I have a robot that is already programmed with PLC beckhoff through twinCAT to give commands to the motors to move at a certain speed and direction. I want to control my robot through ROS to do more interesting things like navigation, SLAM ... but i want to keep the PLC as a driver for the motors used and use the same old code to drive the motors with the same logic. Is there a way to integrate between ROS and PLC in such a way for example sending velocity commands (/cmd_vel) and the PLC drives the motors to the desired goal? Thank you in advance
Joined: 9/3/2014. Last visit: 3/13/2019. Rating: (120) New question published by yasin10112 is split to a separate thread with the subject Beckhoff connection to WinCC. The download section contains all valuable items such as EtherCAT specfications, publications, necessary information for implementation, configuration and diagnosis of EtherCAT devices and networks.
The servomotors are available with different windings, which are optimally matched to the Beckhoff servo drives from the AX5000 and AX8000 series. Due to the sophisticated Beckhoff modular system. TwinCAT Ethernet Driver - Installation. The Intel 8255x based network interface card (NIC) should be plugged in and - automatically - detected and installed from Windows XP / 2000. After that, the driver.
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