KR 16 R2010-2
We are controlling a KR 16 R2010-2 using RSI from a Beckhoff C6015, and want to incorporate an external 7th axis (Kollmorgen AKD with AKM64Q Servo Motor). We are able to successfully send packets to both the Kollmorgen AKD via EtherCAT and the KRC4 via RSI, but we are having clock synchronization issues. Currently the AKD and the KRC4 request a new packet every 4ms, but due to clock drift, every 2 minutes and 50 seconds the Kollmorgen Drive and the KUKA robot get out of sync for a brief period, causing shuddering motion on our system.
We are controlling the external axis exclusively through the C6015 PLC, not configuring it as an external axis as part of the robot's kinematic chain. Part of our end requirements is for the external axis control to NOT be part of the KUKA project configuration.
Is there a way to configure the KUKA EL6695-1001 clock on the KUKA with the clock on the PLC to avoid these clock drift issues? It seems like this is possible with a standard Beckhoff EL6695 (using DC Sync 0) but this option is not available on the 1001 variant. We are also utilizing the FSoE lines on the PLC, so we cannot use a non-KUKA EL6695 Beckhoff slice.
I have also seen numerous posts on the forums about using the EL6695-1001, but it seems like most of those questions are around using I/O through the Beckhoff slice, not synchronizing to an external clock.