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Issue 11: Motoman DX100 trajectory downloading fails in motoplus
1 person starred this issue and may be notified of changes. Back to list
Status:  Fixed
Owner:  shaun.ed...@gmail.com
Closed:  Sep 2013


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Project Member Reported by shaun.ed...@gmail.com, Mar 22, 2012
Trajectory downloading to the DX100 controller fails because the controller does not allow job loading when the controller is in "teach" mode.

To overcome this, the teach/play keyswitch must be toggled from within Motoplus.  Below is motoman's recommendation on how to do this.

WARNING: THIS MAY BE CONSIDERED UNSAFE IF IT DIABLES THE KEY SWITCH (I BELIEVE THE KEY/MODE SWITCH IS REQUIRED BY SAFTEY STANDARDS.

You should be able to set CIO signal #40040 to set the robot to TEACH mode. Then #40041 to switch back to PLAY.
However, from M+, you can only write to NETWORK INPUTS #25xxx. So, you need to modify the CIO.LST (ladder) in the robot.  
(Replace #25010 and #25011 with your chosen network-input signals that you set from motoplus)
STR #25010
AND-NOT #25011
OUT #40040
STR #25011
AND-NOT #25010
OUT #40041


Mar 22, 2012
Project Member #1 shaun.ed...@gmail.com
(No comment was entered for this change.)
Summary: Motoman DX100 trajectory downloading fails in motoplus
Labels: -Type-Defect Type-Enhancement Package-Motoman
Sep 5, 2013
Project Member #2 shaun.ed...@gmail.com
These issues have been corrected or made obsolete with the backporting of the fs100 driver to the dx100.  See here: https://github.com/ros-industrial/motoman/pull/14
Status: Fixed
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