Debug Alarm 4997 while installing ROS server

[shobhitagg]

I am installing ROS server on Motoman GP4 using YRC1000 controller. After copying .out file and restarting, I get Alarm 4997[4]. I try to follow steps from following link, but am not able to edit the option to INVALID.
http://wiki.ros.org/motoman_driver/Troubleshooting#Alarm:_4997.5B4.5D

I am missing something while following the steps. If anybody faced the same issue earlier, please help.

[ted-miller]

Hi @shobhitagg,

The pendant is currently in PLAY mode.

Please move the rotary switch on the top of the pendant fully counter-clockwise to put the pendant into TEACH mode. This will allow you to change the setting to INVALID.

[shobhitagg]

Hi Ted, thanks for your response. I tried the TEACH mode as well. It doesn't allow me to change the option. I am sure there is something minor that I might be overlooking.

VID_20230718_133539.mp4

[ted-miller]

Hmm... I'm not sure why it didn't change when you touched SELECT. I can think of two things to try:

1. Try touching INTERLOCK and then SELECT to see if it toggles.

2. I see the Restart message at the bottom of the screen. That's due to the changes in the parameters that were made in the background. Perhaps that is interfering with the setting.
   Try removing the MotoROS.out application in maintenance mode and then see if you can disable the CRC CHECK FUNC.

@EricMarcil: Do you have any ideas here?

[EricMarcil]

I just did a quick check and I was able to toggle between valid and invalid by simply pressing the SELECT button.
So I also believe that the issue is from that Restart message.
Remove the MotoPlus application and try again.

[shobhitagg]

It worked! ROS up and running. Thanks :)