How to communicate between cRIO(ethercat master) and KUKA controller(also ethercat master)?

[technojane]

Hi, we are using cRIO 9074 to control a robotic arm by KUKA controller. We wanted to use Ethercat for ease of use and minimum hardware requirements. The KUKA controller comes as a master by default. Before jumping to other protocols, I want to explore any possibilities of making my cRIO behave as a slave in Ethercat. If I add 9144 chassis in between, it would have two masters and only one could have write access. I want both the controllers to be able to send messages to the other end of the chain?

How do I achieve this?

[DirkW]

cRIO can only be a Master as of today but the 9144 can be a slave. However in order to use the 9144 FPGA for procressing tasks you would need LV FPGA to create the code. Without the FPGA the 9144 would just act as IO slave.