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Troubleshooting

This page provides troubleshooting steps for dealing with errors and other issues that could possibly occur when working with or setting up the various parts of the motoman_driver package. The Solution subsections list steps to resolve the issues.

If you have a specific issue that is not listed on this page or the provided solution does not seem to work, please contact one of the support resources listed here: ROS-Industrial Technical Support.

Installation

ERROR 3200: NOP or END instruction not found

The robot controller requires all files use Windows-style end-of-line terminator. This is <carriage return><line feed>. Many common text editors in the Linux environment will automatically standardize all EOL terminators to be Unix-style; this removes the <carriage return>, resulting in the error message.

Solution: Open this job file in a text editor that allows you to use Windows-style EOL (<0xD><0xA> or <CR><LF>) or, given that the job is relatively small, manually recreate the job using the programming pendant. Another alternative is to copy the .jbi and .dat files under Windows.

Runtime

Alarm: 4997[4]

Example:

 ALARM 4997
  M-SAF DATA CRC UNMATCH
 [4]
 ALARM 8001
  Speed FB enabled, reboot now.
 [10]

Solution: This alarm occurs if the FSU is enabled when installing MotoROS. The MotoROS driver attempts to enable the Speed Feeback parameters, but is unable to change the required parameters due to FSU settings. You must temporarily disable the CRC check for the the Speed Feedback update to complete.

Touch [RESET] to clear the active alarm. Then, from the main menu, touch [System][Security] and upgrade to SAFETY security level. (The default password is all 5's.) Then touch [Setup][Function Enable]. Navigate to SAVE DATA CRC CHECK FUNC (FSU). Set this feature to INVALID and reboot the controller in normal mode.

After rebooting, you should receive the alarm 8001 [10] (Speed FB enabled, reboot now). Now Speed Feedback has been permanently enabled.

Now reboot once more and follow the steps above to re-enable the SAVE DATA CRC CHECK FUNC (FSU).

Alarm: 4430[6]

Example:

 ALARM 4430
  CPU COMMUNICATION ERROR
 [6]

Solution: This alarm occurs if you run the DX100 version of the INIT_ROS Inform job on a non-DX100 controller. Please delete the INIT_ROS job from your pendant and replace it with the version for all other controllers.

Alarm: 8001[0]

Example:

 ALARM 8001
  WARNING: Too many groups for ROS
 [0]

Solution: The MotoROS driver can support up to 4 control-groups on FS100, DX200, and YRC1000 controllers. The DX100 can support up to 2 control-groups. This alarm indicates that your controller is setup with more groups than what is supported. This is a warning to notify you that the additional groups will not be controlled by the MotoROS driver. They will remain stationary during operation.

Alarm: 8001[10]

Example:

 ALARM 8001
  Speed FB enabled, reboot now
 [10]

Solution: This alarm is a one-time notice that feedback speed data has been automatically enabled. This information will automatically be included with the feedback position data that is sent to the ROS-Industrial driver. When the alarm occurs, reboot the robot controller. You will not see this alarm again.

Alarm: 8003[100 - 111]

Example:

 ALARM 8003
  MotoROS: Controller cfg invalid
 [100]

Solution: Your robot controller requires internal configuration changes to support the MotoROS driver.

For DX100: Please contact your local Yaskawa Motoman office to order the MotoROS runtime. In North/South America, the part number for this configuration is 180014-1. In Europe, the part number for this configuration is 171403.

For FS100, DX200, and YRC1000: Ensure your controller is updated to at least FS3.30.00-00, DN2.21.00-00, or YAS1.11.00-00 system software. If your controller is below this, please contact Yaskawa Motoman for assistance with upgrading the controller. Then boot the controller into Maintenance mode by holding {Main Menu} on the keypad. Touch [System Info][Security] and upgrade to MANAGEMENT security level. Touch [System Info][Setup] then select OPTION FUNCTION. Cursor down to MOTOMAN DRIVER and set this to USED. Then reboot your robot controller.

Alarm: 8003[1]

Example:

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

Solution: An internal parameter is not set properly in the robot controller. Touch [System Info][Security] and upgrade to MANAGEMENT security level. Then touch [Parameter][RS] and set the value of RS000 = 2. Then reboot your robot controller.

Alarm: 8003[2]

Example:

 ALARM 8003
  MotoROS Cfg: Set S2C541=0
 [2]

Solution: An internal parameter is not set properly in the robot controller. Touch [System Info][Security] and upgrade to MANAGEMENT security level. Then touch [Parameter][S2C] and set the value of S2C541 = 0. Then reboot your robot controller.

Alarm: 8003[3]

Example:

 ALARM 8003
  MotoROS Cfg: Set S2C542=0
 [3]

Solution: An internal parameter is not set properly in the robot controller. Touch [System Info][Security] and upgrade to MANAGEMENT security level. Then touch [Parameter][S2C] and set the value of S2C542 = 0. Then reboot your robot controller.

