Ask Your Question
0

motoman_driver: failure to write to address 30035

asked 2020-10-12 11:21:02 -0500

seandburke99 gravatar image

updated 2022-01-22 16:10:48 -0500

Evgeny gravatar image

I have the latest motoman driver and I am able to write to the general purpose IO (address #10010, etc) but when I try to write to my external IO board (which is what my eef is controlled by ) the ASF01 which is address 30035, I am met with an error message. I am assuming this has something to do with the permissions of writing to external IO so I am wondering if anyone knows a way to solve this issue?

edit retag flag offensive close merge delete

2 Answers

Sort by » oldest newest most voted
0

answered 2020-10-12 12:37:26 -0500

seandburke99 gravatar image

updated 2020-10-12 12:38:24 -0500

For those interested, you cannot write to the external output directly but OUT#9-16 (general purpose output group 2) is mirrored in CN306 (the labelled breakout board in the controller, for me its a yrc1000) to give you control to the addresses 30040-7. This is NPN and what I am using as a relay to control my eef.

edit flag offensive delete link more
0

answered 2020-10-12 12:03:47 -0500

gvdhoorn gravatar image

updated 2020-10-12 12:05:25 -0500

Just making sure: have you read the comments in the .srv definition?

Quoting them here (from motoman_msgs/srv/WriteSingleIO.srv):

# Only the following addresses can be written to:
#
#  - 27010 and up : Network Inputs (25010 and up on DX100 and FS100)
#  - 10010 and up : Universal/General Outputs

It's likely the address you mention is not directly writable.

This is not a limitation in the driver, but of the controller and/or the MotoPlus API.

You may be able to setup a relay between the addresses you can write to and the ones you need to control.

edit flag offensive delete link more

Comments

Perhaps @millete can add something here.

gvdhoorn gravatar image gvdhoorn  ( 2020-10-12 12:05:16 -0500 )edit

@gvdhoorn Thanks for the info, completely spaced as usual on checking for constraints. I've figured out a workaround though

seandburke99 gravatar image seandburke99  ( 2020-10-12 12:34:18 -0500 )edit

We're going to improve the error message for this one specifically. See ros-industrial/motoman#360.

Could you describe your work-around?

gvdhoorn gravatar image gvdhoorn  ( 2020-10-12 12:37:04 -0500 )edit

Your Answer

Please start posting anonymously - your entry will be published after you log in or create a new account.

Add Answer

Question Tools

1 follower

Stats

Asked: 2020-10-12 11:21:02 -0500

Seen: 166 times

Last updated: Oct 12 '20