I got my system running!
This is what I did: (for you the EL6695)
1) deinstall Workvisual and delete all Folders in C:\ProgramData\KUKA Roboter GmbH.
2) reinstall Workvisual (with Sunrise Plugin) and import the older EL6xxx from panicmode to DTM Katalog
[size=2]hhttps://www.robot-forum.com/robotforum/man…-files-for-wov/[/size]
3)
Add the El6692 (secondary) to your X44 and select double click it => Slave Setting => Choose data type and number of I/Os
then connect the new I/Os.
Workvisual shows in the I/O connection window different datatypes (e.g. UDINT instead of DWORD). Just configure your variables as the corresponding type.
Export the Configuration to Sunrise. It generates methods to read or write the I/Os
4) Add the same I/Os at your Bridge in TwinCAT.
Important: use the same datatype as in Workvisual slave settings configured, e.g. WORD or DWORD. TwinCAT will tell you it is not a typical datatype. Just press ok.
A Kuka OUTPUT will be a TwinCAT INPUT and the other way around.
Naming do not matter. The order of connections is mirrored to the order of your TwinCAT I/O
Exampe: TwinCAT(as you see it in your configuration)
Input:
Force
Torque
Velocity
Output:
Time
Position
KUKA: Output 1 will send to Force, Output 2 to Torque, Ourput 3 to Velocity
Input 1 will receive Time, Input 2 will receive Position
5) double click on EL6692 => EL6692 => Create configuration (Sync Master Primary)
6) Upload your configurations
Note: to add a variable in your TwinCAT program code create a GVL. When defining variables add AT%I* for inputs or AT%Q* for outputs
Example: force_in AT%I* :DWORD;
time_out AT%Q* :DINT;