Troubleshooting

This page provides troubleshooting steps for dealing with errors and other issues that could possibly occur when working with or setting up the various parts of the motoman_driver package. The Solution subsections list steps to resolve the issues.

If you have a specific issue that is not listed on this page or the provided solution does not seem to work, please contact the developers by sending an email to the ROS-Industrial mailing list (direct mail: ROS-Industrial).

Installation

ERROR 3200: NOP or END instruction not found

The robot controller requires all files use Windows-style end-of-line terminator. This is <carriage return><line feed>. Many common text editors in the Linux environment will automatically standardize all EOL terminators to be Unix-style; this removes the <carriage return>, resulting in the error message.

Solution: Open this job file in a text editor that allows you to use Windows-style EOL (<0xD><0xA> or <CR><LF>) or, given that the job is relatively small, manually recreate the job using the programming pendant. Another alternative is to copy the .jbi and .dat files under Windows.

Runtime

Alarm: 8001[0]

Example:

 ALARM 8001
  WARNING: Too many groups for ROS
 [0]

Solution: The MotoROS driver can support up to 4 control-groups on FS100 and DX200 controllers. The DX100 can support up to 2 control-groups. This alarm indicates that your controller is setup with more groups than what is supported. This is a warning to notify you that the additional groups will not be controlled by the MotoROS driver. They will remain stationary during operation.

Alarm: 8003[100 - 111]

Example:

 ALARM 8003
  MotoROS: Controller cfg invalid
 [100]

Solution: Your robot controller requires internal configuration changes to support the MotoROS driver. Please contact your local Yaskawa Motoman office to order the MotoROS runtime. In North/South America, the part number for this configuration is 167352-1. In Europe, the part number for this configuration is 171403

Alarm: 8003[1]

Example:

 ALARM 8003
  MotoROS Cfg: Set RS000=2
 [1]

Solution: An internal parameter is not set properly in the robot controller. Touch [System Info] > [Security] and upgrade to MANAGEMENT security level. Then touch [Parameter] > [RS] and set the value of RS000 = 2. Then reboot your robot controller.

Alarm: 8003[2]

Example:

 ALARM 8003
  MotoROS Cfg: Set S2C541=0
 [2]

Solution: An internal parameter is not set properly in the robot controller. Touch [System Info] > [Security] and upgrade to MANAGEMENT security level. Then touch [Parameter] > [S2C] and set the value of S2C541 = 0. Then reboot your robot controller.

Alarm: 8003[3]

Example:

 ALARM 8003
  MotoROS Cfg: Set S2C542=0
 [3]

Solution: An internal parameter is not set properly in the robot controller. Touch [System Info] > [Security] and upgrade to MANAGEMENT security level. Then touch [Parameter] > [S2C] and set the value of S2C542 = 0. Then reboot your robot controller.

Alarm: 8003[4]

Example:

 ALARM 8003
  MotoROS Cfg: Set S2C1100=1
 [4]

Solution: An internal parameter is not set properly in the robot controller. Touch [System Info] > [Security] and upgrade to MANAGEMENT security level. Then touch [Parameter] > [S2C] and set the value of S2C1100 = 1. Then reboot your robot controller.

Alarm: 8003[5]

Example:

 ALARM 8003
  MotoROS Cfg: Set S2C1103=2
 [5]

Solution: An internal parameter is not set properly in the robot controller. Touch [System Info] > [Security] and upgrade to MANAGEMENT security level. Then touch [Parameter] > [S2C] and set the value of S2C1103 = 2. Then reboot your robot controller.

Alarm: 8003[6]

Example:

 ALARM 8003
  MotoROS Cfg: Set S2C1117=1
 [6]

Solution: An internal parameter is not set properly in the robot controller. Touch [System Info] > [Security] and upgrade to MANAGEMENT security level. Then touch [Parameter] > [S2C] and set the value of S2C1117 = 1. Then reboot your robot controller.

Alarm: 8003[7]

Example:

 ALARM 8003
  MotoROS Cfg: Set S2C1119=0 or 2
 [7]

Solution: An internal parameter is not set properly in the robot controller. Touch [System Info] > [Security] and upgrade to MANAGEMENT security level. Then touch [Parameter] > [S2C] and set the value of S2C1119. A value of 2 will enable the telnet option to see any output messages from the MotoROS driver. A value of 0 will disable the telnet option. Reboot your robot controller after changing this parameter.

Alarm: 8003[8]

Example:

 ALARM 8003
  MotoROS not compatible with PFL
 [8]

Solution: The MotoROS drive is not compatible with the human-collaborative features of the HC robots. Reboot the robot controller while holding {Main Menu} on the keypad to enter Maintenance mode. Touch [System Info] > [Security] and upgrade to MANAGEMENT security level. Then touch [MotoPlus Apl] > [Delete]. Select PLF.out and press {Enter} to confirm removal of the PFL driver.

Wiki: motoman_driver/Troubleshooting (last edited 2017-03-20 18:00:04 by TedMiller)