Recently I did a project in which I design a vision system for KUKA IIWA workcell, my vision system is based on personal computer, windows 10 and Visual Studio, the camera is Kinect2. The image from Kinect is processed in PC, and localize the desired feature, get the coordinates and send to KUKA IIWA, let KUKA know where the gripper should be to finish a pick and place demo.
But these days I got no idea about how to make PC communicate with KUKA. As you know, KUKA uses EtherCAT communication protocol, how can I convert TCP/IP or other communication interface in my PC to EtherCAT communication protocol.
Could you share me some experimences about the conversion?