KR C4 / KSS V8.3.42 / WorkVisual 6.0
KR300 R2500 with a linear rail(E1)
Stepper Motor: Oriental Motor DGM200 and its EtherCAT-compatible driver AZD-CED
I want to do hot-wire cutting with the robot, and I need a turntable to rotate the workpiece. I bough a third-party stepper motor with a EtherCAT-enabled driver, trying to make a turntable by myself.
I'll do the cutting only when the turntable is stationary, so the motor don't have to work synchronously with the robot axes.
I add a new Kuka motor as a simulated and asynchronous axis (E2) in WoV, and I plan to map E2 to some sort of KRL/SPS/EtherCAT things to command the external motor to rotate.
What have been done so far
I can jog the motor with the setting software provided the vendor, but it is done by GUI and a USB cable, no EtherCAT thing is involved. Also, the jogging is done on a common laptop, and the robot controller can't interact with it.
I imported the ESI file and add it to the topology, and the motor is wired drive accordingly. Also, the CANopen over EtherCAT is giving me some values. The teach-pendant show no error so far, and the LED light on the motor driver indicates the the EtherCAT communication is "operational".
My next step and question
In this post, Skyefire said
But assuming you can get a connection, you can send any data over any FieldBus using KRL.
I guess my next step is to find out which KRL syntax to send a message to a EtherCAT device. Then I can start try and error to compose the correct format of operation command.
My question is, am I on the right track? If so, which KRL I should look into? I'm currently looking at CWRITE but its manual doesn't mention anything about field bus, X44, or EtherCAT, nor do the EtherCat Manual for KSS 8.3-8.4 provide any syntax example.
I studied in architecture, having no background knowledge of mechanical or electrical engineering. My approach, my assumption, and my question could be terribly wrong. Any hint that can help me to narrow down things to read and try will be very appreciated.