Industrial/supported

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Contents

Supported Hardware
Notes

Supported Hardware

It is the goal of the ROS-Industrial program to provide ROS interfaces to many different kinds of industrial equipment, including PLCs, Robot Controllers, Servos, Human Machine Interfaces, IO Networks, etc. As these interfaces become available, they will be documented here.

Industrial Robots

The table below summarizes level of support for various robot interfaces. All interfaces make use of commercially available options (although the required options may be available at additional cost). Because each vendor exposes different functional interfaces, the capability of each can differ. This is noted where significant limitations are present. For more detailed information please see the associated stack/package documentation.

Definitions

Position Streaming	Joint positions are streamed to the controller. Move velocity is fixed by the controller. (This method is often the easiest to set up because much of the controller interpolation is maintained)
Trajectory Downloading	A full trajectory of joint positions is downloaded to the controller. The trajectory includes velocity constraints which are adhered to by the controller
Trajectory Streaming	This is very similar to Position Streaming, except that trajectory velocity constraints are adhered to by the controller
Torque Control	Direct torque commands are sent to the controller. This is a real-time interface (not yet supported within ROS)
Arm Nav. Pkg	Robot specific geometry must be defined in an assoicatiated arm navigation package. This information is used for path planning purposes and collision checking. While these are created for each robot model, they must be recreated for entire robot cells (This is not difficult, see this tutorial)>>

Position Streaming	Joint positions are streamed to the controller. Move velocity is fixed by the controller. (This method is often the easiest to set up because much of the controller interpolation is maintained)
Trajectory Downloading	A full trajectory of joint positions is downloaded to the controller. The trajectory includes velocity constraints which are adhered to by the controller
Trajectory Streaming	This is very similar to Position Streaming, except that trajectory velocity constraints are adhered to by the controller
Torque Control	Direct torque commands are sent to the controller. This is a real-time interface (not yet supported within ROS)
MoveIt Pkg	Robot specific geometry must be defined in an associated manipulator package. This information is used for path planning purposes and collision checking. While these are created for each robot model, they must be recreated for entire robot cells (This is not difficult, see this tutorial)

Supported Hardware Table

Vendor	Controller(s)	Position Streaming	Trajectory Downloading	Trajectory Streaming	Torque Control	Manipulator	Arm Nav. Pkg
Motoman	DX100	YES ¹	NO	NO	NO	SIA10D	YES
						SIA20D	YES
						Other DX 100 Compatible	NO ²
Adept	CX, CS	YES ³	NO	NO	NO	Viper 650	YES

Vendor	Controller(s)	Position Streaming	Trajectory Downloading	Trajectory Streaming	Torque Control	Manipulator	Arm Nav.	MoveIt Pkg
ABB	IRC5	NO	YES	NO	NO	IRB-2400	YES	NO
ABB	IRC5	NO	YES	NO	NO	IRB-5400	YES	NO
Adept	CX, CS	YES ³	NO	NO	NO	Viper 650	YES	NO
Fanuc	R-30iA	YES⁴	NO	NO	NO	LR Mate 200iC(/5H)	NO	YES ⁵
						M-10iA	YES	YES ⁵
						M-16iB/20	YES	YES ⁵
						M-20iA(/10L)	NO	YES ⁵
						M-430iA/(2F, 2P)	YES	YES ⁵
						Other	NO ⁶	NO ⁷
Motoman	DX100	YES ¹	NO	NO	NO	SIA10D	YES	NO
						SIA20D	YES	NO
						Other	NO ⁶	NO ⁷
Universal Robot	UR 5	YES ⁸	NO	NO	NO	UR 5	YES	YES

