Highlights

Process image sampled once per scan, encoder feedback in whole pulses, drives that ramp
Plant models for VFD motors, incremental encoders, limit switches and pneumatic actuators
Three generic machines to start from: gantry pick-and-place, single-axis positioner, transfer cell
Live I/O table with field and image states, watch and trend, and program-vs-machine position
Link a real PLC over Modbus TCP via the Twinsys Host; I/O list and drivetrain datasheet exports

A question it answers

Will this homing routine and pick-and-place sequence actually work on the machine, and how repeatable will my home position be?

What you put in

A machine definition — axes with drivetrain (motor, gearbox, pinion or screw), encoder resolution and mounting point, limit and home switches, pneumatic actuators, and named I/O points — plus a Structured Text program. Three generic machines are supplied as starting points: a two-axis gantry with gripper and safety chain, a single-axis positioner, and a three-axis transfer cell; or, in place of the program, a real PLC linked over Modbus TCP through the Twinsys Host (Twinsys as server or client, register blocks, 32-bit word order).

What you get

Live I/O table showing FIELD state and IMAGE state separately; watch and trend of any symbol; machine viewport with a delta column comparing where the machine actually is against where the program believes it is; cycle timing; derived drivetrain quantities shown next to the inputs they come from (counts per millimetre, resolution, speed at maximum frequency, drive acceleration ceiling, creep distance per scan); and export of the I/O list as CSV and a drivetrain datasheet, both generated from the model; and, while a PLC is linked, the full Modbus register map with a CSV download.