Common TwinCAT BSD Commands

Further commands can be found here

Restart

shutdown -r now

Restore point

Create

doas restorepoint create your-name

Show points

restorepoint status

Restoring

doas restorepoint rollback

Package Management

See what packages are installed

pkg info

Helpful if the list is too long, use less

pkg info | less

Useful keys in less:

• Space = next page
• b = previous page
• /text = search
• q = quit

System Update

Before updating or upgrading your system make sure to have a proper restore point created beforehand

Update packages

doas pkg upgrade

Update major version

doas pkg update -f && doas pkg upgrade
doas pkg install tcbsd-upgrade
doas tcbsd-upgrade major

after upgrading, dont forget to restart system with

doas shutdown -r now

Write Filter

The dataset zroot/ROOT/default, which contains most of the system and TwinCAT, is protected against write accesses when the write filter is active. No other datasets are covered by the write filter. For example, user files can still be persistently stored at /usr/home or log files at /var/log, even if the rest of the system is reset after a restart.

Enable

doas service bwf enable

Disable

doas service bwf disable

Example, Exclude TwinCAT Boot Folder

Exceptions for the write filter can be defined by creating new zfs datasets, since only the dataset zroot/ROOT/default is protected from write accesses; all other system datasets, including newly created datasets, are excluded from the protection.

1. Delete the current boot directory and all it's contents

   doas rm -rf /usr/local/etc/TwinCAT/3.1/Boot/*.

2. Create a new ZFS dataset named zroot/usr/TwinCAT-Boot and mount it at /usr/local/etc/TwinCAT/3.1/Boot.

   doas zfs create -o mountpoint=/usr/local/etc/TwinCAT/3.1/Boot zroot/usr/TwinCAT-Boot

Any data stored in this dataset will be accessible at this location and is excluded from the write filter

Reversal of the above example,

In case you need to reverse the changes made in the above example and revert the directory to being managed by zroot/ROOT/default, you can follow these steps:

1. Unmount the new dataset:

   doas zfs unmount zroot/usr/TwinCAT-Boot

2. Destroy the new dataset

   doas zfs destroy zroot/usr/TwinCAT-Boot

3. Recreate the directory within the original dataset

   doas mkdir -p /usr/local/etc/TwinCAT/3.1/Boot

Ads

Get the local AMS Net Id

ads localhost netid

Firewall

Stop

doas service pf stop

Start

doas service pf start

Add Modbus-TCP to firewall

doas ee /etc/pf.conf

Add the following to the file,

pass in quick proto tcp to port 502 keep state

Restart the firewall with new rule

doas pfctl -f /etc/pf.conf

Change user password

passwd

Setting Isolated cores

The following command will set one core as being isolated. You can see core informtion using TcCoreConf.

TcCoreConf –s 1

File System

Overview of important TwinCAT/BSD directories.

Directory	Description
/	Root directory and top-level directory hierarchy.
/bin/	Basic user applications for single-user and multi-user environments.
/boot/	Kernel, drivers, programs and configuration files for the boot process.
/dev/	Device nodes, which can be used to access hardware directly, for example.
/etc/	System-relevant scripts and configuration files.
/home/	Link to /usr/home, where the home directories of the users are located.
/mnt/	Empty directory; usually serves as a mount point for USB sticks, for example.
/root/	Home directory of the superuser root.
/sbin/	Basic system applications for single-user and multi-user environments.
/usr/	Unix system resources, contains most of the user applications.
/usr/bin	General applications.
/usr/include/	Contains header files for C compilers.
/usr/local/	Local programs and libraries, i.e., software installed by a user, such as software unrelated to the basic FreeBSD system itself.
/usr/local/bin/	Mainly Beckhoff applications
/usr/local/etc/	Configuration files, TwinCAT directory with TwinCAT Functions and PLC project.
/usr/local/include/	Including ADS header files TcAdsDef.h and TcAdsAPI.h
/usr/sbin/	System applications that are executed by the user.
/var/	Variable files, i.e. temporary files with changing content such as log files.
/var/log/	Contains system log files.