Hello all,
I have an external axis setup that is controlled by a PLC. The reason for this is that this axis has to be controlled by either the PLC or by the robot. In the robot I have configured the external axis as a 'simulated axis', and in a submit interpreter I send the axis position to the PLC (t = $axis_act.e1), the PLC then controls the servodrive. This works fine for this application, but the update frequency is quite slow, in the future if I want to use this approach again I would like the position to update faster. The submit interpreter will always run at 12ms minimum so with my current solution the update will never be faster then this.
Controller: KRC5
From what I understand my options are:
Option 1: Send the axis position through ethercat, using a submit (my current solution)
- Minimum cycle time: 12ms
- Cost: Free (assuming I already have Ethercat setup for PLC communication)
Option 2: Using Kuka Ethernet KRL ? (or is this a bad idea?)
- Minimum cycle time: ? unknown, although from what I've heard, probably not verry fast, so not a good idea
- Cost: Paid, reasonable price
Option 3: Kuka RSI
- Minimum cycle time: ? From what I've heard minimum 4ms?
- Cost: Paid, reasonable price
Option 4: Kuka FSD
- Minimum cycle time: 1ms
- Cost: Paid, verry expensive (too expensive for this application)
Option 5:
Any other ways to send data (preferably using ethercat) faster then the submit interpreter cycle time that don't cost an arm and a leg? Does anyone know the update time for the system variable $axis_act.e1? Is this < 12ms?