ROS-i: Motoman FS100 - Connection Refused Errorno #111
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.
That error essentially means that at the TCP/IP level,
motoman_driveris unable to setup a connection to eithertcp://10.0.0.4:50241ortcp://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.And an observation:
as
motoman_driverandfanuc_driver/fanuc_driver_expvirtually 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.Reconfirmed ping 10.0.0.4, then sent
nc 10.0.0.4 50241. No output. Triednc 10.0.0.4 50240, also no output.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?
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.
No, you shouldn't need to manually start anything.
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.outand 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 USEDandmove cursor down to MOTOMAN DRIVER and set to ...(more)Confirmed all steps under Section 2.4.2 - FS100, DX200 and YRC were completed.
Attempting .out file changes now.
Shortened file name & relaunched. No change in output.
While controller was on, used
telnet 10.0.0.4to open a connection to the FS100. Was prompted to input User & Pass for WindowsCE Telnet ServiceWas 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?