control motoman gp7 with 3 external axis
JACKX-M opened this issue · comments
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,
- should I change the
INIT_ROS.JBIprovided by motoman_driver by adding 3 group? - how to setup the moveit package and
moveit_planning_execution.launchfile? - is it necessary to modify the configs in motoman_gp7_support folder?
Thanks a lot!
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.
@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 ----/--/-- --:--:--