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Job PVARQ20VV disappears on robot (Motman SIA-10D) #9

Closed GoogleCodeExporter closed 9 years ago

GoogleCodeExporter commented 9 years ago 
Sometimes, the PVARQ20VV job disappears from the job list on the pendant. When 
this happens, we have to insert a USB stick containing the file `PVARQ20VV.JBI` 
copied from in the `motoman` directory, load that job from the stick, then 
reboot the robot (and restart the ROS side).

Original issue reported on code.google.com by ger...@willowgarage.com on 27 Feb 2012 at 8:31

GoogleCodeExporter commented 9 years ago 
There doesn't seem to be any particular sequence of events that cause this.  
The source of the problem is likely the motoman controller or some way in which 
we are loading/unloading the inform job from motoplus.

A possible work around is check for the existence of the job when a trajectory 
is received and then recreate it from a hard-coded string if necessary.

Original comment by shaun.ed...@gmail.com on 4 Mar 2012 at 1:56

GoogleCodeExporter commented 9 years ago 
Looks like this problem may be of my own doing or left over from Somudro's 
work.  The mpDeleteJob function is called from within joint_motion_handler.cpp 
(http://code.google.com/p/swri-ros-pkg/source/browse/trunk/industrial/motoman/mo
toplus/motoros_lib/joint_motion_handler.cpp#230 )  The desired behavior is to 
stop the job and reset the program/motion pointer.  Ted Miller (motoman) 
suggests the following:

First call mpHold will stop your job. You should then wait about 4-8 msec and 
turn mpHold off (this will just disable the HOLD signal, it will not 
automatically restart your job).  Then you can reset the current job (and line 
number) with mpSetCurJob.  Then call mpStartJob to begin motion.

FYI...The same code is found in controller.cpp ( 
http://code.google.com/p/swri-ros-pkg/source/browse/trunk/industrial/motoman/mot
oplus/motoros_lib/controller.cpp#153 )

Original comment by shaun.ed...@gmail.com on 20 Mar 2012 at 9:06

GoogleCodeExporter commented 9 years ago 
Fixed problem in joint_motion_handler.  Still needs to be fixed in 
controller.cpp.

Original comment by shaun.ed...@gmail.com on 22 Mar 2012 at 6:54

GoogleCodeExporter commented 9 years ago 
Closing this issue because the existing dx100 c++ code is being retired.

Original comment by shaun.ed...@gmail.com on 29 Jul 2013 at 2:19