installation: MotoROS ALARM 8003

[BlazingForests]

Hi, guys

I am following this wiki http://wiki.ros.org/motoman_driver/Tutorials/indigo/InstallServer to setup

When i finish install MotoROS, then POWER OFF and POWER ON the controller,
Boot into normal operation mode, before i load INIT_ROS

Then an ALARM comming

ALARM 8003
  MotoROS Cfg: Set RS000=2
    [1]

I think maybe the INIT_ROS, so i finish the installing INIT_ROS (ref #142)

Then boot into normal operation mode( REMOTE mode)

But the ALARM still there

THX

[gavanderhoorn]

These alarms were added very recently (#140), and it seems like they're showing their worth already.

Has your DX200 been set up by Yaskawa for MotoROS? If not, that is what the error is telling you.

[gavanderhoorn]

We haven't yet had time to document them. I just created an issue for that (#144).

[gavanderhoorn]

As to your problem: there are some parameters you can set yourself, but others are not user-configurable. I strongly recommend you get in touch with your Yaskawa support office and ask them for support in setting up MotoROS on your DX200.

Do you have part nr 167352-1 on your controller?

[BlazingForests]

Hi, @gavanderhoorn Sorry, What is "nr 167352-1" ??

[BlazingForests]

Hi, @gavanderhoorn I am setup DX200 for motoplus myself.

[gavanderhoorn]

@BlazingForests wrote:

Hi, @gavanderhoorn Sorry, What is "nr 167352-1" ??

Have you read the Requirements section of the motoman_driver wiki page?

[BlazingForests]

Hi, @gavanderhoorn

So, the "167352-1" is provide by ROS-Industrial or MOTOMAN？
"167352-1" and MotoROS app (*.out) is not the same thing?

THX

[gavanderhoorn]

@BlazingForests wrote:

So, the "167352-1" is provide by ROS-Industrial or MOTOMAN？ "167352-1" and MotoROS app (*.out) is not the same thing?

The application is part of 167352-1, but Yaskawa will also change the value of a number of internal parameters for you, so you can be sure the driver works correctly. As stated on the motoman_driver wiki page (emphasis mine):

The MotoROS application and source is available for public download. However, ordering 167352-1 will ensure your controller is updated with correct system software, the MotoROS driver is installed, and all internal parameters are properly configured.

If you didn't order 167352-1, then you can send Yaskawa a mail asking for assistance in setting the controller up for MotoROS (be sure to mention 167352-1). You send them a cmos image, they change the required parameters for you and send you the image back. After that, everything should work (or at least: the controller should be set up correctly).

[BlazingForests]

@gavanderhoorn

Thank you very much!

So how to create the "cmos image“？

THX

[gavanderhoorn]

@BlazingForests wrote:

So how to create the "cmos image“？

Please refer to the appropriate Yaskawa manuals for that, or ask your local Yaskawa support office.

[BlazingForests]

@gavanderhoorn
OK, Thank you very much!

[ted-miller]

You can save a CMOS.BIN file in Maintenance mode. This is a backup of your robot controller configuration and user memory.

Boot your controller holding [Main Menu].
Touch [System] > [Security] and upgrade to Management security level.
Touch [Ex Memory] > [Device] > Select either CompactFlash or USB.
Touch [Ex Memory] > [Save] > "CMOS".

[BlazingForests]

@ted-miller
Thank you very much.
I already save it, and e-mail to motoman.

THX

[gavanderhoorn]

@BlazingForests: I'm closing this as the reason for the 8003 alarms is now clear (controller is not setup correctly). If you still have problems after you get your DX200 configured properly, please open a new issue.

[gavanderhoorn]

Thanks for reporting the issue btw 👍. The problems you encountered are a good example of why we added the runtime checks.

[BlazingForests]

@gavanderhoorn
Thank you very much!

[gavanderhoorn]

@BlazingForests: we've updated the documentation to include information on the error codes you encountered. See motoman_driver/Troubleshooting.