Vendor	Controller(s)	Position Streaming	Trajectory Downloading	Trajectory Streaming	Torque Control	Manipulator	Arm Nav.	MoveIt Pkg
ABB	IRC5	NO	YES	NO	NO	IRB-2400	YES	NO
						IRB-5400	YES	NO
Adept	CX, CS	YES ³	NO	NO	NO	Viper 650	YES	NO
Fanuc	R-30iA / R-30iB	YES⁴	NO	NO	NO	LR Mate 200iC (all)	NO	YES
						LR Mate 200iD	NO	YES ⁵
						M-10iA	NO	YES
						M-16iB/20	YES	YES
						M-20iA(/10L)	NO	YES
						M-430iA/(2F, 2P)	YES	YES
						M-900iA/260L ⁵	NO	NO
						Other	NO ⁶	NO ⁷
Motoman	DX100	YES ¹	NO	NO ⁹	NO	SIA10D/F	YES	NO
						SIA20D/F	YES	NO
	FS100	NO	NO	YES	NO	MH5F	NO	YES
						Other	NO ⁶	NO ⁷
Universal Robot	CB2/CB3 ¹⁰	YES ⁸	NO	NO	NO	UR 5	NO	YES
						UR 10	NO	YES

Vendor	Controller(s)	Position Streaming	Trajectory Downloading	Trajectory Streaming	Torque Control	IO Control	Manipulator	MoveIt Pkg
ABB	IRC5	NO	YES	NO	NO	NO	IRB-2400	YES
ABB	IRC5	NO	YES	NO	NO	NO	IRB-5400	NO
Adept	CX, CS	YES ³	NO	NO	NO	NO	Viper 650	NO
Fanuc	R-30iA / R-30iB	YES⁴	NO	NO	NO	NO	LR Mate 200iC (all)	YES
							LR Mate 200iD	YES ⁵
							M-10iA	YES
							M-16iB/20	YES
							M-20iA(/10L)	YES
							M-430iA/(2F, 2P)	YES
							M-900iA/260L ⁵	NO
							Other	NO ⁷
Motoman	DX100	NO	NO	YES	NO	YES¹¹	SIA10D/F	NO
	FS100	NO	NO	YES	NO	YES¹¹	SIA20D/F	YES
	DX200	NO	NO	YES	NO	YES¹¹	MH5F	YES
	YRC1000	NO	NO	YES	NO	YES¹¹	SDA10F	YES
	YRC1000	NO	NO	YES	NO		Other	NO ⁷
Universal Robot	CB2/CB3 ¹⁰	YES ⁸	NO	NO	NO	YES ¹²	UR 5	YES
Universal Robot	CB2/CB3 ¹⁰	YES ⁸	NO	NO	NO	YES ¹²	UR 10	YES

Grippers

No industrial-specific gripper drivers are provided in the Electric release. Gripper control can be manually implemented using raw EtherCAT I/O as described below.

No industrial-specific gripper drivers are provided in the Fuerte release. Gripper control can be manually implemented using raw EtherCAT I/O as described below.

While most grippers are quite simple and can be addressed using standard IO Networks, some are more complex. Complex grippers, which benefit from ROS grasp planning capability, require hardware specific drivers.

Definitions

Grasp Hand
Posture Action

The object_manipulation_msgs/GraspHandPostureExecutionAction is an action interface that is used by higher level grasp planning software. Grippers that support this interface can be easily integrated into the grasp planning pipeline.

Supported Hardware Table

Vendor	Model(s)	Grasp Hand Posture Action
Robotiq	S-Model	NO

IO Networks

Networked input/output are commonly found in industrial applications. Support for these specialized networks within ROS-Industrial does not exist. However, outside stacks are available. We recommend the Simple Open EtherCAT Master stack. See implementation notes.

In the Motoman stack, limited support for controlling basic I/O has been implemented. This can be used for general gripper control. However, this custom control message is not compatible with standard industrial Fieldbus protocols. Additional hardware may be required for Fieldbus protocols.

Notes

Limited to <20% speed (1 2 3)
User must generate packages (4)
Limited to <70% speed (5 6 7 8)
Hardcoded/fixed velocity only (9 10 11)
Experimental package, see fanuc_experimental (12 13 14 15 16 17 18 19 20)
User must generate Arm Nav packages (21 22 23 24)
User must generate MoveIt packages (25 26 27 28 29 30)
Full speed motion? (31 32 33)
User must port FS100 motion driver to DX100. Will still be limited to 25-35% speed (34)
Check universal_robot page for Polyscope version compatibility (35 36)
Controller specific implementation may require custom code (37 38 39 40)
Partial / Experimental (41)