhoff.com.cn
Ofce Hefei
Beckhoff Automation
(Shanghai) Co. Ltd.
Room 1311, Furong mansion
No. 3 Suixi Road
Hefei, Anhui Province
Phone: + 86 551 / 55 43 513
hefei@beckhoff.com.cn
Ofce Hangzhou
Beckhoff Automation
(Shanghai) Co. Ltd.
Room 816, Jiahua International
Business Center,
No. 15 Hangda Road
Hangzhou, Zhejiang Province
Phone: + 86 571 / 87 65 27 86
hangzhou@beckhoff.com.cn
Ofce Ningbo
Beckhoff Automation
(Shanghai) Co. Ltd.
Room 2001, Tianyuan Building,
No. 9 South Jiefang Road
Ningbo, Zhejiang Province
Phone: + 86 574 / 87 20 33 35
ningbo@beckhoff.com.cn
India
Headquarters
Beckhoff Automation Pvt. Ltd.
Suite 4, Level 6, Muttha Towers
Don Bosco Marg
Pune 411 006
Phone: + 91 20 40 00 48 00
info@beckhoff.co.in
www.beckhoff.co.in
Sales Ofce Ahmedabad
Beckhoff Automation Pvt. Ltd.
10
th
Floor, 1005, Venus Atlantis
Corporate Park,
Anandnagar Road,
Ahmedabad 380015
Phone: + 91 79 40 08 48 00
info@beckhoff.co.in
Israel
Beckhoff Automation Ltd.
Beit Golan
Golan St. (corner of Tavor St.)
Airport City
Lod 70151
Phone: 972 3 7 76 44 45
info@beckhoff.co.il
www.beckhoff.co.il
www.beckhoff.com

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PC-based Control for Robotics

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