Posts by chiachingyen

    Thank you huythai for your reply,

    Somehow I managed to operate the motor with KRL.

    Currently, I use lots of SIGNAL, WAIT SEC and WAIT FOR, so the latency add up. But it has fulfilled the requirement I need.

    I still have many things to learn, like SOE, PDO, and editing ESI. Once I have sorted these things out, I'll put a simple instruction of how I have done these. Hope that will help newbies like me.


    KR C4 / KSS V8.3.42 / WorkVisual 6.0

    KR300 R2500 with a linear rail(E1)

    Stepper Motor: Oriental Motor DGM200 and its EtherCAT-compatible driver AZD-CED

    My goal

    I want to do hot-wire cutting with the robot, and I need a turntable to rotate the workpiece. I bough a third-party stepper motor with a EtherCAT-enabled driver, trying to make a turntable by myself.


    I'll do the cutting only when the turntable is stationary, so the motor don't have to work synchronously with the robot axes.

    My approach

    I add a new Kuka motor as a simulated and asynchronous axis (E2) in WoV, and I plan to map E2 to some sort of KRL/SPS/EtherCAT things to command the external motor to rotate.

    What have been done so far

    I can jog the motor with the setting software provided the vendor, but it is done by GUI and a USB cable, no EtherCAT thing is involved. Also, the jogging is done on a common laptop, and the robot controller can't interact with it.

    I imported the ESI file and add it to the topology, and the motor is wired drive accordingly. Also, the CANopen over EtherCAT is giving me some values. The teach-pendant show no error so far, and the LED light on the motor driver indicates the the EtherCAT communication is "operational".

    My next step and question

    In this post, Skyefire said


    But assuming you can get a connection, you can send any data over any FieldBus using KRL.

    I guess my next step is to find out which KRL syntax to send a message to a EtherCAT device. Then I can start try and error to compose the correct format of operation command.

    My question is, am I on the right track? If so, which KRL I should look into? I'm currently looking at CWRITE but its manual doesn't mention anything about field bus, X44, or EtherCAT, nor do the EtherCat Manual for KSS 8.3-8.4 provide any syntax example.

    I studied in architecture, having no background knowledge of mechanical or electrical engineering. My approach, my assumption, and my question could be terribly wrong. Any hint that can help me to narrow down things to read and try will be very appreciated.

    Hi, designingB
    I'm doing a project similar to yours: using an EtherCAT motor driver as an external axis. Yet I'm afraid I can't provide any solution for your question as I'm still stuck on the first step.

    Could you please provide part of your modified SPS where you send the target position data to the EtherCAT slave? Or, any hint of which syntax to use will be very helpful.

    My setup: KSS 8.3.42, KRC4 and KR300 R2500. The motor is a stepper provided by Oriental Motors and it comes with a EtherCAT-enabled drive.

    I have no idea how EtherCAT work and how a KRC communicate with a EtherCAT slave.(CWRITE?)
    PLC, etherCAT, automation are all whole new topics to me, and I'm trying to learn them from scratch. Kuka's manual for EtherCAT on KSS 8.3 provides no syntax example. The EtherCAT manuals provided by Beckhoff are very comprehensive but I need time to read them through. New terms and concept keep popping up and I need to google them one by one.

    Any code snippet that can help me narrow down the keywords to study is very appreciated.

    I think I have done the required physical wiring as I can jog the motor with the vendor's motor setting software. The ESI file is imported and added to the work visual project, and the topology of the EtherCAT devices match the physical wiring (I wired the EtherCAT in port of the motor drive with the EtherCAT out port of the EK1100, and the EK1100 and its neighbor blocks are already working properly).