Our current setup has a Beckhoff IPC and KUKA controller communicating with each other using an EL6692 (or EL6695) EtherCAT bridge.
Sending integer values from the IPC to KUKA's analog inputs works. However, the IPC cannot read KUKA's analog outputs. Instead, it just reads a BIT - 0 when the analog output is 0, and 1 when the output is any positive number. We want to read the actual value of the analog output, not whether or not there is one.
KUKA reads an analog input from a Keyence ranging sensor mounted on the robot, then forwards that data to the IPC. KUKA can read the the distance from the sensor, but cannot send it to the IPC.
Both systems exchange 20 WORDs in each direction.
Open to any ideas.