<> The URDF model and the associated MoveIt configuration package, which are created by [[denso_robot_ros/ROSConverter|ROSConverter]], have dummy speed/acceleration parameters. To specify the actual speed/acceleration parameters, do the following procedure as well. == Downloading WINCAPS III == With !AcquireVelAcc tool (shipped with WINCAPS III), receive speed/acceleration parameter values from RC8. You can find !AcquireVelAcc tool in the WINCAPS III Ver. 3.55.0 or later. You can download the latest WINCAPS III from [[https://www.denso-wave.com/en/robot/download/application/j1w3.html|here]] (logon required). <
> '''*If you already have the WINCAPS III Ver. 3.58.0(07/08/2019) or later, you can skip this process.''' == Receiving speed/acceleration parameters == With !AcquireVelAcc tool (https://www.denso-wave.com/en/robot/download/application/rost.html), receive speed/acceleration parameter values from RC8. Enter an controller IP address and then click [Acquire]. Once the values are received successfully, [Output] button is activated. Click [Output(ROS)] button to save the values into a file. Use "joint_limits.yaml" as a file name to save. Transfer the saved file to a ROS-used computer. <
> '''*the b-CAP Slave license needs to be installed in RC8 that receives speed/acceleration parameter with !AcquireVelAcc tool.''' <
> {{attachment:AcquireVelAcc.jpg}} <
> == Updating speed/acceleration parameters == Execute the following command to update the speed/acceleration parameters of a robot definition file. For attributes, enter the file path of "joint_limits.yaml" and the robot name to update (the project name part of "${project name}_description"). {{{ rosrun denso_robot_bringup update_joint_limits.py vs050 ~/joint_limits.yaml }}}