control motoman gp7 with 3 external axis

[JACKX-M]

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]

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]

@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                      ----/--/-- --:--:--

[ted-miller]

There are two ways that your robot could be configured with that combination of axes.

From the main menu, go to Setup > Grp Combination. Then press SELECT on the teach pendant (top-right circle button, if you overlay is not english) and choose Add Group.

If it looks like this, then you can only have two groups per job. So you'll need to use some PSTART commands.

If your Grp Combination screen looks like this, then you can use a single job. Please add a group combination for R1R*R*R*S*S1S2S3

Let me know which you have and we can create an appropriate job.

[JACKX-M]

I'm sorry for my late reply. Here are the '''grp combination''' settings. I find that I already have 4 control group but I don't have a master group.

[ted-miller]

I have posted a job for this configuration in PR #540.

[ted-miller]

The only actual difference is the ///GROUP tags in the job header.

[JACKX-M]

I tried this JBI file and I think it works. I mark it as the answer for Q1, thanks again!

[marip8]

2. how to setup the moveit package and moveit_planning_execution.launch file?

I think the only difference between what you will need to do and the nominal process is that you will need to add additional motion groups for the joints you want to control (e.g., robot, robot + ext. axis 1, robot + all ext. axes, etc.)

3. is it necessary to modify the configs in motoman_gp7_support folder?

Yes, you should modify the joint_names.yaml file to include all of the joints that the robot can control with their correct prefixes (see here for reference).

I believe you will also need to create a motion_interface.yaml file that defines the joint groups that exist on the robot controller (see here for reference). The parameters defined in this file will need to be loaded onto the ROS parameter server; for the linked example, this occurs in the robot_interface_streaming.launch file

[JACKX-M]

Thanks for your advice! I'll try it after I solved my previous problem.

[JACKX-M]

Hi, I just tried your advice, made a motion_interface.yaml file to define 4 group and have solved the ST1 and ST2 axis. (I used the command rostopic echo /gp7/platform_controller_1/joint_states and rostopic echo /gp7/platform_controller_2/joint_states to check if it works.)
But when it came to ST3, I cannot get any feedback by using the similar command. One thing should be noted is that the ST3 axis is a AC servo and in the robot controller, it's measured by mm. I want to know if you have some ideas to solve this problem, sincerely.

1. the difference:
   

2. the non-feedback:

[JACKX-M]

this is the motion_interface.yaml contents:

topic_list:
    - name: robot_controller
      ns: gp7
      group: 0
      joints: ['joint_1_s', 'joint_2_l', 'joint_3_u', 'joint_4_r', 'joint_5_b', 'joint_6_t']
    - name: platform_controller_1
      ns: gp7
      group: 1
      joints: ['joint_ext1']
    - name: platform_controller_2
      ns: gp7
      group: 2
      joints: ['joint_ext2']
    - name: extruder_controller
      ns: gp7
      group: 3
      joints: ['joint_ext3']