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Yaskawa-Global / motoros2

ROS 2 (rcl, rclc & micro-ROS) node for MotoPlus-compatible Yaskawa Motoman robot controllers
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Incorrect error message for StartTrajMode #192

Open ted-miller opened 7 months ago

ted-miller commented 7 months ago

I got the robot into an error state by pressing HOLD during an FJT routine.

[1700669032.41332889] [192.168.1.31:54399]: 2023-11-22 16:03:52.412220 mpExRcsIncrementMove returned -1 (Not executing WAIT instruction)
[1700669032.43213272] [192.168.1.31:54399]: 2023-11-22 16:03:52.431020 Alarm/error occurred while executing trajectory. Aborting.
[1700669032.43316460] [192.168.1.31:54399]: 2023-11-22 16:03:52.432220 Stopping all motion
[1700669032.46177649] [192.168.1.31:54399]: 2023-11-22 16:03:52.460620 FJT action complete

When I tried to call /StartTrajMode, I got:

ted@ted-Ubuntu:~$ ros2 service call /start_traj_mode motoros2_interfaces/srv/StartTrajMode
requester: making request: motoros2_interfaces.srv.StartTrajMode_Request()

response:
motoros2_interfaces.srv.StartTrajMode_Response(result_code=motoros2_interfaces.msg.MotionReadyEnum(value=106), message='Servo power is OFF. Please call start_traj_mode or start_point_queue_mode service')

This error message is incorrect and confusing.

MotoROS2 log:

[1700671198.53841758] [192.168.1.31:54399]: 2023-11-22 16:39:58.536889 Ros_MotionControl_StartMotionMode: enter
[1700671198.53868961] [192.168.1.31:54399]: 2023-11-22 16:39:58.537689 Controller is in a fault state. Please call /reset_error
[1700671198.53889847] [192.168.1.31:54399]: 2023-11-22 16:39:58.537889 Ros_ServiceStartTrajMode_Trigger: Servo power is OFF. Please call start_traj_mode or start_point_queue_mode service (106)