Alarm: 8003[4]

Example:

 ALARM 8003
  MotoROS Cfg: Set S2C1100=1
 [4]

Solution: An internal parameter is not set properly in the robot controller. Touch [System Info][Security] and upgrade to MANAGEMENT security level. Then touch [Parameter][S2C] and set the value of S2C1100 = 1. Then reboot your robot controller.

Alarm: 8003[5]

Example:

 ALARM 8003
  MotoROS Cfg: Set S2C1103=2
 [5]

Solution: An internal parameter is not set properly in the robot controller. Touch [System Info][Security] and upgrade to MANAGEMENT security level. Then touch [Parameter][S2C] and set the value of S2C1103 = 2. Then reboot your robot controller.

Alarm: 8003[6]

Example:

 ALARM 8003
  MotoROS Cfg: Set S2C1117=1
 [6]

Solution: An internal parameter is not set properly in the robot controller. Touch [System Info][Security] and upgrade to MANAGEMENT security level. Then touch [Parameter][S2C] and set the value of S2C1117 = 1. Then reboot your robot controller.

Alarm: 8003[7]

Example:

 ALARM 8003
  MotoROS Cfg: Set S2C1119=0 or 2
 [7]

Solution: An internal parameter is not set properly in the robot controller. Touch [System Info][Security] and upgrade to MANAGEMENT security level. Then touch [Parameter][S2C] and set the value of S2C1119. A value of 2 will enable the telnet option to see any output messages from the MotoROS driver. A value of 0 will disable the telnet option. Reboot your robot controller after changing this parameter.

Alarm: 8003[8]

Example:

 ALARM 8003
  MotoROS not compatible with PFL
 [8]

 ALARM 8003
  MotoROS not compatible with HC10
 [8]

Solution: Old versions of the MotoROS driver are not compatible with the human-collaborative (HC) robots. You must update to v1.9.0 or newer. Reboot the robot controller while holding {Main Menu} on the keypad to enter Maintenance mode. Touch [System Info][Security] and upgrade to MANAGEMENT security level. Then touch [MotoPlus Apl][Delete]. Select the MotoROS.out file and press {Enter} to confirm removal of the MotoROS driver. Now follow the installation tutorial to install the latest version.

Additionally, the robot controller must meet a minimum version of system software. For YRC1000, the controller must have YAS2.80.00-00 or higher. For YRC1000micro, the controller must have YBS2.31.00-00 or higher. Please contact Yaskawa technical support for assistance in upgrading the controller software.

Alarm: 8003[9]

Example:

 ALARM 8003
  MotoROS not compatible with HC10
 [9]

Solution: Old versions of the MotoROS driver are not compatible with the human-collaborative (HC) robots. You must update to v1.9.0 or newer. Reboot the robot controller while holding {Main Menu} on the keypad to enter Maintenance mode. Touch [System Info][Security] and upgrade to MANAGEMENT security level. Then touch [MotoPlus Apl][Delete]. Select the MotoROS.out file and press {Enter} to confirm removal of the MotoROS driver.Now follow the installation tutorial to install the latest version.

Additionally, the robot controller must meet a minimum version of system software. For YRC1000, the controller must have YAS2.80.00-00 or higher. For YRC1000micro, the controller must have YBS2.31.00-00 or higher. Please contact Yaskawa technical support for assistance in upgrading the controller software.

Alarm: 8003[10]

Example:

 ALARM 8003
  MotoROS: Reconfigure waist axis
 [10]

Solution: The DX100 SDA robots must configured as three control groups. The waist must be configured as an external station. It cannot have a 'shared' base axis. Please contact Yaskawa technical support for assistance in reconfiguring your DX100 SDA.

Alarm: 8003[11]

Example:

 ALARM 8003
  HC/Convey trking not compatible
 [11]

Solution: The Yaskawa Conveyor Tracking function is not compatible with HC robots. Please contact Yaskawa technical support to have Conveyor Tracking function disabled.

ROS Errors

trajectory ABORTED

Example:

Failed to initialize MotoRos motion, so trajectory ABORTED.
If safe, call /robot_enable service to (re-)enable Motoplus motion.

Solution: On a driver launch, the new robot_enable service must be called before motion commands are sent. Refer to the motoman_driver usage for more details.

Not receiving axis speeds from robot controller

Example:

When reading the robot's state information, your ROS application is expecting the 'velocity' field to be populated. This data is zeroed out during robot motion.
(DX200 and YRC1000)

Solution: On DX200 and YRC1000 robot controllers, this feature must be enabled before it can be used. Plus, it requires MotoROS v1.7.0 or higher. (Velocity feedback on DX100 and FS100 is obtained using a different method.)

This feature will automatically enable itself if you boot in TEACH mode.

If you do not receive the alarm, then this feature can also be activated manually.


2019-10-12 12:49