Ethercat communication IndraDrive (CoE) with Staubli robot controller

[robertodt]

Hello,

I'm trying to setup the communication between a Staubli robot controller and an IndraDrive HCS01.1E-W0005-A-03-B-ET-EC-NN-NN-NN-FW BoschRexroth Indradrive CS Basic Universal Multi-Ethernet using EtherCat (CoE).

After few attemps now I am able to control the motor (Schunk) in velocity mode using CiA402 protocol, but I need to control it in position mode. 

I found this configuration that seems allows the positioning passing the target position, acceleration, deceleration - see pic1-2-3.

With this configuration I am able to reach the OperationEnabled state with motor in torque, but I can not understand how to start the positioning. Attached the input/output state with OpEnabled - pic4.

Any suggestion is very appreciated!

[CodeShepherd]

Moved to corresponding sub forum IndraWorks, IndraControl for MLC/MTX, IndraDrive.

Could you describe your setup a little bit more?

• Are you using Stäublis uniVal drive or uniVal PLC? So what is the exact topology?
• Which Stäubli control is involved?
• Are you even using one of our controls Like MLC/MTX/ctrlX CORE?
• Did you just replace the original drives by Rexroth ones?

It seems that you are using our drives just as a slave and are struggling in the usage of the Stäubli control. In this case please get in contact with the supplier for further support.