Note: This tutorial assumes basic familiarity with the Motoman robot controller. Consult the manufacturer's documentation for further details on any of the steps listed in this tutorial..
(!) Please ask about problems and questions regarding this tutorial on answers.ros.org. Don't forget to include in your question the link to this page, the versions of your OS & ROS, and also add appropriate tags.

Installing the Motoman ROS Server (Indigo)

Description: This tutorial walks through the steps of installing the ROS server code on the FS, DX, and YRC robot controllers

Keywords: Motoman, FS100, DX100, DX200, YRC1000, Industrial, motoman_driver

Tutorial Level: BEGINNER

Next Tutorial: Next, you'll learn how to interact with the Motoman controller using ROS nodes Using the Motoman ROS Interface

Overview

The motoman driver ROS Server code (MotoROS) is written in MotoPlus, using a socket interface and multiple parallel tasks. Note: Dual-arm manipulators may require additional development on the ROS side to achieve coordinated motion control.

Please see the motoman_driver page for information on robot controller requirements.

Installing MotoPlus Code

The MotoPlus application resides on the robot controller and acts as the server for clients on the ROS PC. This application can be installed using the binaries linked in the Installation from Binary section below (highly recommended) or by compiling the sources of the MotoROS application. Installation from source is only required if the default server implementation does not meet your needs. Source installations will require the MotoPlus SDK software (purchasable from Yaskawa Motoman).

Installation from Binary (MotoROS Driver v1.5.0 and higher)

The MotoROS application is available as a pre-built binary. The binary files are linked below. They can also be found on Github in the motoman_driver/MotoPlus/output directory. Different binaries are required for different robot controller models.

For DX100 controllers, please see the motoman_driver page for additional prerequisites before proceeding.

Controller

MotoROS binary

Required system software

FS100

MotoRosFS100.out

FS3.30.00-00 (or newer)

DX100

MotoRosDX100.out

DS3.32.00-14 (or newer, and must end in -14)

DX200

MotoRosDX200.out

DN2.21.00-00 (or newer)

YRC1000

MotoRosYRC1000.out

YAS1.11.00-00 (or newer)


Locate the correct binary for your robot controller, download it and place this file on an external memory card; Compact Flash (CF) or USB. Insert the memory card into the robot's programming pendant.

Installation from Source

All files in the motoman/motoman_driver/MotoPlus directory should be downloaded to a development PC (Windows) with the MotoPlus SDK installed. Please read the MotoPlus documentation that is included with your SDK for instructions on compiling the source code.

Once compiled, the resulting binary file should be loaded to the robot controller as described in the Installation from Binary section above.

Loading the Binary File

DX100

Turn on the robot controller while holding the {Main Menu} key on the keypad to enter Maintenance Mode. You may release the key when you see the logo appear on the screen.

Now in Maintenance Mode:

  1. upgrade to MANAGEMENT security level by touching [System Info][Security] (default password is all 9's)

  2. touch [MotoPlus APL][Device] to select either CF or USB memory type

  3. touch [MotoPlus APL][Load (User App)] to select and load MotoRosXXXXX.out

  4. touch [MotoPlus APL][File List] and verify that MotoROS was properly installed and no other MotoPlus applications are currently loaded on the controller

FS100, DX200 and YRC1000

Turn on the robot controller while holding the {Main Menu} key on the keypad to enter Maintenance Mode. You may release the key when you see the logo appear on the screen.

Now in Maintenance Mode:

  1. upgrade to MANAGEMENT security level by touching [System Info][Security] (default password is all 9's)

  2. touch [System Info][Setup] and select OPTION FUNCTION

  3. move to to MotoPlus FUNC., set this to USED

  4. move cursor down to MOTOMAN DRIVER and set to USED

  5. touch [MotoPlus APL][Device] to select either CF or USB memory type

  6. touch [MotoPlus APL][Load (User App)] to select and load MotoRosXXXXX.out

  7. touch [MotoPlus APL][File List] and verify that MotoROS was properly installed and no other MotoPlus applications are currently loaded on the controller

DX200 and YRC1000 only:

  1. rotate the pendant key-switch (upper left of pendant) fully counter-clockwise into TEACH mode

  2. reboot the robot controller into regular mode

Within 30 seconds of fully booting up, you should get alarm 8001[10] Speed FB enabled, reboot now. Reboot again and there should be no alarms.

If you receive any errors or alarms after rebooting, please refer to the Troubleshooting page for information on how to remedy the issue.

Installing INFORM Code

The motoman driver specifies a required handshake between the native INFORM robot code and the MotoROS layer. The MotoROS code will automatically run an INFORM job called INIT_ROS at the start of a motion command, which will provide the required handshaking.

Load the correct INIT_ROS.JBI file from the appropriate directory in motoman/motoman_driver/Inform onto the robot controller. Be sure to load the file for the correct configuration of your controller (ie: single arm, dual arm, with base axis, etc). Copy the IONAME.DAT file found in the same directory as well.

Place this job file on an external memory card; Compact Flash (CF) or USB. Insert the memory card into the robot's programming pendant. Turn on the robot controller and boot into normal operation mode.

Now:

  1. upgrade to MANAGEMENT security level by touching [System Info][Security] (default password is all 9's)

  2. touch [Ext Memory][Device] to select either CF or USB memory type

  3. touch [Ext Memory][Load]Job to select and load INIT_ROS.JBI

  4. touch [Job][Select Job] to verify that INIT_ROS was properly installed

Controller Configuration

Verify that the controller is enabled to receive remote commands in Remote mode:

  1. Rotate the pendant key-switch (upper left of pendant) fully counter-clockwise into TEACH mode.

  2. Upgrade your Security Level to MANAGEMENT

    1. Touching [System Info][Security].

    2. Default password is all 9's.
  3. Using the pendant, select [In/OUT][PSEUDO INPUT SIG]

  4. Set input #82015 CMD REMOTE SEL to ON

    1. Move the cursor to the circle beside the specified input
    2. Press [INTERLOCK]+[SELECT] to turn on the input

  5. Rotate the pendant key-switch (upper left of pendant) fully clockwise into REMOTE mode.

Troubleshooting

Please refer to the Troubleshooting page for information on how to deal with common errors and problems.

Wiki: motoman_driver/Tutorials/indigo/InstallServer (last edited 2018-05-01 15:39:55 by GvdHoorn)