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Tc hardware

Skill georgeturneruk/tckit/.claude/skills/tc-hardware

Use when inspecting or configuring TwinCAT hardware through TcKit — EtherCAT master/slave diagnostics, IPC hardware health, NC axis state, reading/writing live PLC symbols, invoking RPC methods, or authoring the I/O tree (scan the bus topology, scaffold I/O GVLs, add/remove EtherCAT masters and boxes). Triggers on requests like "what's the EtherCAT bus status", "list the EtherCAT masters", "check the IPC CPU/temperature/UPS", "what state is axis 1 in", "read MAIN.nCounter on the target", "set GVL.bEnable to TRUE", "call the Reset method on fbPid", "scan the hardware", "scaffold I/O variables", "add an EK1100 under the master", "delete Box 3". Do NOT use for reading/writing ST code (tc-write-st), build/deploy/test (tc-build-test-loop), or looking up a product's datasheet by order number (tc-beckhoff-docs / FindHardware).From its SKILL.md

Install
npx -y skills add georgeturneruk/tckit --skill tc-hardware

Assembled from the repository path, not quoted from the project. Check it against their README if it does not work.

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SKILL.md

8.6 KB, as published. Nobody here has run it

Hardware diagnostics, symbol I/O, and I/O authoring

Three distinct lanes, each with a different transport and precondition. Pick the lane that matches the request before calling anything.

LaneToolsTransport / precondition
Diagnostics (read-only)ListEtherCatMasters, GetEtherCatStatus, GetIpcHardware, ListAxes, GetAxisStateADS to a running target by AMS Net ID. No XAE.
Symbol I/OReadSymbols, WriteSymbols, InvokeRpcADS to a target in Run mode by AMS Net ID. No XAE.
I/O authoring (COM)ScanHardware, ScaffoldHardwareCode, AddEtherCatMaster, AddEtherCatBox, DeleteIoDeviceXAE open with a solution loaded (the writer constraint). Reads/edits the configured project, not the physical bus.

Where targetAmsId comes from

The diagnostics and symbol-I/O tools take targetAmsId (the target's AMS Net ID). If you don't have it, ask the user — it's the same target you'd deploy to. Don't guess or hunt the filesystem.

Diagnostics (read-only — no confirmation needed)

  1. ListEtherCatMasters(targetAmsId) — enumerate masters (most systems have one). Use the returned NetId as masterNetId for the next call.
  2. GetEtherCatStatus(targetAmsId, masterNetId="") — master diagnostic flags plus the slave table (state machine, identity, link health, per-port CRC counters). masterNetId defaults to targetAmsId (the usual single-master layout).
  3. GetIpcHardware(targetAmsId) — TwinCAT version, CPU (temperature / usage / frequency), memory, fans, network adapters, UPS. Modules not present come back null/empty — report that, don't infer failure.
  4. ListAxes(targetAmsId) / GetAxisState(targetAmsId, axisId) — NC axis state (name, error code, position, velocity, lag error, derived state name). ListAxes is empty when no NC axes are configured.

These read live state and never change anything; call them directly and report with the fields that answer the question.

Symbol I/O — the confirmed-write handshake

  • ReadSymbols(targetAmsId, paths) is read-only: call directly. Best-effort — an unreadable path comes back null in values rather than failing. The target must be in Run mode (symbols resolve at port 851).
  • WriteSymbols(targetAmsId, writesJson, confirmed) and InvokeRpc(targetAmsId, symbolPath, methodName, paramsJson, confirmed) mutate / execute live PLC state and gate on confirmed=true (the same safety contract as deploy):
    1. First call without confirmed returns an error telling you confirmation is required. Treat it as a control-flow signal, not a failure.
    2. Surface to the user exactly what you are about to write/invoke and on which target. Wait for explicit approval in chat.
    3. Only then call again with confirmed=true.
    4. Never auto-confirm a write or RPC against a live PLC.
  • writesJson is a JSON object of path -> value (e.g. {"MAIN.nSetpoint": 42, "GVL.bEnable": true}); writes are best-effort, with per-symbol failures in details.errors and success true only when every write landed.
  • InvokeRpc targets a method decorated {attribute 'TcRpcEnable'}; paramsJson is a JSON array of positional parameters in VAR_INPUT order.

