Author Topic: Running stepper from KRC4  (Read 58 times)

Beegle269

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Running stepper from KRC4
« on: July 10, 2019, 09:43:36 AM »
Hello all,

Does anyone have experience running an external stepper from within KRL? I've integrated a Beckhoff EL7047 to run the stepper and will probably start sorting out the process tomorrow. I thought I'd check in to see if anyone has any feedback/advice/etc. about this before I get started as its not something I've ever done before. Many thanks in advance Upsers.com
« Last Edit: July 11, 2019, 08:40:16 AM by Beegle269 »

Johannes @ Robots in Architecture

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Re: Running stepper from KRC4
« Reply #1 on: July 10, 2019, 10:07:45 AM »
Hello,

We did quite a few projects with stepper motors and the EL7047, however - while it apparently works somehow - we never used it directly from the KUKA but controlled it through a Beckhoff PLC that was connected to the robot via an EtherCAT bridge.
The Beckhoff NC module gives you very nice flexibility, but of course also adds complexity...
I'm not sure if you can really set all the motor values via CoE from the robot, at least for the initial setup you may need to use a PLC.

The EL7047 manual is here: https://download.beckhoff.com/download/document/io/ethercat-terminals/el70x7en.pdf

I'm curious how it works out, keep us updated!

Best,
Johannes