I am a "medium advanced" PLC programmer in Beckhoff but completely new to robots and KUKA. I am having a hard time with implementing a KUKA KRC4 in my Beckhoff PLC and seeking for help. I want to explain you my situation.
We got a brand new KRC4 with KSS 8.6 which we purchased a few months ago. On the other side I have a computer with TwinCAT where the Ethercat Drivers are installed for the network adapter. In between I got an EK1100 with a EL6695. So the setup is as following:
KRC4 <-> EK1100 <-> EL6695 Master <-> EL6695 Slave <-> Computer
So the computer is connected to the secondary side of the EL6695 and the KRC4 on the primary side. I want to write a program in my Beckhoff PLC where I want to execute movements of the KUKA. It will be only "basic" movements. When I can move the KUKA to certain positions, that will be absolutely enough for me.
I have the following questions:
1. I found out that there is a EL6695-1001 from KUKA and a EL6695 from Beckhoff. The first one from KUKA supports also FSOE, while the one from Beckhoff can only transfer non safety data. I dont need to implement safety functions in my PLC. As long as the emergency button on the SmartPAD and the one connected to our KRC4 works, I'm fine. The mxAutomation documentation from Beckhoff only mentions the EL6695-1001, which makes me a little bit unsure. Can I use the normal EL6695 from Beckhoff if I dont need FSOE?
2. I also found out that KUKA provides a mxAutomation package which can be purchased. Beckhoff on the other side also provides a mxAutomation library. When I purchase these two, I assume that after establishing the connection, I can use the library to move the robot through my PLC. But, I also read that there are other ways outside mxAutomation. Do I really need mxAutomation only to move my KUKA to certain positions?
3. Is there some documentation which explains which IO's has to be mapped in the EL6695 to make this thing work? I know that this might depend on if I use mxAutomation or another solution at the end.