@andreaskoepf Assuming you still have access to your SDA10D, could you please email me a copy of ALL.PRM and SYSTEM.SYS files. (Please rename the SYSTEM.SYS to SYSTEM.TXT to get past email filters.) There are parameters that control which groups are mapped to the SL-ID slots. I am interested to see how your robot is configured. I don't have a DX SDA to experiment with right now. To save the files from the teach pendant: [Ext Memory] > [Device] > Select CF or USB. [Ext Memory] > [Save] > "Parameter" > "Batch Parameter". [Ext Memory] > [Save] > "System Data" > "System Information". --- [Visit Topic](https://discourse.ros.org/t/using-the-motoman-sda20d-dual-arms-dx100-ros-interface-indigo/4667/25) or reply to this email to respond. If you do not want to receive messages from ros-users please use the unsubscribe link below. If you use the one above, you will stop all of ros-users from receiving updates. ______________________________________________________________________________ ros-users mailing list ros-users@lists.ros.org http://lists.ros.org/mailman/listinfo/ros-users Unsubscribe: