motoman_driver: failure to write to address 30035

asked 2020-10-12 11:21:02 -0600

seandburke99
38 ●6 ●10 ●10

updated 2022-07-24 11:06:06 -0600

8729 ●137 ●239 ●256 https://github.com/lucasw

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?

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answered 2020-10-12 12:03:47 -0600

gvdhoorn
86574 ●283 ●1432 ●1054 http://cor.tudelft.nl/

updated 2020-10-12 12:05:25 -0600

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.

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Perhaps @millete can add something here.

gvdhoorn ( 2020-10-12 12:05:16 -0600 )edit

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

seandburke99 ( 2020-10-12 12:34:18 -0600 )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 ( 2020-10-12 12:37:04 -0600 )edit

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answered 2020-10-12 12:37:26 -0600

seandburke99
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updated 2020-10-12 12:38:24 -0600

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.

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motoman_driver: failure to write to address 30035

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