We recently acquired a KUKA LBR iiwa7 r800 - with media flange electric - along with a Zimmer r840ec gripper. The SunriseWorkbench version installed is 1.16.2.16.
The iiwa robot without connecting the gripper is working without any apparent issues so far. However when we connect the Zimmer gripper the SMARTPAD shows the error "No safe connection to SION CIB SR", the SMARTPAD becomes very laggy and unresponsive and the RDP session disconnects and reconnects every 15 seconds or so.
The Gripper Toolbox documentation mentions that such an error ("No safe connection to SION CIB SR") means that either
- I/O mapping between the WorkVisual project and SunriseWorkbench is not compatible, or
- One or more connected bus devices are not configured.
Furthermore, on the gripper the green LED flashes which means:
-Intermediate circuit is present, Hardware in good condition, Safety is not present
and the red LED is on continuously which means:
-No bus connection is present.
Something I noticed is that my Sunrise project does not have an IOConfiguration.wvs or any generated files for the IODescription of the Media Flange, which should be automatically generated, as described in the SunriseOS documentation. I tried to create a custom IOConfiguration.wvs using the Workvisual 5.0.5 build600 version shipped with the robot, but I could not communicate with the robot in WorkVisual through the KLI (x66) port, even though communication with the same port works without problems in the Sunrise.Workbench. Also in the Workvisual, I could not create any Sunrise I/O mapping since the Create Signal button is greyed out.
Does anyone have any idea on this issue?
Not sure if relevant:
The X11 plug shipped with the gripper has pins 36, 37, 47, 48 connected, and we also added pins 1-6, 10-15 for the local and external emergency stop.
I also attach images of the safety configuration, the StationSetup, the software tab in the Sunrise.Workbench, and the WorkVisual window when I try to create a custom IOConfiguration.wvs