PRODUCT BULLETIN

100 Automation Way

Product: MotoROS
Miamisburg, OH 45342 Release Date: 7/25/14
937.847.6200
www.motoman.com Part Number: Description:
info@motoman.com 180014-1 MotoROS Runtime, DX100
190751-1 MotoROS Runtime, DX200, FS100, YRC1000, YRC1000micro
NOTE: Instructions for enabling software are available online:
http://wiki.ros.org/motoman_driver/Tutorials/indigo/InstallServer

Description:
MotoROS is the robot controller driver which enables a ROS-Industrial (ROS-I) node to
directly control the motion of Motoman® robots.
ROS-I is an open-source project that extends the advanced capabilities of the
Robot Operating System (ROS) software to industrial applications. This is combined with the
open-source MoveIt! project for state-of-the-art development of advanced robotic applications.
(See the ROS-Industrial, MoveIt! and MotoROS diagram below.)
MotoROS

©2020 YASKAWA AMERICA, INC. The information within this document is the proprietary property of Yaskawa America, Inc., Motoman Robotics Division, and may not
MOTOMAN ROBOTICS DIVISION be copied, reproduced or transmitted to other parties without the expressed written authorization of Yaskawa Motoman. Technical
FEBRUARY 2020, PB-393-H specifications are subject to change without notice.
 PRODUCT BULLETIN
Page 2 of 2 Features:
The ROS / ROS-I stack:
• Advanced 2-D (image) and 3-D (point cloud) perception
• Rich toolset for development, simulation and visualization
• Unstructured applications that include advanced perception for identifying robot workpieces
as opposed to hard tooling
• Model-based approaches that permit automated programming for thousands of unique
CAD parts
• Applying abstract programming principles to similar tasks (useful in low-volume
applications or with slight variations in workpieces)
The MoveIt! stack:
• General forward and inverse kinematics
• Dynamic path planning based on advanced perception and models
• Collision-free paths are automatically calculated given path-end points
MotoROS:
• Motoman motion driver which listens for commands from ROS-I and drives the manipulator
Compatibility:
MotoROS

Requires Linux PC running ROS-Industrial node.

• DX100 – MotoPlus™-enabled controller software required, DS3.91.00-14 or higher
• FS100 – Standard controller software, FS3.30.00-00 or higher
• DX200 – Standard controller software, DN2.21.00-00 or higher
• YRC1000 – Standard controller software, YAS2.80.00-00 or higher
• YRC1000micro – Standard controller software, YBS2.30.00-00 or higher

Optional Equipment:
All source code is publically posted in the ROS-I repositories (rosindustrial.org).
MotoPlus SDK is only required to add new features or make changes to the MotoROS motion
driver. Changes to ROS, ROS-I or MoveIt! on the Linux PC do not require MotoPlus SDK.

Part Number Description

169272-1 MotoPlus SDK for Visual Studio, DX100
169272-2 MotoPlus SDK for Visual Studio, DX200
169272-3 MotoPlus SDK for Visual Studio, FS100
169272-4 MotoPlus SDK for Visual Studio, YRC1000
169272-5 MotoPlus SDK for Visual Studio, YRC1000micro

©2020 YASKAWA AMERICA, INC. The information within this document is the proprietary property of Yaskawa America, Inc., Motoman Robotics Division, and may not
MOTOMAN ROBOTICS DIVISION be copied, reproduced or transmitted to other parties without the expressed written authorization of Yaskawa Motoman. Technical
FEBRUARY 2020, PB-393-H specifications are subject to change without notice.