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ROS-i: Motoman FS100 - Connection Refused Errorno #111

asked 2020-02-25 08:09:10 -0500

acbuynak gravatar image

updated 2020-02-25 09:26:05 -0500

Hello!

I am getting an error when attempting to connect my Yaskawa Motoman MH5 robot w/ FS100 Controller to my ROS Linux system. I am using a direct ethernet connection from the computer to the controller.

SETUP
ROS Melodic w/ Dashing bridge running on Unbuntu 18.04 LTS. Bionic.
Full Desktop Install. Some package additions, but mostly default configuration.

Installed MotoPlus server code following tutorial: https://wiki.ros.org/motoman_driver/T...
- Used PreBuilt Binary
- Successfully loaded Inform Job via Standard Pendant
- Set input #82015 on FS100 "CMD REMOTE SEL" to "ON"

USAGE ATTEMPT
Following tutorial at https://wiki.ros.org/motoman_driver/T...
- Set Pendant to "REMOTE" mode.
- Manually set computer's IP & Subnet mask.
- Confirmed connection by pinging robot's IP address (10.0.0.4). Received full packet return at an average of ~1.0 ms latency.

Called
roslaunch motoman_mh5_support robot_interface_streaming_mh5.launch robot_ip:="10.0.0.4" controller:="fs100"

Error
[ERROR] [_ . _]: Failed to connect to server, rc: -1. Error: 'Connection refused' (errno: 111)


*I also attempted the robot_state_visualize_mh5.launch command to find the same error.

Updates:
- Removed 'similar related errors' section. Deemed unrelated.

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Comments

That error essentially means that at the TCP/IP level, motoman_driver is unable to setup a connection to either tcp://10.0.0.4:50241 or tcp://10.0.0.4:50240. In many cases this means that the MotoPlus application is actually not running on the controller.

What is the output of nc 10.0.0.4 50241? If it's the same error, the application is not running. If it's gibberish, at least the state server works.

gvdhoorn gravatar image gvdhoorn  ( 2020-02-25 09:14:56 -0500 )edit

And an observation:

Similar Related Errors

On Fanuc Robots: https://github.com/ros-industrial/fan...

as motoman_driver and fanuc_driver/fanuc_driver_exp virtually share no code, other than the fact that the user in that case could not get his driver to connect, I don't believe these two cases are related.

gvdhoorn gravatar image gvdhoorn  ( 2020-02-25 09:17:45 -0500 )edit

Reconfirmed ping 10.0.0.4, then sent nc 10.0.0.4 50241. No output. Tried nc 10.0.0.4 50240, also no output.

acbuynak gravatar image acbuynak  ( 2020-02-25 09:24:08 -0500 )edit

Then it's likely the MotoPlus application isn't actually running.

You do have all the prerequisites? Check wiki/motoman_driver. Did you see any errors or warnings when you loaded the MotoPlus application?

gvdhoorn gravatar image gvdhoorn  ( 2020-02-25 09:28:53 -0500 )edit

Does the MotoPlus application (MotoROS) need to be manually initiated from the pendant? I confirmed all prerequisites are met (controller software) and rechecked everything was installed per the server code install tutorial. I confirmed that the MotoRosFS_190.out was listed under the MotoPlus APL file list. We do have MotoPlus SDK, though I have not used it for this install as I used the prebuilt binaries.

acbuynak gravatar image acbuynak  ( 2020-02-25 09:45:06 -0500 )edit

No, you shouldn't need to manually start anything.

I confirmed that the MotoRosFS_190.out was listed under the MotoPlus APL file list.

It's been a long time since I've used FS100 controllers, but you may try to shorten the filename on that .out.

Try removing what you have installed, and then copy a version with a name such as motoros190.out and see if that works. No guarantees and just a test, obviously.

If that doesn't work, I'd suggest making sure the telnet server is enabled and then connecting to the controller while it's booting. That should show you some startup information coming from MotoROS.

Just making sure: you have executed all steps under the FS100, DX200, and YRC section in the installation tutorial? Especially the move to MotoPlus FUNC., set this to USED and move cursor down to MOTOMAN DRIVER and set to ...(more)

gvdhoorn gravatar image gvdhoorn  ( 2020-02-25 09:49:33 -0500 )edit

Confirmed all steps under Section 2.4.2 - FS100, DX200 and YRC were completed.
Attempting .out file changes now.

acbuynak gravatar image acbuynak  ( 2020-02-25 09:57:52 -0500 )edit

Shortened file name & relaunched. No change in output.
While controller was on, used telnet 10.0.0.4 to open a connection to the FS100. Was prompted to input User & Pass for WindowsCE Telnet Service
Was unable get a response from controller while launching using telnet. I am not very familiar with this technique, do you have any specific guidance on how to display startup info?

acbuynak gravatar image acbuynak  ( 2020-02-25 11:25:28 -0500 )edit

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answered 2020-02-25 13:17:32 -0500

acbuynak gravatar image

updated 2020-02-25 13:21:49 -0500

There are many potential causes to the error: Failed to connect to server, rc: -1. Error: 'Connection refused' (errno: 111)

My issue was accidentally using the Teach Pendant's (TP) IP Address while overwriting the Controller's IP as that of my Linux machine.

Suggested Steps for connecting to controller using a direct computer-to-controller connection:
- Check the Controller (host) IP address and Subnet mask of your controller under System Info>Network
- Check the Teach Pendants IP address and Subnet mask
- Setup your computer's network connection as a static IP address. Select a DIFFERENT IP address than that of the Controller and Teach Pendant.
- Be sure to use the SAME SUBNET MASK as the controller!! This is often 255.255.255.0

The Yaskawa Motoman FS100 Controller has the following defaults:
Controller IP: 10.0.0.2
Teach Pendant IP: 10.0.0.4
Subnet Mask: 255.255.255.0

If you are new to using TCP/IP... I would suggest reading this article by Microscoft.

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Comments

Pedantic, but:

There are many potential causes to the error: Failed to connect to server, rc: -1. Error: 'Connection refused' (errno: 111)

no, there really is only one cause: trying to connect to a port which is not open on a specific IP.

gvdhoorn gravatar image gvdhoorn  ( 2020-02-25 13:57:56 -0500 )edit

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Asked: 2020-02-25 08:09:10 -0500

Seen: 33 times

Last updated: Feb 25