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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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Persistent ALARM 8014 Invalid MotoROS2 job detected [1] #263

Closed luke-reframe closed 2 weeks ago

luke-reframe commented 2 weeks ago

Upon initiating the microros Docker client, there will always be an alarm 8014 [1]. This has been preventing proper communication with the FollowJointTrajectory Action Server though published topics from the bot are still functional. I have attempted to clear this first by removing all job files .DAT/.JBI from the connected USB (to remove any invalid jobs) and then again by setting allow_custom_inform to true.

In both cases, the Invalid MotoRos2 job is detected. At this point the controller is preventing new motoros2_config.yaml files to be loaded even with forced override. ROS_INIT.JBI file is not recreated despite controller restart attempts. Before deletion, I compared the ROS_INIT.JBI file to the examples in the repo and noted the only difference being the timer period being .5 seconds instead of .05.

Controller is a YRC1000micro and the robot is the yaskawa HC10DT. MotoRos2 Installation has been verified through the md5sum procedure. Version is Humble 0.1.2.

Debug log here 20240617T160939_motoros2_debug_log.txt

Config Yaml (txt format as yaml is not supported) motoros2configtxt.txt

Controller Version Information: SYSTEM: YBS4.02.00A(JP/EN)-00 PARAMETER: 1.69/1.69 MODEL: 1-06VXHC10-A1*(HC10DT) APPLI: General

ted-miller commented 2 weeks ago

Hi @luke-reframe This was fixed in https://github.com/Yaskawa-Global/motoros2/pull/168 and is included in the 0.1.2 release. Please update to the latest version.

If that release doesn't resolve the issue, please reopen this issue and include the full debug output, including the top part where the configuration data is parsed. (You'll need to start the python logger before booting the YRC.)

As a short-term fix, you can modify line 3 of the ROS_INIT job on the teach pendant.

Ros_InformChecker_CheckInformLines: mismatch: line 3, expected: 'TIMER T=0.050', got: 'TIMER T=0.500'

Change the TIMER to T=0.050.

ted-miller commented 2 weeks ago

I just noticed that you did say you're using 0.1.2.

Please post the full output of the debug log and also the job which was generated.

luke-reframe commented 2 weeks ago

Hi @ted-miller

Here is the generated Job INIT_ROSJBIGenerated.txt

Here is the full debug log 20240617T170553_motoros2_debug_log.txt

Thank you