[ros-users] [Discourse.ros.org] [ROS-Industrial] Integration of 6-axis manipulator and 2-axis positioner (external axes)

gavanderhoorn via Discourse.ros.org ros.discourse at gmail.com
Thu Feb 28 20:47:44 UTC 2019

@tdl-ua: can you describe the configuration of the Yaskawa controller? How are all the axes configured there? Two groups (one for the 6 axes of the robot, the turntable in another)?

If this is setup as a multi-group system, then you need to configure `motoman_driver` for that. I can't be certain that you've done that from the description you've given here and the packages that you've made available.

Just to make sure: refer to [this tutorial](http://wiki.ros.org/motoman_driver/Tutorials/Creating%20a%20Dual-Arm%20System) for an example configuration file (note: the title says "dual arm system", but the idea is the same for any multi-motion group setup).

Do note that there are (still) some issues with such setups. Be sure to check the `ros-industrial/motoman` issue tracker.

[Visit Topic](https://discourse.ros.org/t/integration-of-6-axis-manipulator-and-2-axis-positioner-external-axes/7931/8) or reply to this email to respond.

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