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ros-industrial / motoman

ROS-Industrial Motoman support (http://wiki.ros.org/motoman)
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control motoman gp7 with 3 external axis #537

Closed JACKX-M closed 1 year ago

JACKX-M commented 1 year ago

Hi guys, I'm using ROS to control a motoan gp7 robot (already extented 3 axis while one of them is a AC SERVO) with yrc1000 controller, and I have solved the single arm control issue. But when I want to control the external axis, it becomes a hard task for me. Since I am a freahman in this field, I have some basic problems,

  1. should I change the INIT_ROS.JBI provided by motoman_driver by adding 3 group?
  2. how to setup the moveit package and moveit_planning_execution.launch file?
  3. is it necessary to modify the configs in motoman_gp7_support folder?

Thanks a lot!

ted-miller commented 1 year ago

Hi @JACKX-M, I'll defer to others on questions 2 and 3. But for item 1, yes you should modify the INIT_ROS.JBI file so that it commands all attached control-groups.

Examples of different configurations are available here: https://github.com/ros-industrial/motoman/tree/kinetic-devel/motoman_driver/Inform/DX200%2C%20FS100%2C%20YRC1000

The exact change depends on your control-group configuration. If you post the PANELBOX.LOG file from your robot controller, we can advise you on which job should be used.

JACKX-M commented 1 year ago

@ted-miller Thanks for your reply! Here is my '''PANELBOX.LOG''' file: https://drive.google.com/file/d/1-5V0KsNySiPoS8YXI4Vx4dN9b5JjnpeD/view?usp=drivesdk:

