I am a university student doing my project with kuka iiwa R820. I have a robotiq 2-finger gripper communicating to sunrise.cabinet through EtherCAT and X65 port, but I found it is hard to configure the signals on WorkVisual. In fact, I am not even sure if WorkVisual has detected the gripper's controller. Could anyone give me any guidance or hints regarding the configuration, please? Thank you very much.