From 30d7e8b0a035a4abaa2ee8fc3d2b7e7b115f16c5 Mon Sep 17 00:00:00 2001 From: gavanderhoorn Date: Mon, 19 Jun 2023 13:34:01 +0200 Subject: [PATCH 1/6] Document 'custom joint name' alarms (8011[55], 8013[12]) --- doc/troubleshooting.md | 43 ++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 43 insertions(+) diff --git a/doc/troubleshooting.md b/doc/troubleshooting.md index 26acfd52..a9cd8143 100644 --- a/doc/troubleshooting.md +++ b/doc/troubleshooting.md @@ -556,6 +556,33 @@ The name must not be blank. After correcting the configuration, the [changes will need to be propagated to the Yaskawa controller](../README.md#updating-the-configuration). +### Alarm: 8011[55] + +*Example:* + +```text +ALARM 8011 + Empty custom joint name +[55] +ALARM 8013 + group: G, axis: A +[12] +``` + +With `G` ∈ `[r1, r2, ..., rN]` or `[b1, b2, ..., bN]` or `[s1, s2, ..., sN]` and `M` ∈ ℕ⁺: `[1, 2, 3, 4, ...]`. + +*Solution:* +Verify the `joint_names` dictionary in the `motoros2_config.yaml` configuration file contains names for all joints across all motion groups. + +Joint names must not be blank and there must be an entry for every joint in a motion group. + +*Note*: MotoROS2 does not support configuring custom joint names for a subset of joints and/or motion groups. +If only a subset of joints should be configured with a custom name, specify the default name for all other joints. + +Refer to [FAQ: Can names of joints be changed?](faq.md#can-names-of-joints-be-changed) for more information about configuring custom joint names. + +After correcting the configuration, the [changes will need to be propagated to the Yaskawa controller](../README.md#updating-the-configuration). + ### Alarm: 8012[xx] *Example:* @@ -732,6 +759,22 @@ Example format: `remap_rules: "joint_states:=my_joint_states read_single_io:=io/ After correcting the configuration, the [changes will need to be propagated to the Yaskawa controller](../README.md#updating-the-configuration). +### Alarm: 8013[12] + +*Example:* + +```text +ALARM 8011 + Empty custom joint name +[55] +ALARM 8013 + group: G, axis: A +[12] +``` + +*Solution:* +This alarm occurs in conjunction with `8011` (subcode `55`), please refer to [Alarm: 8011[55]](#alarm-801155). + ### Alarm: 8014[0] *Example:* From a527bef848f5102f9ffa249a4b2100f462ff4adb Mon Sep 17 00:00:00 2001 From: gavanderhoorn Date: Mon, 19 Jun 2023 14:07:01 +0200 Subject: [PATCH 2/6] Document 'invalid userlan port in cfg' (8013[13]) --- doc/troubleshooting.md | 22 ++++++++++++++++++++++ 1 file changed, 22 insertions(+) diff --git a/doc/troubleshooting.md b/doc/troubleshooting.md index a9cd8143..2ebfbde9 100644 --- a/doc/troubleshooting.md +++ b/doc/troubleshooting.md @@ -775,6 +775,28 @@ ALARM 8013 *Solution:* This alarm occurs in conjunction with `8011` (subcode `55`), please refer to [Alarm: 8011[55]](#alarm-801155). +### Alarm: 8013[13] + +*Example:* + +```text +ALARM 8013 + Invalid UserLan port in cfg +[13] +``` + +*Solution:* +The `userlan_monitor_port` key in the `motoros2_config.yaml` configuration file is set to an invalid value. +LAN port monitoring will be disabled for this session. + +On YRC1000 and YRC1000u, this must be set to either `USER_LAN1` or `USER_LAN2`. + +No other values are supported. + +Example: `userlan_monitor_port: USER_LAN1`. + +After correcting the configuration, the [changes will need to be propagated to the Yaskawa controller](../README.md#updating-the-configuration). + ### Alarm: 8014[0] *Example:* From 8cd11d863ac38bb0b8cbea16f0213d1ecc3d32b9 Mon Sep 17 00:00:00 2001 From: gavanderhoorn Date: Mon, 19 Jun 2023 14:07:25 +0200 Subject: [PATCH 3/6] Document 'userlan port detect failed' (8013[14]) --- doc/troubleshooting.md | 28 ++++++++++++++++++++++++++++ 1 file changed, 28 insertions(+) diff --git a/doc/troubleshooting.md b/doc/troubleshooting.md index 2ebfbde9..c7e04ac3 100644 --- a/doc/troubleshooting.md +++ b/doc/troubleshooting.md @@ -797,6 +797,34 @@ Example: `userlan_monitor_port: USER_LAN1`. After correcting the configuration, the [changes will need to be propagated to the Yaskawa controller](../README.md#updating-the-configuration). +### Alarm: 8013[14] + +*Example:* + +```text +ALARM 8013 + UserLan port detect failed +[14] +``` + +*Solution:* +Because `userlan_monitor_enabled` was set to `true` but no value was supplied for `userlan_monitor_port`, MotoROS2 attempted to auto-detect the LAN port to monitor. +This auto-detection failed, and as a result MotoROS2 has disabled LAN port monitoring for this session. + +To rule out a transient failure, reboot the controller. + +If the alarm is raised again, and if auto-detection is not needed or desired, make sure `userlan_monitor_port` is not commented out (ie: does not have a `#` at