I/O authoring (COM — XAE must be open)

Every authoring/scan verb takes project (the TwinCAT project name). A solution can hold more than one TwinCAT project, each with its own I/O tree. If you omit project when several exist, the verb is refused and lists the available projects — it will not guess (silently landing I/O in the wrong project, e.g. GLR_Hardware, is exactly the failure this guards against). With a single-project solution project is optional. Run ScanHardware first — it reports the resolved project names so you know what to pass. Every write is saved to that project's .tsproj on disk immediately (no Build needed).

  1. Scan before you change. ScanHardware(project?) reads the configured EtherCAT topology (each master with its terminals: slot, full tree name, order number) plus the resolved project name. No physical bus scan, so no I/O is interrupted. Use it to discover the project names and real tree names.
  2. Scaffold I/O code. ScaffoldHardwareCode(gvlName="HardwareIO", plcName, parentFolder, project?) writes a VAR_GLOBAL GVL of I/O declarations from project's topology (variables named Slot{N}_{OrderNumber}_{Channel}; unknown terminals get a comment placeholder). project selects which TwinCAT project's I/O to scan; plcName selects the PLC project the GVL is added to.
  3. Add a master. AddEtherCatMaster(deviceName="Device 1 (EtherCAT)", project?).
  4. Add a coupler/terminal. AddEtherCatBox(parentName, boxName, orderNumber, before="", project?). E-bus terminals (EL...) nest under their coupler, so parentName is the coupler (e.g. Box 1 (EK1100)); EtherCAT-native slaves go directly under the master. orderNumber may be revision-qualified (EL1008, EK1100-0000-0017). before names the sibling to insert before (empty appends). If you don't know the order number's specs, look it up first via tc-beckhoff-docs (FindHardware).
  5. Delete — gated + previewed. DeleteIoDevice(target, project?, confirmed=false) removes a device or box and cascades its children. target is a display name that must be unique within the project (an ambiguous name is refused, listing the candidate ^-paths) or an exact ^-delimited path for precision. The first call (confirmed=false) returns a preview — the resolved path and the child items that will cascade — and deletes nothing; call again with confirmed=true to commit. Surface the preview to the user and get approval before confirming.

Authoring guards

  • Name the project. In a multi-project solution, always pass project (from ScanHardware). A success result echoes the resolved project — check it landed where you intended.
  • Scan first. Don't add or delete by guessing tree names — ScanHardware gives you the real project names and parentName / device-name strings to target.
  • Delete is a two-step handshake. Show the user the preview (path + cascade), get approval, then re-call with confirmed=true. Prefer the exact ^-path when a name is ambiguous. (True undo is git; there is no tckit un-delete.)
  • Safety-critical hardware. If the change touches a safety device (FSoE / EL69xx / TwinSAFE), STOP and get explicit user approval first, the same as the safety-name guard in tc-write-st.

Anti-patterns

  • Calling WriteSymbols / InvokeRpc with confirmed=true without first showing the user the target and the exact write/call.
  • Using the COM authoring tools (ScanHardware, Add*) against a target by AMS Net ID — they operate on the open XAE solution, not a remote runtime. Conversely, using the ADS diagnostics tools to inspect a project that isn't running.
  • Concluding "TcKit isn't working" because a COM authoring tool failed (XAE not open) while an ADS diagnostics tool worked (or vice versa) — they use different transports.
  • Reporting an absent IPC module (null UPS, empty fans) as a fault. Absent ≠ failed.

Next

  • To look up a terminal/box datasheet by order number, hand off to tc-beckhoff-docs (FindHardware).
  • To write the ST that consumes scaffolded I/O, hand off to tc-write-st.
  • To build/deploy/test after an I/O change, hand off to tc-build-test-loop.

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