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When I am starting controller in teach pendent I get Alarm like,

MotoROS: Controller cfg invalid
  [102]

But when I reset this alarm, it goes. is this a problem?

yes, this is most likely a problem.

Did you order the runtime license as was clarified in #q316165?

If so, I believe Yaskawa should also have updated your controller configuration with the necessary parameters to be able to run MotoROS on your DX100. If that hasn't happened -- or wasn't done correctly -- I believe you can run into errors such as the one you show.

As is stated under the Requirements - MotoPlus Runtime License section (emphasis mine):

The MotoROS application and source is available for public download. However, ordering this part number will ensure your controller is updated with correct system software, the MotoROS driver is installed, and all internal parameters are properly configured.

Can you confirm you've had your controller configuration updated for MotoROS?

When I am starting controller in teach pendent I get Alarm like,

MotoROS: Controller cfg invalid
  [102]

But when I reset this alarm, it goes. is this a problem?

yes, this is most likely a problem.

problem. From the Troubleshooting section on error 8003:

Your robot controller requires internal configuration changes to support the MotoROS driver.

For DX100: Please contact your local Yaskawa Motoman office to order the MotoROS runtime. In North/South America, the part number for this configuration is 180014-1. In Europe, the part number for this configuration is 171403.

Did you order the runtime license as was clarified in #q316165?

If so, I believe Yaskawa should also have updated your controller configuration with the necessary parameters to be able to run MotoROS on your DX100. If that hasn't happened -- or wasn't done correctly -- I believe you can run into errors such as the one you show.

As is stated under the Requirements - MotoPlus Runtime License section (emphasis mine):

The MotoROS application and source is available for public download. However, ordering this part number will ensure your controller is updated with correct system software, the MotoROS driver is installed, and all internal parameters are properly configured.

Can you confirm you've had your controller configuration updated for MotoROS?