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The software will work on all [[https://www.motoman.com/products/controllers/fs100_controller|FS100]], [[https://cdn2.hubspot.net/hubfs/366775/PDFs/DX100_Controller.pdf?t=1508182504087|DX100]], [[https://www.motoman.com/products/controllers/dx200_controller|DX200]], and [[https://www.motoman.com/products/controllers/yrc1000|YRC1000]] robot controllers. However, for DX100 controllers, the options below must be specially ordered from Motoman in order to enable ROS-Industrial integration. Email the [[mailto:swri-ros-pkg-dev@googlegroups.com|ROS-Industrial mailing list]] or [[mailto:customerservice@motoman.com|Yaskawa Motoman customer service]] for more detailed information. The software will work on all [[https://www.motoman.com/products/controllers/fs100_controller|FS100]], [[https://cdn2.hubspot.net/hubfs/366775/PDFs/DX100_Controller.pdf?t=1508182504087|DX100]], [[https://www.motoman.com/products/controllers/dx200_controller|DX200]], and [[https://www.motoman.com/products/controllers/yrc1000|YRC1000]] robot controllers. However, for DX100 controllers, a specific software option must be explicitly ordered from Motoman in order to enable ROS-Industrial integration (see the [[#MotoROS|MotoROS]] section below). Email the [[mailto:swri-ros-pkg-dev@googlegroups.com|ROS-Industrial mailing list]] or [[mailto:customerservice@motoman.com|Yaskawa Motoman customer service]] for more detailed information.
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 * MotoROS driver: Part Number 180014-1 (North/South America), 171403 (Europe)
  * ~-''Required for DX100 only''-~
  * ~-The MotoROS application and source is available for public download. However, ordering this part-number will ensure your controller is updated with correct system software, the MotoROS driver is installed, and all internal parameters are properly configured.-~
 * Motoplus SDK: Part Number 169272-x (must specify controller model)
  * ~-''Optional for all controller models''-~
  * ~-This will allow you to modify the MotoROS driver which runs on the robot controller. This is not needed to modify the ROS Industrial stack on the PC.-~
=== Controller system software ===
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''For more information, please contact Yaskawa Motoman and inquire about the ROS package'' The latest MotoROS binary (`v1.5.0` or higher) requires the following controller firmware (or a newer version):
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Please note that the MotoROS application is '''not compatible with the Human Collaborative features''' of the HC series robots. ||'''Controller'''||'''Version'''||
||FS100||`FS3.30.00-00` (or newer)||
||DX100||`DS3.32.00-14` (or newer, ''and'' must end in `-14`)||
||DX200||`DN2.21.00-00` (or newer)||
||YRC1000||`YAS1.11.00-00` (or newer)||
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The latest MotoROS binary (v1.5.0 or higher) requires the following controller firmware:
 * FS100: FS3.30.00-00 or greater.
 * DX100: DS3.32.00-14 or greater (must end in "-14").
 * DX200: DN2.21.00-00 or greater.
 * YRC1000: YAS1.11.00-00 or greater.
=== MotoROS ===

'''Note''': this is required for the ''DX100 controller only''.

Part Numbers:

||Americas (North, South)||''':''' `180014-1`||
||Europe||''':''' `171403`||

The MotoROS application and source is available for public download. However, ordering this part-number will ensure your controller is updated with correct system software, the MotoROS driver is installed, and all internal parameters are properly configured.

=== MotoPlus SDK (optional) ===

'''Note''': This is ''optional for all controller models'', but will allow you to modify the MotoROS driver which runs on the robot controller. The !MotoPlus SDK is '''not''' required to be able to develop ROS applications, it is only needed if the MotoROS application is to be changed.

Part Number: `169272-x`

Where `x` is the controller model (ie: `dx100`, `dx200`, `fs100` or `yrc1000`).


=== More information ===

For more information, please contact Yaskawa Motoman and inquire about the ROS package.


== Compatibility with collaborative robots (HC series) ==

Please note that the MotoROS application is '''not compatible with the Human Collaborative features''' of the HC series robots at this time.

Only released in EOL distros:  

motoman: motoman_config | motoman_driver | motoman_mh5_support | motoman_sia10d_support | motoman_sia20d_moveit_config | motoman_sia20d_support | motoman_sia5d_support

Package Summary

The motoman driver package includes nodes for interfacing with a motoman industrial robot controllers.

  • Maintainer status: maintained
  • Maintainer: Jeremy Zoss (Southwest Research Institute) <jeremy.zoss AT swri DOT org>
  • Author: Jeremy Zoss (Southwest Research Institute) <jeremy.zoss AT swri DOT org>
  • License: BSD
  • Source: git https://github.com/ros-industrial/motoman.git (branch: hydro)
motoman: motoman_driver | motoman_mh5_support | motoman_sia10d_support | motoman_sia20d_moveit_config | motoman_sia20d_support | motoman_sia5d_support

Package Summary

The motoman driver package includes nodes for interfacing with a motoman industrial robot controllers.

