Iiwa 7 R800
Sunrise OS 1.11
When using external control over UDP, it stops working after changing the robot mode, or deploying an updated project.
AUT over UDP works fine when starting from a zero received packet count, the robot starts and stops as expected, incrementing packet counters as expected. This works fine even after changing mode or deploying projects - so long as you haven't run by UDP before since boot.
The only way to get it working again seems to be rebooting the controller, which resets the received packet count to zero.
Checking the packets with wireshark I can see that I am sending the correct incremented counter value (n, for example), exactly as I am when it is working. The robot is replying to each packet with an error -3 (Incorrect data packet counter) with a 'Data Packet Counter' value at (n-1).
Has anyone else encountered this?