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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/Blog_Robots/SDA10F.pdf?t=1481054766982 If you require more detailed drawings, please request these from the Tech Support team.
-Yaskawa America Inc, Motoman Robotics Division
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