We have problem with Profibus configuration on PLC, our need is to communicate with robot Kuka (KR C V5.2.22, KR16 2 C2 FLR ZH16 2). On robot side is Profibus card CP5613/14. All this is connected whit VIPA Profibus Connector- 972-0DP30. We bought a new one CPU1212C and CM1243-5 

Everything looks good and error-free, until I add the slave card CP5613 (from s0100008.gsd) and e.g. 4IN and 4OUT. After that Plc goes into error: “New I/O access error during processing update”. 

I am not sure about this error, is it due to the configuration on the PLC or to the robot? I don't think the plc should go to error if it has a communication problem.

0_Einstein thanks for the response, I just added the ob80 block and now the plc doesn't go to stop, but I don't think anything has changed.

 is it possible that maybe .gsd is bad?

 I still don't understand, that's why it goes to error, the moment I add a slave... this shouldn't be a problem, but is it possible that it's because maybe the robot isn't configured well? 

this docu whit is status now: [attached]