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#

  1. Download the MotoPlus file, the JOB file, and the IO file from here.

  2. 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 9’ 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.

  3. Copy the INIT_ROS.JBI JOB file to the controller.

  4. Copy the IONAME.DAT file to controller.

  5. Set the correct controller configuration:

    • Go to [Setup] -> [Operate Cond] -> [Cycle Switch In xxxx Mode].

    • Change all [Cycle Switch In xxxx Mode] to CYCLE.

  6. 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:

License Attributions#

This software depends on included third-party libraries that require reproduction of the license text in our distributions.