From 8b1979a388d212deed6cee916eef449b9775727a Mon Sep 17 00:00:00 2001 From: Ted Miller Date: Tue, 27 Feb 2024 15:09:54 -0500 Subject: [PATCH] The option-functions are not a pre-req. Rather, they are part of the installation process. Easy to overlook. --- README.md | 27 +++++++++++++-------------- 1 file changed, 13 insertions(+), 14 deletions(-) diff --git a/README.md b/README.md index d267552e..e39302ac 100644 --- a/README.md +++ b/README.md @@ -49,7 +49,6 @@ The following sections document how to download, install, configure, use and tro - [Quickstart](#quickstart) - [General Requirements](#general-requirements) - [Checking the system software version](#checking-the-system-software-version) - - [Checking MotoPlus configuration](#checking-motoplus-configuration) - [Option Function compatibility](#option-function-compatibility) - [Download](#download) - [Downloading the files](#downloading-the-files) @@ -59,6 +58,7 @@ The following sections document how to download, install, configure, use and tro - [Verifying YAML correctness](#verifying-yaml-correctness) - [Example INFORM jobs](#example-inform-jobs) - [Installation](#installation) + - [Checking MotoPlus configuration](#checking-motoplus-configuration) - [DX200, YRC1000 and YRC1000micro](#dx200-yrc1000-and-yrc1000micro) - [Building from source](#building-from-source) - [Updating the configuration](#updating-the-configuration) @@ -101,7 +101,6 @@ The following general requirements must be met in order to be able to use MotoRO - DX200: `LAN` - YRC1000: either `LAN2` or `LAN3` - YRC1000micro: either `LAN2` or `LAN3` -- MotoPlus and Motoman-Driver must be enabled on the controller - ROS 2 version: Foxy, Galactic or Humble. MotoROS2 does not support ROS 2 Iron Irwini nor Rolling Ridley. - Docker or a from-source build of the micro-ROS Agent @@ -116,16 +115,6 @@ To check the version of the system software: Look for the version number starting with `YAS` or `YBS`. -### Checking MotoPlus configuration - -Use the following steps to verify MotoPlus has been correctly configured for MotoROS2, and the necessary settings are active: - - 1. boot the controller while holding `{MAIN MENU}` on the pendant keypad to enter *Maintenance* mode - 1. upgrade to *MANAGEMENT* security level by touching `[System Info]`→`[Security]` (default password is all `9`'s) - 1. touch `[System Info]`→`[Setup]` and select `OPTION FUNCTION` - 1. move to `MotoPlus FUNC.`, make sure it is set to `USED`. If it isn't, set it to `USED` - 1. move cursor down to `MOTOMAN DRIVER` and make sure it is set to `USED`. If it isn't, set it to `USED` - ## Option Function compatibility The current version of MotoROS2 (`0.1.2`) is ***not*** compatible with the following Option Function(s) and/or other MotoPlus application(s): @@ -261,11 +250,21 @@ If needed, open a new issue on the [Issue tracker](https://github.com/yaskawa-gl ## Installation -Place the `.out` (main binary), `.yaml` (configuration), and `.dat` (I/O names) files on an external storage device: Compact Flash (CF), Secure Digital (SD), and USB sticks can be used depending on the controller model. -Insert the storage device into the robot's programming pendant and refer to the following section. +### Checking MotoPlus configuration + +Use the following steps to verify MotoPlus has been correctly configured for MotoROS2, and the necessary settings are active: + + 1. boot the controller while holding `{MAIN MENU}` on the pendant keypad to enter *Maintenance* mode + 1. upgrade to *MANAGEMENT* security level by touching `[System Info]`→`[Security]` (default password is all `9`'s) + 1. touch `[System Info]`→`[Setup]` and select `OPTION FUNCTION` + 1. move to `MotoPlus FUNC.`, make sure it is set to `USED`. If it isn't, set it to `USED` + 1. move cursor down to `MOTOMAN DRIVER` and make sure it is set to `USED`. If it isn't, set it to `USED` ### DX200, YRC1000, and YRC1000micro +Place the `.out` (main binary), `.yaml` (configuration), and `.dat` (I/O names) files on an external storage device: Compact Flash (CF), Secure Digital (SD), and USB sticks can be used depending on the controller model. +Insert the storage device into the robot's programming pendant. + If the controller is configured with the Functional Safety Unit (FSU), then `SAVE DATA CRC CHECK FUNC (FSU)` must be temporarily disabled during the installation procedure. Turn on the robot controller to enter *Normal Operation* mode.