Click to expand ``` /SYSTEM 8 //DATE : 2022/05/30 21:33:30 //SYSTEM NO : YAS4.12.01A(EN/CN)-00 //PARAM NO : 3.47/3.47 //APPLI : GENERAL //LANGUAGE : 4.12-00-00, 4.12-00-00 //REVISION ACP01 4.12.01,1.06-10 AIF01 --------,16092200 PP 2.01-00, 1.83-00, 1.07 ASF01#0 2.23-00/ 2.11-00, 2.23-00/ 2.11-00, 2.00-00, 2.00-00,16122200,16122200 SDCA01#0 4.03-00/ 4.03-00, 1.11C00/ 1.11P00, 2.00-00, 1.01-00,19090800,05000000 //ROBOT NAME R1 : 1-06VX7-A0*(GP7) 0011_1111 S1 : TURN-1 0000_0001 S2 : TURN-1 0000_0001 S3 : UNIV-1 0000_0001 //CONTROL POWER TOTAL : 2020/09/18 18:39,02541:29'12 //SERVO POWER TOTAL : 2020/09/18 18:39,01389:38'53 R1 : 2020/09/18 18:39,01388:16'23 S1 : 2020/09/18 18:39,01388:17'40 S2 : 2020/09/18 18:39,01388:17'40 S3 : 2020/09/18 18:39,01388:17'38 //PLAYBACK TIME TOTAL : 2020/09/18 18:39,01087:20'27 R1 : 2020/09/18 18:39,01087:17'32 S1 : 2020/09/18 18:39,01069:38'38 S2 : 2020/09/18 18:39,01050:00'47 S3 : 2020/09/18 18:39,01067:36'59 //MOVING TIME TOTAL : 2020/09/18 18:39,01061:30'49 R1 : 2020/09/18 18:39,01061:30'49 S1 : 2020/09/18 18:39,01043:54'12 S2 : 2020/09/18 18:39,01043:54'12 S3 : 2020/09/18 18:39,01061:28'08 //OPERATING TIME TOOL1 : 2020/09/18 18:39,00000:00'00 //ENERGY TIME TOTAL : 2020/09/18 18:39,00165:06'37 //MOTOPLUS APP 01: MotoROS v1.9.10 Motoman ROS-I driver //CONTROLLER SETTING ============================================================ LANGUAGE ------------------------------------------------------------ LANGUAGE1 CHINESE LANGUAGE2 ENGLISH ============================================================ CONTROL GROUP ------------------------------------------------------------ CONNECT : DETAIL R1 : 1-06VX7-A0* B1 : NONE DETAIL R2 : NONE S1 : TURN-1 DETAIL S2 : TURN-1 DETAIL S3 : UNIV-1 DETAIL S4 : NONE DETAIL ============================================================ CONNECT(STO) -- AXIS -- -- BRK -- -- CV -- SV <123456789> <123456789> <123456789> ON_EN OT ------------------------------------------------------------ R1 :#1 [123456---] [123456---] [111111---] ON_EN1 OT1 S1 :#1 [------1--] [------1--] [------1--] ON_EN1 OT2 S2 :#1 [-------1-] [-------1-] [-------1-] ON_EN1 OT2 S3 :#1 [--------1] [--------1] [--------1] ON_EN1 OT2 ============================================================ AXES CONFIG S1 : TURN-1 AXIS AXIS TYPE ------------------------------------------------------------ 1 : ROTATION ============================================================ AXES CONFIG S2 : TURN-1 AXIS AXIS TYPE ------------------------------------------------------------ 1 : ROTATION ============================================================ AXES CONFIG S3 : UNIV-1 AXIS AXIS TYPE ------------------------------------------------------------ 1 : RACK&PINION ============================================================ MECHANICAL SPEC S1 : TURN-1 AXIS: 1 AXIS TYPE: ROTATION ------------------------------------------------------------ MOTION RANGE(+) 180.000 deg MOTION RANGE(-) -180.000 deg REDUCTION RATIO(NUMER) 1.000 REDUCTION RATIO(DENOM) 121.000 ============================================================ MECHANICAL SPEC S2 : TURN-1 AXIS: 1 AXIS TYPE: ROTATION ------------------------------------------------------------ MOTION RANGE(+) 999999.000 deg MOTION RANGE(-) -999999.000 deg REDUCTION RATIO(NUMER) 1.000 REDUCTION RATIO(DENOM) 105.000 ============================================================ MECHANICAL SPEC S3 : UNIV-1 AXIS: 1 AXIS TYPE: RACK&PINION ------------------------------------------------------------ MOTION RANGE(+) 2133333.000 mm MOTION RANGE(-) -2133333.000 mm REDUCTION RATIO(NUMER) 1.000 REDUCTION RATIO(DENOM) 1.000 PINION DIAMETER 53.000 mm ============================================================ MOTOR SPEC S1 : TURN-1 AXIS: 1 AXIS TYPE: ROTATION ------------------------------------------------------------ MOTOR SGMRV-05ANA-YR11 SERVO AMP CSRA-SDB06HA CONVERTER CSRA-CV05 ROTATION DIRECTION NORMAL MAX RPM 1500 rpm ACCELERATION TIME 0.300 sec INERTIA RATIO 100 % ============================================================ MOTOR SPEC S2 : TURN-1 AXIS: 1 AXIS TYPE: ROTATION ------------------------------------------------------------ MOTOR SGMPH-02ANA-YR11 SERVO AMP CSRA-SDB21HA CONVERTER CSRA-CV05 ROTATION DIRECTION NORMAL MAX RPM 3000 rpm ACCELERATION TIME 0.500 sec INERTIA RATIO 100 % ============================================================ MOTOR SPEC S3 : UNIV-1 AXIS: 1 AXIS TYPE: RACK&PINION ------------------------------------------------------------ MOTOR SGMPH-02ANA-YR11 SERVO AMP CSRA-SDB06HA CONVERTER CSRA-CV05 ROTATION DIRECTION REVERSE MAX RPM 1500 rpm ACCELERATION TIME 0.300 sec INERTIA RATIO 100 % ============================================================ APPLICATION ------------------------------------------------------------ APPLICATION GENERAL PURPOSE ROBOT APPL OPTION R1 1 : GENERAL PURPOSE * CIO LADDER (STANDARD) GENERAL PURPOSE ============================================================ OPTION BOARD STANDARD #1 PCIe, #2 PCIe ------------------------------------------------------------ #0 NONE #1 NONE #2 NONE ============================================================ IO MODULE ST# DI DO AI AO BOARD ------------------------------------------------------------ 00 0040 0040 - - ASF01(AIO01 NPN) 01 - - - - NONE 02 - - - - NONE 03 - - - - NONE 04 - - - - NONE 05 - - - - NONE 06 - - - - NONE 07 - - - - NONE 08 - - - - NONE 09 - - - - NONE 10 - - - - NONE 11 - - - - NONE 12 - - - - NONE 13 - - - - NONE 14 - - - - NONE 15 - - - - NONE 16 - - - - NONE 17 - - - - NONE 18 - - - - NONE 19 - - - - NONE ============================================================ EXTERNAL IO SETUP ------------------------------------------------------------ ALLOCATION MODE AUTO EXTERNAL IO ALLOCATION DETAIL ============================================================ EXTERNAL IO ALLOCATION(INPUT) ST# CH MAC ID ADDR BYTE NAME ------------------------------------------------------------ #20010 0 0 0 0 5 ASF01 ============================================================ EXTERNAL IO ALLOCATION(OUTPUT) ST# CH MAC ID ADDR BYTE NAME ------------------------------------------------------------ #30010 0 0 0 0 5 ASF01 ============================================================ OPTION FUNCTION ------------------------------------------------------------ * 006 VISION FUNCTION NOT USED * 007 ROBOT DETACHMENT DETAIL * 009 AXES DETACHMENT DETAIL * 011 LAN INTERFACE SETTING DETAIL * 012 NETWORK FUNCTION SETTING DETAIL * 013 EtherNet/IP(CPU Board) DETAIL * 014 DAYLIGHT SAVING TIME DETAIL * 015 RELATIVE JOB USED * 016 INTERRUPT JOB NOT USED * 017 TCP NOT USED * 018 MACRO INST. NOT USED * 020 I/F PANEL NOT USED * 021 LADDER EDITOR NOT USED * 022 PLAY MODE ENABLE NOT USED * 023 MANUAL BRAKE RELEASE NOT USED * 025 EXTERNAL REFERENCE POINT NOT USED * 026 PARALLEL START INSTRUCTION 0 * 027 COORDINATED INSTRUCTION NOT USED * 028 STATION ANGLE DISPLAY NOT USED * 030 LIMITS CUSTOMIZATION DETAIL * 032 TOOL NO. SWITCHING USED * 033 SI UNIT INDICATION USED * 034 DISPLAY IO NAME IN JOB NOT USED * 036 EXTERNAL IO SETUP DETAIL * 037 VARIABLE ALLOCATION DETAIL * 046 MotoPlus FUNC. USED * 048 AUTOBACKUP(ACP01) NOT USED * 049 Functional safety DETAIL * 050 MOTOPAL FUNCTION NOT USED * 052 SERVO POWER INDIVIDUAL CONTROL DETAIL * 053 MotoFit NOT USED * 054 MotoLogix DETAIL * 055 SAFETY LOGICAL CIRCUIT SETTING DETAIL * 056 SAFETY I/O BOARD SETTING DETAIL * 057 POWER FORCE LIMITING DETAIL * 058 3DGRAPHICS USED * 059 ENDLESS FUNCTION DETAIL * 060 Search function NOT USED * 061 Pendant Oscilloscope function NOT USED * 062 I/O OUTPUT CONTROL FUNCTION NOT USED * 063 TWIN SYNCHRONOUS FUNCTION NOT USED * 064 THERMAL SPRAY SPEED FUNCTION NOT USED * 065 ARM INTERFERE CHECK FUNCTION NOT USED * 066 CUBIC ARM INTERFERENCE CHK FUNC.NOT USED * 067 HOVER WEAVING FUNCTION NOT USED * 068 SEARCH FUNCTION IN CONT MOTION NOT USED * 069 PASSWORD PROTECTION FUNCTION NOT USED * 070 ONLINE MANUAL FUNCTION NOT USED * 071 I/O JOG OPERATION FUNCTION NOT USED * 072 Cockpit USED * 073 MOTOMAN DRIVER USED * 074 ENCODER CONFIG FUNCTION DETAIL * 075 TEACH POINT ADJUST FUNCTION NOT USED * 077 SmartPendant NOT USED * 078 OT SIGNAL MULTI SETTING NOT USED * 081 CURRENT POSITION OUTPUT(Modbus) USED * 083 MUTUAL WAIT FUNCTION DETAIL * 086 MODE SWITCHING BY CONTROLLER NOT USED * 087 YERCProfile DETAIL ============================================================ CMOS MEMORY ------------------------------------------------------------ USED SIZE 2 MB MOUNTED SIZE 2 MB ============================================================ ------------------------------------------------------------ FILE CREATE DATE 2020/09/18 16:04:20 TEACHING CMOS.BIN LOADED ----/--/-- --:--:-- ============================================================ CHANGE TRACKING LIST DATE INITIALIZE 2020/09/18 18:40:23 MAKER LANGUAGE 2020/09/18 16:12:09 MAKER CONTROL GROUP 2019/12/12 11:26:39 SAFETY FUNC APPLICATION ----/--/-- --:--:-- OPTION BOARD ----/--/-- --:--:-- IO MODULE 2022/05/08 17:55:54 MANAGEMENT CMOS MEMORY ----/--/-- --:--:-- DATE/TIME 2019/12/12 09:38:44 SAFETY FUNC OPTION FUNCTION 2022/05/09 20:43:44 MANAGEMENT ============================================================ INITIALIZED FILES JOB ----/--/-- --:--:-- FILE/GENERAL DATA ----/--/-- --:--:-- PARAMETER ----/--/-- --:--:-- I/O DATA ----/--/-- --:--:-- SYSTEM DATA 2019/12/12 11:26:46 SAFETY FUNC USER DEFINE 2022/03/31 16:51:15 MANAGEMENT ============================================================ INSPECTION AND TEST RECORD DATE Rseigi2_HE1401954_1_AJ(S).psc 2020/09/18 18:40:56 MAKER ----/--/-- --:--:-- ----/--/-- --:--:-- ----/--/-- --:--:-- ----/--/-- --:--:-- ============================================================ CHANGE TRACKING PARAMETER DATE AMCxG ----/--/-- --:--:-- AxP ----/--/-- --:--:-- CIO ----/--/-- --:--:-- FD ----/--/-- --:--:-- FMSxB ----/--/-- --:--:-- MFxG ----/--/-- --:--:-- RCD ----/--/-- --:--:-- RCxG ----/--/-- --:--:-- RExG ----/--/-- --:--:-- ROxG ----/--/-- --:--:-- RS ----/--/-- --:--:-- SxE ----/--/-- --:--:-- S1CxG ----/--/-- --:--:-- S2C ----/--/-- --:--:-- S3C ----/--/-- --:--:-- S4C ----/--/-- --:--:-- S1D ----/--/-- --:--:-- S2D ----/--/-- --:--:-- S3D ----/--/-- --:--:-- S4D ----/--/-- --:--:-- SVxG ----/--/-- --:--:-- SVCxB ----/--/-- --:--:-- SVD ----/--/-- --:--:-- SVMxG ----/--/-- --:--:-- SVPxG ----/--/-- --:--:-- SVSxB ----/--/-- --:--:-- ```