Configuring EL2008 in Workvisual for lampstack

KSS: KRC4 8.5.0

Robot: KUKA iiwa 7 R800

OS: Windows 10

Sunrise Workbench: 1.16.2.16

WorkVisual: 5.0.5/Build0600 (with Sunrise.kop: 1.3.15.0)

I am currently setting up a lampstack to the system. The lampstack consists of four lights. Ideally I would like them to be set up:

- 1 Light for Motors on

- 1 Light for Auto Mode

- 1 Light for if an Error occurs

- still deciding the fourth

I have connected an EK1100 EtherCat Coupler and an EL2008 DO terminal to the X44 Extension Bus, and I have followed steps from this thread (Creating EtherCAT I/O connections through WorkVisual) to begin the configuration through work visual. But I was wondering if there is a way to directly link the auto mode is selected and motors is on and error occurred to the outputs of the EL2008. If someone could lead me in the right direction that would be great. Let me know if I am missing any details or if i need to further explain anything.

So I am not too sure how to configure the IO, as when I am in work visual I can only really configure the IO to the KRC Digital inputs and outputs. But I am not too sure how to assign the Digitial outputs to be the Auto Mode, or Motors on or if the Emergency Stop has been activated or if an application is running.

Sweet thankyou, that makes sense. Do you know where I can find a list of the pre defined signals, as well as how to get access to the configuration menu to assign the outputs? I know that on other controllers I have used the signals $PERI_RDY, $PRO_ACT or APPL_RUN, $AUT, and $ALARM_STOP but I just cant seem to find out where the config menu is on the smartPAD

ahh makes sense thankyou, looks like ill need to write in the robot application using these functions.

getEmeegencyStopInt()

getEmergencyStopExt()

getOperationMode()

I guess I Just need to find the equivalent functions for motors on and application running

yeah my bad, I will do that.

how would you set the IO in sunrise though?

for example attached is how I linked the EL2008 to the KR C Digital Outputs in workvisual.

Now if $OUT[1] is linked to the red light, in sunrise what would I specifically call/set to give an output to the red light.

Quote from panic mode

Code
if (whatever) {
my_IO.setOutputGrnLight(true);
}

is "my_IO" like the IO group name of the IO set in work visual and is "setOutputGrnLight" would be the individual digital output?

absolute legend! Thank you so much for your help. got the lights working in a background task, now i just need to find the right variables or functions for motors on and application running

I have attached the whole code file below. So I was trying to write the code for a background task for the signal tower but unfortunately it was too hard to troubleshoot/debug any errors. When I made it an application, I saw it stopped at the line:

ISafetyState safetyState = lBR_iiwa_7_R800.getSafetyState();

The error I receive is saying "Stopping task due to the following error: java.lang.NullException at bnackgroundTask.SignalTower.run (SignalTower.java:47)

Now I am not to sure what I need to do in regards to giving one of these objects a variable (Im assuming its the lBR_iiwa_7_R800 that needs a variable)

package backgroundTask;


import javax.inject.Inject;
import java.util.concurrent.TimeUnit; //will be used when running as background task

import com.kuka.generated.ioAccess.Light_StackIOGroup;
import com.kuka.roboticsAPI.applicationModel.RoboticsAPIApplication;
import com.kuka.roboticsAPI.applicationModel.tasks.CycleBehavior; //will be used when running as background task
import com.kuka.roboticsAPI.applicationModel.tasks.RoboticsAPICyclicBackgroundTask;
import com.kuka.roboticsAPI.controllerModel.sunrise.ISafetyState;
import com.kuka.roboticsAPI.controllerModel.sunrise.SunriseSafetyState.EmergencyStop;
import com.kuka.roboticsAPI.deviceModel.LBR;

/**
 * Implementation of a cyclic background task.
 * <p>
 * It provides the {@link RoboticsAPICyclicBackgroundTask#runCyclic} method 
 * which will be called cyclically with the specified period.<br>
 * Cycle period and initial delay can be set by calling 
 * {@link RoboticsAPICyclicBackgroundTask#initializeCyclic} method in the 
 * {@link RoboticsAPIBackgroundTask#initialize()} method of the inheriting 
 * class.<br>
 * The cyclic background task can be terminated via 
 * {@link RoboticsAPICyclicBackgroundTask#getCyclicFuture()#cancel()} method or 
 * stopping of the task.
 * @see UseRoboticsAPIContext
 * 
 */

public class SignalTower extends RoboticsAPIApplication { //change to RoboticsAPICyclicBackgroundTask when running in background
    @Inject
    private Light_StackIOGroup lightstack;
    private LBR lBR_iiwa_7_R800;
    @Override
    public void initialize() {
        // initialize your task here
    //    initializeCyclic(0, 500, TimeUnit.MILLISECONDS,  
            //    CycleBehavior.BestEffort);
        
    }

    @Override
    public void run() { //when running in background call runCyclic()
        // your task execution starts here
        
        ISafetyState safetyState = lBR_iiwa_7_R800.getSafetyState(); 
        EmergencyStop EStop = safetyState.getEmergencyStopInt();

        if (EStop != EmergencyStop.INACTIVE)//check if EStop is active
        {
            lightstack.setDO_7(true); //red light ON

        }
        else
        {
            lightstack.setDO_7(false); //red light off

        }
    }

    //@Override
    //public void run() throws Exception {
        // TODO Auto-generated method stub
    //{    
    //}
}

unfortunatly that still provides the same error. Attached is where I read an example from the manual. I dont know if im missing something in terms of initialising the lbr_iiwa_7_R800, or calling a different function first or if im not declaring right. I feel like I need to write something before the line that I am having trouble in.GetEmergencyStopInt.pdf

I fixed the error.

Below is what I had

    @Inject
    private Light_StackIOGroup lightstack;
    private LBR lBR_iiwa_7_R800;

and this is what I changed it to.

    @Inject
    private LBR lBR_iiwa_7_R800;
    @Inject
    private Light_StackIOGroup lightstack;

Wish I could tell you why changing it to this worked. But thought I'd post this. Will also post the variables I end up using for all four different lights.