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EtherCAT

Data exchange between Beckhoff and Kuka controller is performed via Ethercat
protocol. On Ethercat network, both devices are masters. So EL6695 Ethercat
bridge module is connected on both devices to operate the communication between
these two master devices. 

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Figure 1: Basic Functionality of EL6695 Bridge

Beckhoff Setup

To add EL6695:

Step 1: Scan devices under I/O tree, then all modules will appear in the tree.

Step 2: Then create variables name and data types.

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Step 3: Create global variables. Then Link the variable with  the global variables

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The primary phase of Ethercat, now we move to the secondary phase.

KUKA Setup

This is the secondary phase of the setup. Ethercat fieldbus is configured with Sunrise Workbench and WorkVisual software.

Step1: Create new project in Sunrise workbench

Step 2: Double click IOConfiguration.wvs from project tree. This will send you to WorkVisual software. 

Step 3: Right click and Add item on Bus Structure. 

 Step 4: Add EL6695 Bridge under EtherCAT. Then double click onEtherCAT, you will window like the in the figure below. Choose Data type and Number of Channels you want to use

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Step 5: Give name data type to the IOs. Then you can link them. Image Added

Step 6: Export it to Sunrise sunrise Workbench

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You will see EL6695IOGroup is added to the project tree. Now you can use it in the java code and synchronized it to robot. When you synchronize it the variables EL6695IOGroup will see on SmartPad screen

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For more info see: