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Is there support the Yaskawa CSDA 10f (dual arm robot) with ROS?

asked 2016-12-07 09:13:15 -0500

motoman gravatar image

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 ?

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First thing to make sure is whether you have / can get 167352-1 on 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.

gvdhoorn gravatar image gvdhoorn  ( 2016-12-07 09:30:01 -0500 )edit

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answered 2016-12-07 10:09:50 -0500

millete gravatar image

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 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: If you require more detailed drawings, please request these from the Tech Support team.

-Yaskawa America Inc, Motoman Robotics Division

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Link to European page about the CSDA10F: here.

gvdhoorn gravatar image gvdhoorn  ( 2016-12-07 10:27:00 -0500 )edit

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

motoman gravatar image motoman  ( 2016-12-08 02:39:05 -0500 )edit

You could perhaps use the URDF, but the link geometry seems to be rather different compared to the SDA10. You should probably at least re-do the meshes.

gvdhoorn gravatar image gvdhoorn  ( 2016-12-08 02:40:48 -0500 )edit

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

motoman gravatar image motoman  ( 2016-12-08 03:26:20 -0500 )edit

VMs are known not too work too well, especially not when doing visualisation-intensive things (RViz, Gazebo, etc). For simple robot models and tasks it may work, but you might run into issues. A dual-boot is highly recommended.

gvdhoorn gravatar image gvdhoorn  ( 2016-12-08 03:43:38 -0500 )edit

Thanks a ton guys .

motoman gravatar image motoman  ( 2016-12-13 02:17:09 -0500 )edit

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.

gvdhoorn gravatar image gvdhoorn  ( 2016-12-13 02:37:18 -0500 )edit

Yes I will for sure. I will also add the URDF on the above mentioned repository when I am done with it.

motoman gravatar image motoman  ( 2016-12-13 05:23:29 -0500 )edit

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Asked: 2016-12-07 09:08:01 -0500

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Last updated: Dec 07 '16