It is an extra package that you have to purchase.
Posts by Sosta
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Since someone pmed me about this problem, and for completeness, I describe below what worked for me.
In SunriseWorkbench:
1. create manually the IOConfiguration.wvs through the SWB menu (if it is not automatically generated)
Then in WorkVisual:
2. set the controller active
3. add a Media Flange at the X48 KSB (this is done to enable the addition of an IOGroup, maybe any other IO device would also work)
4. import the provided IO template for the gripper
5. remove the Media Flange that was previously added
6. reset the active controller
7. import the provided WorkVisual partial package for the particular gripper and media flange / bus
8. set the controller active
9. export the IOconfiguration
Finally in SunriseWorkbench:
10. Some additional Customer PSM should be defined, this is described in the documentation of the gripper (although only in German).
11. Sync the project to the controller
I am not sure if all of these steps are necessary, but it works now.
Generally, I followed the Sunrise.GripperToolbox documentation, except for the part that no IOConfiguration.wsv was automatically generated and no IODevice was present in WoV (steps 1, 3, 5).
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After contacting KUKA they told us that the DUP is supposed to happen, but of course not the package loss. So the DUP and the package loss are most likely unrelated. Now we need to find the cause of the package loss issue in order to fix it.
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Hello,
I have encountered the same issue.
Has anyone managed to find a solution?
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Thank you for the quick reply.
The gripper is connected directly to the media flange through X35 (power supply), X34 (Safe Torque Off safety function) and X2 (EtherCAT).
Until now I was using Windows 10 without any problems (without the gripper). I also tried Windows 7 (using virtualbox) to check if the OS was the source of the problem, but it made no difference.
All the software I use (SWB, WoV) was the one that was shipped with the robot, so they should be compatible, and last I checked, they were.
From the documentation:
KUKA Sunrise.OS V1.16.2 (06/07/2019)
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System Requirements:
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1. PDS Firmware 1.5.4-2
2. Win7 V3.7.1
3. Work Visual 5.0.5 build600
I tried creating a project in SWB from scratch as you described but unfortunately IOConfiguration.wvs is still not created automatically and the error persists.
As I mentioned the installed media flange is Medien-Flansch elektrisch, and by selecting this the IOConfiguration.wvs is not created. However, when I select Medien-Flansch IO elektrisch (which is a different flange), the IOConfiguration.wvs is created, but it probably is not compatible with my setup since it is a different flange. So, I am not sure how to proceed from here. Should I try this configuration even if it is with the wrong flange?
Also, I have already integrated the Sunrise.kop file from my SWB into WoV as you mentioned.
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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