the start of the line) and set it to an appropriate value. + +On YRC1000 and YRC1000u, set it to either `USER_LAN1` or `USER_LAN2`, depending on which LAN port is used to connect the controller to the PC running the micro-ROS Agent application. + +If auto-detection is to be used, verify `agent_ip_address` is set to an IP that can be reached by MotoROS2 over the LAN port which is connected to the PC running the micro-ROS Agent application (either directly, or via a default gateway configured on the controller). + +After correcting the configuration, the [changes will need to be propagated to the Yaskawa controller](../README.md#updating-the-configuration). + +If the behavior persists, save a copy of the debug-listener script output and the `PANELBOX.LOG` from the robot's teach pendant. +Open a new issue on the [Issue tracker](https://github.com/yaskawa-global/motoros2/issues), describe the problem and attach `PANELBOX.LOG` and the debug log to the issue. +Include a verbatim copy of the alarm text as seen on the teach pendant (alarm number and `[subcode]`). + ### Alarm: 8014[0] *Example:* From c32963735b85928ba99d2d84ad3814eba12effcd Mon Sep 17 00:00:00 2001 From: gavanderhoorn Date: Mon, 19 Jun 2023 14:21:41 +0200 Subject: [PATCH 4/6] Remove superfluous cfg subcode Should've been removed as part of 7ae447f. --- src/ErrorHandling.h | 1 - 1 file changed, 1 deletion(-) diff --git a/src/ErrorHandling.h b/src/ErrorHandling.h index a11fe231..b13a355b 100644 --- a/src/ErrorHandling.h +++ b/src/ErrorHandling.h @@ -189,7 +189,6 @@ typedef enum SUBCODE_CONFIGURATION_INVALID_CUSTOM_JOINT_NAME, SUBCODE_CONFIGURATION_INVALID_USERLAN_MONITOR_PORT, SUBCODE_CONFIGURATION_USERLAN_MONITOR_AUTO_DETECT_FAILED, - SUBCODE_CONFIGURATION_INVALID_USERLAN_MONITOR_MAX_NUM_DROPS, SUBCODE_CONFIGURATION_RUNTIME_USERLAN_LINKUP_ERR, } CONFIGURATION_SUBCODE; From faa68f484b24ef6c66dda1dcc4fabb048ac4265e Mon Sep 17 00:00:00 2001 From: gavanderhoorn Date: Mon, 19 Jun 2023 14:07:52 +0200 Subject: [PATCH 5/6] Document 'lan monitor fail' (8013[15]) --- doc/troubleshooting.md | 23 +++++++++++++++++++++++ 1 file changed, 23 insertions(+) diff --git a/doc/troubleshooting.md b/doc/troubleshooting.md index c7e04ac3..3a49b276 100644 --- a/doc/troubleshooting.md +++ b/doc/troubleshooting.md @@ -825,6 +825,29 @@ If the behavior persists, save a copy of the debug-listener script output and th Open a new issue on the [Issue tracker](https://github.com/yaskawa-global/motoros2/issues), describe the problem and attach `PANELBOX.LOG` and the debug log to the issue. Include a verbatim copy of the alarm text as seen on the teach pendant (alarm number and `[subcode]`). +### Alarm: 8013[15] + +*Example:* + +```text +ALARM 8013 + LAN monitor fail +[15] +``` + +*Solution:* +MotoROS2 tried to monitor the LAN port configured in `userlan_monitor_port`, but was unable to retrieve link status and as a result has disabled LAN port monitoring for this session. + +To rule out a transient failure, reboot the controller. + +If the alarm is raised again, make sure `userlan_monitor_port` is set to the correct value (ie: the LAN port used to connect the controller to the PC running the micro-ROS Agent application) and is not commented out (ie: does not have a `#` at the start of the line). + +If the configuration file has to be updated, the [changes will need to be propagated to the Yaskawa controller](../README.md#updating-the-configuration). + +If the behavior persists, save a copy of the debug-listener script output and the `PANELBOX.LOG` from the robot's teach pendant. +Open a new issue on the [Issue tracker](https://github.com/yaskawa-global/motoros2/issues), describe the problem and attach `PANELBOX.LOG` and the debug log to the issue. +Include a verbatim copy of the alarm text as seen on the teach pendant (alarm number and `[subcode]`). + ### Alarm: 8014[0] *Example:* From d41ce63c8f6e1a1ae9c607789fb2c3a5419617b8 Mon Sep 17 00:00:00 2001 From: gavanderhoorn Date: Mon, 19 Jun 2023 17:49:18 +0200 Subject: [PATCH 6/6] 8013[12]: rephrase references to groups and axes --- doc/troubleshooting.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/doc/troubleshooting.md b/doc/troubleshooting.md index 3a49b276..50014984 100644 --- a/doc/troubleshooting.md +++ b/doc/troubleshooting.md @@ -569,7 +569,7 @@ ALARM 8013 [12] ``` -With `G` ∈ `[r1, r2, ..., rN]` or `[b1, b2, ..., bN]` or `[s1, s2, ..., sN]` and `M` ∈ ℕ⁺: `[1, 2, 3, 4, ...]`. +Where `G` could be `r1`, `r2`, etc, or `b1`, `b2`, etc or `s1`, `s2`, etc and `A` indicates the specific axis for which the name is empty. *Solution:* Verify the `joint_names` dictionary in the `motoros2_config.yaml` configuration file contains names for all joints across all motion groups.