Commissioning#

Warning

Read this before moving a physical robot.

WMX R2 drives servo drives directly over EtherCAT. It does not use the robot manufacturer’s original controller, so the parameters that decide how far and in which direction a joint moves come from files in this stack, not from the robot vendor’s firmware.

A wrong gear ratio, encoder resolution, joint direction, or home offset produces unexpected motion even when every piece of software is working correctly. Following the instructions in this documentation does not by itself guarantee safe or expected motion on physical hardware. You must verify every robot-specific parameter and put your own safety measures in place before operating a physical system. See Safety Functions and Responsibility for what those measures are and who is responsible for them.

This section covers everything between “the software is installed” and “the robot moves the way you intended”: configuring and validating the robot-specific parameters, bringing the first axis to life at low speed, and understanding which safety functions this stack does and does not provide.

The simulation-first workflow#

Every stage below exists to catch a class of error while it is still cheap. Do not skip stages, and do not run a later stage until the previous one is clean.

#	Stage	What it proves	What it catches
1	Parameter configuration and review (Robot Parameter Configuration and Validation)	The joint↔axis map, gear ratios, encoder resolution, directions, home offsets, and limits are written down and cross-checked against the URDF, the MoveIt configuration, and the WMX parameter file.	Typos, copied-from-another-robot values, and URDF/WMX disagreement.
2	Simulation (Isaac Sim or Gazebo, no WMX runtime)	The kinematics, planning scene, joint limits, and application logic are correct.	Bad URDF, unreachable targets, planner and collision errors.
3	HIL (simulator visuals, real WMX runtime, simulated bus)	The real WMX engine loads your parameter file, accepts the planner’s trajectories, and produces the motion you expect — with no drive powered.	Parameter-file load failures, unit and scaling mistakes, trajectory rejections, engine and timing problems.
4	Low-speed single-axis jogging (Commissioning and First Motion)	Each physical axis is the joint you think it is, moves in the direction you think it does, travels the distance you command, and reports feedback that agrees.	Swapped axes, inverted polarity, wrong gear ratio, wrong home offset.
5	Multi-axis motion on physical hardware	Coordinated motion stays inside the workspace and clear of the robot’s own structure and its surroundings.	Collisions and limit violations that a single axis cannot reveal.
6	Trajectory execution	Planner output executes end to end at working speed.	Timing, blending, and tracking-error problems.

Note

Stages 2 and 3 map directly onto the Simulation and HIL tabs used throughout Example Applications. Stage 6 is the Real tab. Stages 4 and 5 sit between them and are described in Commissioning and First Motion.

Where the stages are documented#

Page	Covers
Robot Parameter Configuration and Validation	Every robot-specific parameter, where it lives, what it means, where its value comes from, and how to verify it against the running engine.
Commissioning and First Motion	The commissioning and first-motion procedure: single axis, low speed, what to check at each step, and the exact stopping behavior of the jog tools.
Safety Functions and Responsibility	Which safety functions are not provided when the original robot controller is bypassed, and the separate measures a physical system requires.
Hardware Compatibility and Validation	Which robots have been validated on physical hardware, which functions were tested, and what is untested or experimental.