Installation and First Motion

This page gets Struckig running in a TwinCAT project and validates the setup with a minimal 1-DoF trajectory.

1) Install the library

Choose one of the following:

• Download a precompiled release from GitHub Releases.
• Build from source in the repository.

For TwinCAT users, the fastest route is usually the precompiled .compiled-library package.

2) Add Struckig to your PLC project

1. Open your TwinCAT solution.
2. In the PLC project, right-click References.
3. Select Add library....
4. Search for Struckig and confirm.

After this step, Struckig types like Struckig.Otg are available in Structured Text.

Add library in TwinCAT

Select Struckig library

3) Run a minimal 1-axis example

Create or replace your MAIN program:

PROGRAM MAIN
VAR
  otg : Struckig.Otg(cycletime := 0.001, dofs := 1) := (
    EnableAutoPropagate := TRUE,
    MaxVelocity :=         [2000.0],
    MaxAcceleration :=     [20000.0],
    MaxJerk :=             [800000.0],
    CurrentPosition :=     [0.0],
    CurrentVelocity :=     [0.0],
    CurrentAcceleration := [0.0],
    TargetPosition :=      [100.0],
    TargetVelocity :=      [0.0],
    TargetAcceleration :=  [0.0]
  );
  axisTargetPosition : LREAL;
END_VAR

otg();
axisTargetPosition := otg.NewPosition[0];

4) Verify behavior

• otg.State should be Busy while the move is active, then Idle.
• otg.NewPosition[0] should move smoothly from 0.0 to 100.0.
• Your PLC task cycle time should match cycletime.

Tip

EnableAutoPropagate := TRUE is the standard online mode. Struckig automatically copies New* values back into Current* after each cycle.

5) Next steps

• Learn parameter details in Single Axis Trajectory.
• Learn multi-axis synchronization in Synchronized Trajectory.
• See more practical snippets in Examples.