Copy motoman_rr_driver_motoplus.out to the teachpendant USB flash drive, and plug it back.
Boot into Maintenance Mode, go to {MotoPlus APL.} -> {LOAD(USER APPLICATION)}, choose motoman_rr_driver_motoplus.out and hit Enter.
Verify the Motoplus program is loaded by {MotoPlus APL.} -> {FILE LIST(DX)}, make sure motoman_rr_driver_motoplus.out is there.
ping the DX200 controller from PC first to verify direct connection. Acquire and install the proprietary RR driver (>=Python3.11).
python311 -m motoman_robotraconteur_driver --robot-info-file=rpi_waam_testbed.yml --robot-ip-address=192.168.1.31
Motoplus does not handle Fronius welding control, a separate Raspberry Pi is dedicated for this purpose.
Unplug the green Ethernet from DX200 to Fronius, and plug in the Ethernet from Pi to Fronius (shown in yellow circle). ping the Fronius to verify direct connection.
A dedicated E-stop is wired into Pi's GPIO, this function is embeded in my modified Fronius Driver for Pi.
A set of helper function for streaming is in StreamingSend, packeged within convergent_manufacturing_utils.
Refer to Spiral Cylinder Welding as example.