Tx for answer.
I Found answer maybe here?
Control software:
TwinCAT PLC run-time,
NC PTP run-time,
NC I run-time
but here is nothing about TwinCat2??
but if i looking for example CX5010 Control software for this PLC is
TwinCAT 2 runtime
TwinCAT 3 runtime (XAR)
i'm new in Beckhoff so is not easy understand