Using WorkVisual to Connect to the Robots
- Courtney Morshed
- Jonathan Malott
- Cole Marchant
Overview
WorkVisual is a piece of software developed by KUKA that allows us to connect external inputs and outputs to the KUKA controllers.
Download
Basic WorkVisual Project for the UTSOA Robotics Lab
This file has been set up to be used in the UTSOA Robotics Lab. It has both of the Robots, HAL and TARS, already configured.
Inputs and Outputs
One of the most important things WorkVisual allows us to do is set up inputs and outputs into the robot. This allows us to create more complex robot projects.
We have several Ethercat boxes used for hooking up things in the field to the KUKAs
| Name | Picture | Manufacturer | Purpose | Link | Datasheet |
|---|---|---|---|---|---|
EK1100 |
| Beckhoff | EtherCAT coupler. This is the foundation of all inputs and outputs for the KUKA. You plug it into the KRC4 controller via ethernet and it acts as a hub for other inputs and output | ||
EL1809 |
| Beckhoff | 16-channel digital input, 24 V DC, 3 ms | https://www.beckhoff.com/en-us/products/i-o/ethercat-terminals/el1xxx-digital-input/el1809.html | |
EL2809 |
| Beckhoff | 16-channel digital output, 24 V DC, 0.5 A | https://www.beckhoff.com/en-us/products/i-o/ethercat-terminals/el2xxx-digital-output/el2809.html | |
EL7047 |
| Beckhoff | 1-channel motion interface, stepper motor, 48 V DC, 5 A, vector control, with incremental encoder | https://www.beckhoff.com/en-us/products/motion/servo-drives/i-o-components/el7047.html | |
| EL1014 |
| Beckhoff | 4-channel digital input, 24 V DC, 10 µs | https://www.beckhoff.com/en-us/products/i-o/ethercat-terminals/el1xxx-digital-input/el1014.html | |
| EL2004 |
| Beckhoff | 4-channel digital output, 24 V DC, 0.5 A | https://www.beckhoff.com/en-us/products/i-o/ethercat-terminals/el2xxx-digital-output/el2004.html | |
| CX1100-0004 |
| Beckhoff | Power supply units and I/O interfaces for CX1010/CX1020 | https://www.beckhoff.com/en-us/products/ipc/embedded-pcs/cx1010-intel-pentium-mmx/cx1100-0004.html | |
| CX1010-0112 |
| Beckhoff | Basic CPU module | ||
| PSM24-0905 |
| Rhino | Industrial Power Supply 24VDC | ||
| EL3101 |
| Beckhoff | 1-channel analog input, voltage, ±10 V, 16 bit, differential | https://www.beckhoff.com/en-us/products/i-o/ethercat-terminals/el3xxx-analog-input/el3101.html | |
| EASE |
| Esmacat | This connects to an Arduino Uno board and allows users to interface an Arduino with the KUKAs. Neat! | https://create.arduino.cc/projecthub/esmacat/introducing-the-ethercat-arduino-shield-by-esmacat-ease-5f93ef |
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