Universal Robots and Ethercat comms with HCS01

[Droflah]

Hi, 

Universal Robots are developing new software on their controller to allow the robot to perform fully coordinated motion with rotary or linear positioners. To do this they have specified that the positioner must be controlled using Ethercat cia402 with CSP (cyclic synchronous positioning) and DC (distributed clock). Is this something that can be configured for use with HCS01 drives?

[Drives_Uwe · Accepted solution]

If using firmware version MPx21 with IndraDrive Cs (HCS01 drives) the specified functions
- EtherCAT CoE with CiA402 and CSP (cyclic synchronous positioning) and
- DC (distributed clock)
are integrated.

Mind that some functions like homing according to CiA402 or incremental scaling are only supported if using the latest drive family ctrlX DRIVE which we would recommend to use.

[Droflah]

Hi Uwe, 

Thanks for your response and the information above.  Do we have any documentation relating to commissioning and set-up of this configuration, either with the HCS01 or ctrlX drive?

Thanks, Dave