Yaskawa Driver#
The Jacobi Yaskawa Driver connects with a MotoPlus application running on the robot controller. Our driver builds upon the ROS Industrial Motoman driver, so feel free to look there for further details.
Driver Installation#
To install the Jacobi driver, either download the Debian package from account.jacobirobotics.com or install the Python package via
pip install jacobi-yaskawa-driver
Robot Setup#
Installing on a YRC1000micro Controller#
Download the MotoPlus file, the JOB file, and the IO file from here.
Install the MotoROS MotoPlus Application
MotoRosYRC1u_*.out
. For that:Bring the controller into MAINTENANCE MODE. For that, restart the controller and press the MAIN MENU button while turning on.
Connect a USB drive with the MotoROS MotoPlus App file (*.out).
Set the security mode to [Menu] -> [Security] -> [Management]. The default password is 9999999999999999 (just keep 9â pressed).
Go to [Menu] -> [System Settings] -> [Controller] -> [MOTOPLUS APPLICATIONS].
Press [ADD], and select the MotoROS Application to install it. Make sure that it reads the files from the correct USB input.
Copy the
INIT_ROS.JBI
JOB file to the controller.Copy the
IONAME.DAT
file to controller.Set the correct controller configuration:
Go to [Setup] -> [Operate Cond] -> [Cycle Switch In xxxx Mode].
Change all [Cycle Switch In xxxx Mode] to CYCLE.
Restart the controller to bring it into NORMAL MODE again.
Examples#
Here, you can find several examples of using the Driver alongside the Jacobi Motion library.
Troubleshooting#
Useful links and documents for troubleshooting:
Installation instructions for the Motoman ROS driver.
Get Documentation from Smart Pendant:
[MENU] -> [System Settings] -> [General]
At Boundled Resources select Documentation, then touch [EXPORT]
License Attributions#
This software depends on included third-party libraries that require reproduction of the license text in our distributions.