  • Maintainer status: maintained
  • Maintainer: Jeremy Zoss (Southwest Research Institute) <jeremy.zoss AT swri DOT org>
  • Author: Jeremy Zoss (Southwest Research Institute) <jeremy.zoss AT swri DOT org>
  • License: BSD
  • Source: git https://github.com/ros-industrial/motoman.git (branch: indigo-devel)
motoman: motoman_driver | motoman_gp12_support | motoman_gp180_support | motoman_gp7_support | motoman_gp88_support | motoman_gp8_support | motoman_mh12_support | motoman_mh50_support | motoman_mh5_support | motoman_motomini_support | motoman_msgs | motoman_sda10f_moveit_config | motoman_sda10f_support | motoman_sia10d_support | motoman_sia10f_support | motoman_sia20d_moveit_config | motoman_sia20d_support | motoman_sia5d_support

Package Summary

ROS-Industrial nodes for interfacing with Yaskawa Motoman robot controllers.

  • Maintainer status: maintained
  • Maintainer: Jeremy Zoss (Southwest Research Institute) <jeremy.zoss AT swri DOT org>, Shaun Edwards <shaun.edwards AT gmail DOT com>, G.A. vd. Hoorn (TU Delft Robotics Institute) <g.a.vanderhoorn AT tudelft DOT nl>
  • Author: Jeremy Zoss (Southwest Research Institute), Ted Miller (MotoROS) (Yaskawa Motoman), Eric Marcil (MotoROS) (Yaskawa Motoman)
  • License: BSD
  • Bug / feature tracker: https://github.com/ros-industrial/motoman/issues
  • Source: git https://github.com/ros-industrial/motoman.git (branch: kinetic-devel)

Overview

The Motoman driver controller interface was created with the cooperation of Yaskawa Motoman, to provide a more high-performance interface for controlling Motoman robots. This interface provides a number of improvements, including:

  • robot speeds up to 100% of robot capability for DX100, DX200, FS100, and YRC1000 controllers
  • low-level control of joint position, velocity, and path timing
  • improved fault detection and recovery
  • improved motion and controller status feedback

Technology Stack

The following diagram shows the layered architecture of the ROS-Industrial motion stack and how it interfaces with MotoROS on the Yaskawa Motoman controller.

MotoROS Architecture

Requirements

The software will work on all FS100, DX100, DX200, and YRC1000 robot controllers. However, for DX100 controllers, a specific software option must be explicitly ordered from Motoman in order to enable ROS-Industrial integration (see the MotoROS section below). Email the ROS-Industrial mailing list or Yaskawa Motoman customer service for more detailed information.

Controller system software

The latest MotoROS binary (v1.5.0 or higher) requires the following controller firmware (or a newer version):

Controller

Version

FS100

FS3.30.00-00 (or newer)

DX100

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

DX200

DN2.21.00-00 (or newer)

YRC1000

YAS1.11.00-00 (or newer)

MotoROS

Note: this is required for the DX100 controller only.

Part Numbers:

Americas (North, South)

: 180014-1

Europe

: 171403

The MotoROS application and source is available for public download. However, ordering this part-number will ensure your controller is updated with correct system software, the MotoROS driver is installed, and all internal parameters are properly configured.

MotoPlus SDK (optional)

Note: This is optional for all controller models, but will allow you to modify the MotoROS driver which runs on the robot controller. The MotoPlus SDK is not required to be able to develop ROS applications, it is only needed if the MotoROS application is to be changed.

Part Number: 169272-x

Where x is the controller model (ie: dx100, dx200, fs100 or yrc1000).

More information

For more information, please contact Yaskawa Motoman and inquire about the ROS package.

Compatibility with collaborative robots (HC series)

Please note that the MotoROS application is not compatible with the Human Collaborative features of the HC series robots at this time.

Design

The Motoman driver communicates with ROS through the simple_message interface, with a few additional Motoman-specific message types. Trajectories are streamed to the controller using a message format that captures all the ROS JointTrajectoryPoint data: joint positions, velocities, accelerations, and path timing. The controller buffers these points and interpolates between them to send commands to the controller at the required timing. More detail on the internal operations and required simple_message commands is documented here.

Performance

The Motoman driver interface provides a high-performance motion control interface for Motoman robots. Internal testing has demonstrated the ability to stream points at over 50Hz, allowing for feedback-aware control applications. Similar testing has generated robot motion at full rated motion speeds, even when using dense-waypoint trajectories. This capability may even surpass the performance of the native INFORM motion control.

In general, robot motion is fairly smooth, but can be choppy if poorly-filtered trajectory commands are sent. The controller performs only minimal trajectory filtering, so users must take care to properly condition the trajectories before submitting. The interface does provide some low-level filtering, however. Sudden stops or breaks in the trajectory stream result in smooth deceleration on the physical robot hardware.

Tutorials

See the tutorials page for details on installing and using the MotoROS software.

Troubleshooting

See the troubleshooting page for details on alarms and errors when using the MotoROS driver.

Wiki: motoman_driver (last edited 2023-05-26 18:28:53 by GvdHoorn)