Robot motion interface

[Libor Wagner]

Hello,

I was browsing MotoPlus documentation and motoros_lib source code, in order to find how to select specific robot (we have two arms and one external axis).

If I understand it right, there are two interfaces, first using directly (mpMOVJ, mpMOVL, …) functions to move joints and second using job, generated to complete the motion. Which interface is used in ROS Industrial?

Second question is not ROS related, but we have problems with installing application to DX100 controller (we are missing some menu buttons that are used in the manual). It is possible that the controller is not "MotoPlus Enabled", is there a way how to check?

Thanks,
Libor Wagner

[ted miller]

I will have to ask Shaun or others to answer the ROS Industrial question.

 

Regarding MotoPlus:

A Yaskawa-Motoman representative will enable the MotoPlus feature on your controller when you acquire the MotoPlus SDK. 

You can tell if your controller is already "MotoPlus Enabled" by the following procedure:
> Boot the controller while holding [MAIN MENU] on the pendant to enter MAINTENANCE mode.

> Touch [SYSTEM] > [SECURITY] and select MANAGEMENT security level.  (Default password: 99999999)

> In the main menu on the left, you should see a button labeled [MotoPlus APL] or [MotoPro APL].

> If the button is not available, then the MotoPlus feature has not been enabled on your controller.

 

-Ted

>>> Libor Wagner <wagn...@cmp.felk.cvut.cz> 6/27/2012 5:55 AM >>>

The information transmitted in this email is intended solely for the addressee and may contain confidential, proprietary and/or privileged material. Any unauthorized review, distribution or other use of this information is strictly prohibited. If you have received this email in error please contact the sender immediately and delete any and all copies of this message.

[Somudro Gupta]

Libor,

You are right that there are two motion control interfaces. mpMOVJ and mpMOVL are for point-to-point motion, so using these to command trajectories would not lead to smooth motion. ROS-Industrial moves the robot by populating the position variables in a job with the initial trajectory points, and then updating the position variables as the robot starts executing the trajectory. The job acts as a buffer for the trajectory points. This leads to smooth motion, but with a bounded, constant velocity of around 20% of full joint speed. See the PVarQ ("position variable queue") class in p_var_q.cpp in the source code for more information, and also http://ros.org/wiki/dx100/Tutorials/Creating_DX100_Server_Application .

Somudro

[Shaun Edwards]

Libor,

 

One additional point to Somudro's.  Ultimately, the robot moves are executed on the robot using a MOVJ.  This means that the controller joint interpolation is still in effect.  Linear moves are commanded in ROS by simply creating a dense set of joint points.

Shaun

[Libor Wagner]

Thanks, the menu is not there, so we will contact motoman representative in this matter. Libor

On Wednesday, June 27, 2012 at 14:45, ted miller wrote:

> I will have to ask Shaun or others to answer the ROS Industrial question.
>
> Regarding MotoPlus:
> A Yaskawa-Motoman representative will enable the MotoPlus feature on your controller when you acquire the MotoPlus SDK.
> You can tell if your controller is already "MotoPlus Enabled" by the following procedure:
> > Boot the controller while holding [MAIN MENU] on the pendant to enter MAINTENANCE mode.
> > Touch [SYSTEM] > [SECURITY] and select MANAGEMENT security level. (Default password: 99999999)
> > In the main menu on the left, you should see a button labeled [MotoPlus APL] or [MotoPro APL].
> > If the button is not available, then the MotoPlus feature has not been enabled on your controller.
>
>
> -Ted
>

> > > > Libor Wagner <wagn...@cmp.felk.cvut.cz (mailto:wagn...@cmp.felk.cvut.cz)> 6/27/2012 5:55 AM >>>