Using WorkVisual to Connect to the Robots

Overview

WorkVisual is a piece of software developed by KUKA that allows us to connect external inputs and outputs to the KUKA controllers.

Download

Download WorkVisual from KUKA

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

NamePictureManufacturerPurposeLinkDatasheet

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

https://www.beckhoff.com/en-us/products/i-o/ethercat-terminals/ek1xxx-bk1xx0-ethercat-coupler/ek1100.html


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

BeckhoffBasic CPU module
PSM24-0905

RhinoIndustrial 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

EsmacatThis 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