Flexible Ethernet/IP Adapter

Starting from Polyscope 5.16, Ethernet/IP Adapter allows for adding custom assemblies.

This feature is especially useful when interfacing with Robot Options on CNC machines, where CNC machine is Ethernet/IP master, and expects specific data layout on Adapter device.

Performance

It is recommended to consider performance limitation before integrating custom Ethernet/IP Adapter with PLC Scanner.

All read and write operations are delegated to non-realtime threads. In internal tests write/read turnaround cycle with PLC RPI set to 5ms was on average 40ms, maximum at 90ms.

At this point it is not recommended to use custom assemblies for applications requiring RPI below 20ms.

Maximum recommended assembly size is 500 bytes.

Examples

Refer to Flexible Ethernet/IP URCap, and program examples available on Universal-Robots github to get started quickly.