Posts by archimede2020

Quote from panic mode

data transfer is cyclical and it is controlled by Master which in this case is KUKA controller.

this means you can update data on each end as fast or as slow as you want but.... messages will only be transmitted when Master chooses (every 1ms or so). so if your values changes are slow enough (not faster than cycle interval chosen by master), the other side will have a chance to see that.

if you change data faster than that, some of changes will not be seen (they will be skipped until the "next train departure").

panic mode : Thank you for your reply!

Using the Sync0 and Sync1 interrups of EtherCat do you think it will be possible to tell the synchronized slave (Computer) when they can read from / write to the master (Controller)?

see https://infosys.beckhoff.com/e…ystem/2469122443.html&id=

May be a distributed clock synchronization is also required?

see https://infosys.beckhoff.com/e…ml&id=5142598304987524894

Hello again,

Has somebody some experience in controlling (i.e. sending joint trajectories to) a KUKA LWR robot by using EtherCat ?

Please, could you describe your setup or how it works?

Thank you!

Hello everyone,

We plan to use the IIWA in an industrial context in the following way:

• A real-time capable desktop computer (linux) sends targeted axis positions to the sunrise controller.
• The sunrise controller sends its axis positions to the computer.

Instead of using FRI, we want to use EtherCat (because of e.g. real-time requirements and future communication with /control of EtherCat-capable devices mounted on IIWA) for the communication between the computer and the sunrise controller. Therefore, we have the following questions:

1. In the FRI case, the master is sunrise (and the computer is the slave). Right? is it still true in the EtherCat case mentioned above?
2. What is the simplest way to establish a FRI-like EtherCat-connection between a destop computer and the iiwa controller sunrise?
   • by attaching a fieldbus coupler with I/O at port X65 (KUKA bus extension) of sunrise and using the coupler API on the computer to read-write the I/Os?
   • ...?
3. How to configure the communication frequency between computer and sunrise similarly to FRI (e.g., read/wite every 0.1 ms)?

We will appreciate any hint, since we are not familiar with IIWA.

Thank's