File and language versions

Title:
Function blocks Beckhoff TwinCAT

Subtitle:
PtP function blocks for Beckhoff TwinCAT 3

Description:

Point-to-point (PtP) library for servo drives with EtherCAT (CiA402) in the TwinCAT 3 development environment from Beckhoff.

Supported systems:

servo drive CMMT-AS-...-11A-P3-... (5111189)
servo drive CMMT-AS-...-3A-... (5111184)
servo drive CMMT-AS-C12-11A-P3-EC-S1 (8133355)
servo drive CMMT-AS-C12-11A-P3-MP-S1 (8143169)
servo drive CMMT-AS-C12-11A-P3-MP-S3 (8151397)
servo drive CMMT-AS-C18-11A-P3-MP-S1 (8157801)
servo drive CMMT-AS-C18-11A-P3-MP-S3 (8166886)
servo drive CMMT-AS-C2-11A-P3-EC-S1 (5340821)
servo drive CMMT-AS-C2-11A-P3-MP-S1 (8143165)
servo drive CMMT-AS-C2-11A-P3-MP-S3 (8151393)
servo drive CMMT-AS-C2-3A-EC-S1 (5340819)
servo drive CMMT-AS-C2-3A-MP-S1 (8143163)
servo drive CMMT-AS-C2-3A-MP-S3 (8151391)
servo drive CMMT-AS-C25-11A-P3-MP-S1 (8157802)
servo drive CMMT-AS-C25-11A-P3-MP-S3 (8166887)
servo drive CMMT-AS-C3-11A-P3-EC-S1 (5340822)
servo drive CMMT-AS-C3-11A-P3-MP-S1 (8143166)
servo drive CMMT-AS-C3-11A-P3-MP-S3 (8151394)
servo drive CMMT-AS-C4-3A-EC-S1 (5340820)
servo drive CMMT-AS-C4-3A-MP-S1 (8143164)
servo drive CMMT-AS-C4-3A-MP-S3 (8151392)
servo drive CMMT-AS-C5-11A-P3-EC-S1 (5340823)
servo drive CMMT-AS-C5-11A-P3-MP-S1 (8143167)
servo drive CMMT-AS-C5-11A-P3-MP-S3 (8151395)
servo drive CMMT-AS-C7-11A-P3-EC-S1 (8133354)
servo drive CMMT-AS-C7-11A-P3-MP-S1 (8143168)
servo drive CMMT-AS-C7-11A-P3-MP-S3 (8151396)
servo drive CMMT-ST-C8-1C-EC-S0 (8084005)
servo drive CMMT-ST-C8-1C-MP-S0 (8163946)

Document type:
Function elements

	Version	Download
	Version 3.5.16.64 (05.03.2026) Version changes: Fixed library version to Placeholder	Festo_PointToPoint_TwinCAT_3.5.16.64.zip File size: 47 MB Version: 3.5.16.64 (05/03/2026)
	Version 3.5.16.63 (16.10.2025) Version changes: Changes compared to the previous version: Add S3 device Updated/extended error list Bug actual Torque Fluctuations during initialization Bug profile jog mode into profile positioning mode. Drive turns one cycle in wrong direction	Festo_PointToPoint_TwinCAT_3.5.16.63.zip File size: 47 MB Version: 3.5.16.63 (16/10/2025)
	Version 3.5.16.50 (01.02.2024) Version changes: Behavior of move function blocks extended (output bits become TRUE for a cycle if input "Execute" is FALSE) SDO index buffer extended to 1001 Function block "DeviceService" extended by new methods "JerkCompatibilityFactor" added because of FW changes (new subindex for Jerk) SDO-Info and SDO-Read/Write timeout increased to 5 secs (large machines) New axis error list added New esi-files (version 34) added Documentation extended	Festo_PointToPoint_TwinCAT_3.5.16.50.zip File size: 69 MB Version: 3.5.16.50 (01/02/2024)
	Version 3.5.16.47 (20.02.2023) Version changes: Paralell gripper HEPP-EC added New esi devices descriptions added (CMMT-AS und CMMT-ST) Function block "MC_ForceControl_Festo" added Bugfix in function block "MC_Jog_Festo" (jog pulses) General bugfixes	Festo_PointToPoint_TwinCAT_3.5.16.47.zip Deutsch [de], English [en] File size: 73 MB Version: 3.5.16.47 (20/02/2023)
	Version 3.5.15.33 (05.05.2021) Version changes: Changes compared to the previous version: Bugfix holding brake control via method call Bugfix homing run start acknowledge bit Documentation extended New ESI-file (revision 7) added	Festo_PointToPoint_TwinCAT_3.5.15.33.zip Deutsch [de], English [en] File size: 46 MB Version: 3.5.15.33 (05/05/2021)
	Version 3.5.15.32 (26.01.2021) Version changes: Changes compared to the previous version: delay routine added (relieve EtherCAT master during bootup)	Festo_PointToPoint_TwinCAT_3.5.15.32.zip Deutsch [de], English [en] File size: 47 MB Version: 3.5.15.32 (26/01/2021)
	Version 3.5.15.31 (24.11.2020) Version changes: Changes compared to the previous version: Bugfix for buffered movements Bugfix in Record Table Mode New ESI-file (revision 6) added	Festo_PointToPoint_TwinCAT_3.5.15.31.zip Deutsch [de], English [en] File size: 47 MB Version: 3.5.15.31 (24/11/2020)
	Version 3.5.10.48 (01.07.2020) Version changes: Changes compared to the previous version: Bugfix "VelocityLimit" in ProfileTorqueMode	Festo_PointToPoint_TwinCAT_3.5.10.48.zip Deutsch [de], English [en] File size: 27 MB Version: 3.5.10.48 (01/07/2020)