From 10d8f00317c5d4ef7960627962337bf72e2ba817 Mon Sep 17 00:00:00 2001 From: gavanderhoorn Date: Thu, 1 Feb 2024 14:35:32 +0100 Subject: [PATCH] readme: list (in)compatibility with specific controller features --- README.md | 29 ++++++++++++++++++++--------- 1 file changed, 20 insertions(+), 9 deletions(-) diff --git a/README.md b/README.md index 41621568..d267552e 100644 --- a/README.md +++ b/README.md @@ -50,6 +50,7 @@ The following sections document how to download, install, configure, use and tro - [General Requirements](#general-requirements) - [Checking the system software version](#checking-the-system-software-version) - [Checking MotoPlus configuration](#checking-motoplus-configuration) +- [Option Function compatibility](#option-function-compatibility) - [Download](#download) - [Downloading the files](#downloading-the-files) - [Extracting the files](#extracting-the-files) @@ -82,7 +83,6 @@ The following sections document how to download, install, configure, use and tro - [No support for partial goals](#no-support-for-partial-goals) - [Upper limit to publishing frequency](#upper-limit-to-publishing-frequency) - [Incorrect transform tree origin with multi-robot setups](#incorrect-transform-tree-origin-with-multi-robot-setups) - - [Not compatible with Simple Connect](#not-compatible-with-simple-connect) - [Memory leak](#memory-leak) - [Provisional roadmap](#provisional-roadmap) - [Frequently Asked Questions](#frequently-asked-questions) @@ -126,6 +126,25 @@ Use the following steps to verify MotoPlus has been correctly configured for Mot 1. move to `MotoPlus FUNC.`, make sure it is set to `USED`. If it isn't, set it to `USED` 1. move cursor down to `MOTOMAN DRIVER` and make sure it is set to `USED`. If it isn't, set it to `USED` +## Option Function compatibility + +The current version of MotoROS2 (`0.1.2`) is ***not*** compatible with the following Option Function(s) and/or other MotoPlus application(s): + +- Simple Connect + + *Simple Connect* is an application installed by Yaskawa America to manage peripheral equipment in a robotic work cell. + It is primarily installed on robots that were purchased with an arc-welding configuration. + This application is not compatible with MotoROS2 at this time and must be removed to run MotoROS2. + +- Absolute Accuracy Compensation + + This feature improves accuracy of supported robots when performing Cartesian motions from INFORM jobs. + MotoROS2 currently does not support Cartesian motion and therefore can't benefit from *Absolute Accuracy Compensation*. + Please refer to [Yaskawa-Global/motoros2#206](https://github.com/Yaskawa-Global/motoros2/issues/206) for an investigation into the compatibility of MotoROS2 with controllers with *Absolute Accuracy Compensation* enabled. + +Please post questions about compatibility of MotoROS2 with specific controller features, Option Functions and/or MotoPlus applications in the [Discussion](https://github.com/Yaskawa-Global/motoros2/discussions/categories/q-a) forum. +Include information on the specific controller and robot model, as well as system software version and information on the MotoPlus application and/or controller feature in question. + ## Download ### Downloading the files @@ -784,14 +803,6 @@ Refer to the relevant Yaskawa Motoman documentation for more information on how After robot-calibration, the transform between the shared `world` frame and each robot's `base` frame will be known, and MotoROS2 will include it in the transforms it broadcasts. -### Not compatible with Simple Connect - -**Description**: *Simple Connect* is an application installed by Yaskawa America to manage peripheral equipment in a robotic work cell. -It is primarily installed on robots that were purchased with an arc-welding configuration. -This application is not compatible with MotoROS2 at this time. - -**Work-around**: none at this time. Simple Connect must be removed to run MotoROS2. - ### Memory leak **Description**: there is a small memory leak which occurs each time the micro-ROS Agent disconnects from the controller.