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The yaskawa CSDA 10F(dual arm robot) looks very similar to the Motoman SDA 10F. They also use the same controller FS100. I would like to know if I can integrate ROS with it? If so can I use the motoman_driver for the integration. and how do I go about it ?
Although we have never tested the clean room robots with the MotoROS driver, I don't know of any software changes from a standard FS100 controller. I fully expect that the CSDA should be fully compatible.
As gvdhoorn mentioned, you will need part # 167352-1 installed on your controller to ensure the software is properly configured to support the MotoROS driver. This is a Yaskawa America part number, so it can be ordered by contacting techsupport@motoman.com or +1 937 847 3200. If you are outside of North/South America, your local office might have an equivalent part number (but you can still contact the US office).
Additionally, as gvdhoorn mentioned, you will need a proper URDF file for this robot. Unfortunately, I am having trouble locating the data sheets for the CSDA10F, as I don't think we have sold this particular arm in the US. I recommend that you compare the dimensions of your arm to the standard SDA10F datasheet here: https://cdn2.hubspot.net/hubfs/366775... If you require more detailed drawings, please request these from the Tech Support team.
-Yaskawa America Inc, Motoman Robotics Division
From what I have noticed apart from the difference in the coatings for the clean room application, there doesnt seem to be much of a difference. In that case can I just use the URDF and move it package form the SDA 10F?I have also contacted techsupport for the MotoROS software package. Thanks a ton
Thank you, I will do that. I only see small 2cm changes in links of the arms, I will redo them. One last silly question, here I only have access to 32 bit Ubuntu 14.04.5 LTS on a Virtual Machine. Is that acceptable or are there a few things i should be wary of? Thanks a lot for your quick responses
Please keep us informed of your progress.
Also: if you have an updated URDF for the CSDA10, I would appreciate it if you would consider contributing that to the ROS-Industrial motoman_experimental repository.
Asked: 2016-12-07 09:08:01 -0500
Seen: 481 times
Last updated: Dec 07 '16
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First thing to make sure is whether you have / can get
167352-1on the controller. That is a hard requirement. Apart from the driver, it'd also need a proper URDF for the CSDA10. I haven't checked, but it could be that joint limits are different from the standard SDA10.