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Created a package for the new robot to the driver motoman_driver.
I'm not sure I understand completely what you mean with this, but from the error you quote it would appear that the configuration on the ROS side is incomplete.
It's underdocumented (and I've logged ros-industrial/motoman#180 because of that), but for a single group robot, you should set the controller_joint_names parameter. This is mentioned in the Using the Motoman FS/DX ROS Interface tutorial, in the Joint Naming section.
As an example, see the joint_names_mh5.yaml file in the motoman_mh5_support package. Such a yaml file typically gets loaded by the launch file that launches the driver launch file (such as launch/robot_interface_streaming_mh5.launch).
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