Issue with SRAM Initialization on YRC1000 - ERROR 4120

[ivanrulik]

Robot side

• Controller: Yaskawa YRC1000
• Firmware: YAS4.5.0
• MotoROS2 version: v0.2.1

External computer

• OS: Ubuntu 24.04 LTS
• ROS2: ROS2 Humble (Docker)

Summary

I am reporting an issue that is happening on 3 out of my 12 identical controllers. On these specific units, I receive ERROR 4120: Concurrent I/O memory is full when I try to load the motoros2_config.yaml file. For context, these controllers were used by a previous owner for custom MotoROS1 applications, though I have already removed the old MotoPlus application. To resolve the error, I am attempting to initialize the SRAM drive. I've entered Maintenance Mode and elevated to MANAGEMENT security, but when I navigate to [File] -> [Initialize], the documented USER DEFINED FILES option is missing. Given that this is isolated to a few units with a specific history, could you please confirm the correct menu path to clear the SRAM on this firmware?

[ted-miller]

Hello @ivanrulik

Please ensure that MotoPlus Func and Motoman Driver options are enabled.
https://github.com/Yaskawa-Global/motoros2?tab=readme-ov-file#checking-motoplus-configuration

If they are already enabled, toggle them OFF and then back ON again. It will prompt you to Initialize Related Files (SRAM.DAT). Choose YES. This should allow you to load the config file.

---

Also, please make sure that Simple Connect is not installed on these controllers.
https://github.com/Yaskawa-Global/motoros2?tab=readme-ov-file#option-function-compatibility

You can check in Maintenance mode, under MotoPlus Apl > File List

[ivanrulik]

Hi @ted-miller. Thanks for the quick response. toggling the options did prompt the Initialize Related Files (SRAM.DAT).
I can confirm it worked. Thanks!

Now I'm getting this error

[2016-10-22 23:03:49.629200] [10.1.10.101:56661]: motoRos_RCLAssertOK: RCL(C) API error: 1 (alarm code: 8017) (subcode: 0)
[2016-10-22 23:03:49.629200] [10.1.10.101:56661]: motoRos_RCLAssertOK: MotoROS2: Fatal Error (alarm code: 8011) (subcode: 9)
[2025-08-12 13:07:04.759600] [10.1.10.108:52965]: Attempting to connect to micro-ROS PC Agent (at udp://10.1.10.10:6608)
[2016-10-22 23:03:54.631200] [10.1.10.101:56661]: motoRos_RCLAssertOK: RCL(C) API error: 1 (alarm code: 8017) (subcode: 0)
[2016-10-22 23:03:54.631200] [10.1.10.101:56661]: motoRos_RCLAssertOK: MotoROS2: Fatal Error (alarm code: 8011) (subcode: 9)

I'll try to fix it by repeating the installation process.

[ivanrulik]

Also this is the error that I get from the micro-ros agent

sudo docker run -it --rm --net=host microros/micro-ros-agent:humble udp4 --port 6601
[1755019132.954625] info     | UDPv4AgentLinux.cpp | init                     | running...             | port: 6601
[1755019132.954864] info     | Root.cpp           | set_verbose_level        | logger setup           | verbose_level: 4
[1755019133.121192] info     | ProxyClient.cpp    | ProxyClient              | session hard timeout enabled | client_key: 0x798BF4C8, timeout: 10000 ms
[1755019133.121256] info     | Root.cpp           | create_client            | create                 | client_key: 0x798BF4C8, session_id: 0x81
[1755019133.121390] info     | SessionManager.hpp | establish_session        | session established    | client_key: 0x798BF4C8, address: 10.1.10.101:54001
[1755019133.140412] info     | ProxyClient.cpp    | create_participant       | participant created    | client_key: 0x798BF4C8, participant_id: 0x000(1)
[1755019133.154186] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0x798BF4C8, topic_id: 0x000(2), participant_id: 0x000(1)
[1755019133.157682] info     | ProxyClient.cpp    | create_publisher         | publisher created      | client_key: 0x798BF4C8, publisher_id: 0x000(3), participant_id: 0x000(1)
[1755019133.160650] info     | ProxyClient.cpp    | create_datawriter        | datawriter created     | client_key: 0x798BF4C8, datawriter_id: 0x000(5), publisher_id: 0x000(3)
[1755019133.213146] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0x798BF4C8, topic_id: 0x001(2), participant_id: 0x000(1)
[1755019133.215181] info     | ProxyClient.cpp    | create_publisher         | publisher created      | client_key: 0x798BF4C8, publisher_id: 0x001(3), participant_id: 0x000(1)
[1755019133.218323] info     | ProxyClient.cpp    | create_datawriter        | datawriter created     | client_key: 0x798BF4C8, datawriter_id: 0x001(5), publisher_id: 0x001(3)
[1755019133.223680] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0x798BF4C8, topic_id: 0x002(2), participant_id: 0x000(1)
[1755019133.226097] info     | ProxyClient.cpp    | create_publisher         | publisher created      | client_key: 0x798BF4C8, publisher_id: 0x002(3), participant_id: 0x000(1)
terminate called after throwing an instance of 'eprosima::fastcdr::exception::NotEnoughMemoryException'
  what():  Not enough memory in the buffer stream
[ros2run]: Aborted

[ivanrulik]

That is a good point. And actually I'm using the docker example command that you mentioned. In most controllers it has worked flawlessly.

I can't upgrade to Jazzy because the project is tied to the release of MoveIt Pro and it is currently running on Humble

[gavanderhoorn]

Can you confirm your entire stack (ie: all Docker containers) is Humble based (seeing as you mention 24.04 as host OS), and you're only using FastDDS as RMW?

Mixing different ROS 2 versions and/or RMWs is not supported (not by MotoROS2, but also not by ROS 2 proper).

[jimmy-mcelwain]

Maybe not very important, but the error subcode changed from 9 to 8, so it went from crashing from the creation of the /tf publisher to crashing from the creation of the /joint_states publisher between the two debug logs that were attached. It being an RMW or ROS2 distro problem would make the most sense to me.

Edit: Fixed link

[ivanrulik]

@gavanderhoorn yes that is correct, that is my current stack.

@jimmy-mcelwain thanks for mentioning that. I was not aware of the meaning of those subcodes.

I'll try to do a clean up and then a clean installation and if doesn't work I'll request the factory CMOS files to restore the robot and try again.

[ivanrulik]

Hi! so I kept debugging and the error is fixed. The only changes that I did was:

1. re enabling the SAVE DATA CRC CHECK FUNC (FSU)
2. replacing the config file using the yrc1000 controller USB port

Honestly this feels like the controller fixed itself since some of the 5 controllers that showed the problem didn't require to re enable the FSU related function to start working as expected.

I still have a yrc1000micro showing the error but I'll give it a day. Maybe it will also fix itself