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diff --git a/FujiCAM_Installation.md b/FujiCAM_Installation.md
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+# Servo Robot FujiCAM Installation
+
+<img src="images/fujicam_mounted.jpg" alt="Alt Text" width="150" height="auto">
+
+## Disconnect Water Cooling Connection
+Unplug the connector attached to the  robot arm.
+<img src="images/cooling_connection.jpg" alt="Alt Text" width="300" height="auto">
+
+## Disconnect Pipe
+
+Unplug the pipe on attached to the robot arm.
+<img src="images/pull_pipe_connection.jpg" alt="Alt Text" width="300" height="auto">
+
+
+## Disconnect Torch Magnetic Connection
+
+Bend the torch to disconnect the magnetic connection, then unscrew.
+<img src="images/torch_magnet.jpg" alt="Alt Text" width="300" height="auto">
+
+**BE SURE TO PUT A BARRIER BETWEEN MAGNETIC PLATE AND TORCH**
+ <img src="images/magnetic_barrier.jpg" alt="Alt Text" width="300" height="auto">
+
+
+## Unscrew Pipe Lockers
+
+Unscrew the flathead pipe locker.
+<img src="images/unscrew_pipe.jpg" alt="Alt Text" width="300" height="auto">
+
+## Pull Pipe
+Pull the pipe all the way.
+<img src="images/pull_pipe.jpg" alt="Alt Text" width="300" height="auto">
+<img src="images/pull_pipe2.jpg" alt="Alt Text" width="300" height="auto">
+
+## Unscrew the Mounting Piece
+<img src="images/torch_mounting_plate.jpg" alt="Alt Text" width="300" height="auto">
+
+## Install the FujiCAM Mounting Piece
+<img src="images/fujicam_mounting_plate.jpg" alt="Alt Text" width="300" height="auto">
+
+## Put Everything Back
+
+Use zipties to secure the FujiCAM cable along the robot arm.
+<img src="images/fujicam_installed.jpg" alt="Alt Text" width="300" height="auto">
+
diff --git a/Motosim.md b/Motosim.md
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+# MOTOSIM Instructions
+
+Yaskawa Motosim Simulation Environment
+
+## License Setup
+* Individual
+Simply plugin the USB key into the Motosim computer
+
+* Educational Network License
+Plug the USB license key to server, and make sure the Motosim computer is on the same network as license server (make sure to ping).
+On Motosim computer, navigate to <http://localhost:1947/_int_/ACC_help_index.html> and go to {Configuration} -> {Access to Remote License Managers}
+Enable {Allow Access to Remote Licenses}.
+Enable {Aggressive Search for Remote Licenses}.
+Enter the IP address or hostname into the {Remote License Search Parameters} box (RPI license server IP is `128.113.26.60`).
+Click ‘Submit’.
+
+
+## Setup
+### From Backup File
+On a physical controller, go to {MAIN MENU} -> {EX. MEMORY} and create a {SYSTEM BACKUP(CMOS.BIN)} file to the USB drive. Copy it over to the Motosim computer.
+
+![](images/new_controller_motosim.jpg)
+Open Motosim, create a new cell and go to {Controller} -> {New} -> VRC Controller (using file) and select the CMOS.bin backup from created before.
+
+### From a Virtual Cell
+Motosim cell environment is self-contained, and its default direction is `C:\Users\Public\Documents\MOTOMAN\MotoSimEG-VRC\Cells`. Simply zip/unzip the cell directory here should work.
+
+## CAD Tree
+CAD models are managed under {Home} -> {CadTree}.
+* Model Insersion: Click {Add} at the upper left corner.
+* Position: Right click your model, {Set Position}.
+* Scale: Right click your mode, {Property}.
+* Export CAD: Right click on your model under {Cad Tree} -> {Export CAD File}.
+
+## Program
+### Load Program 
+Just like a physical controller, a virtual controller has its own memory unaccessible. In order to load an INFORM program, you need to drop the program into `<YOUR_CELL_DIRECTORY>/<CONTROLLER_NAME>/Storage Card/`. Treat it like the USB driver on a physical controller, and you can load the program as {MAIN MENU} -> {EX. MEMORY} -> {LOAD}.
+
+### Run Program
+On the virtual teachpendant, under Play Mode, and click {START}.
+
+### Delete Program
+Just like a physical controller, {JOB} -> {SELECT JOB} -> {JOB} -> {DELETE JOB}.
+
+## Tips
+* Teachpendant Display: {Controller} -> {Show}.
+* Teachpendant Buttons: upper right corner of the display.
+* Joint Pulse Recording: {Simulation} -> {Pulse Record}.
+
diff --git a/README.md b/README.md
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+# WAAM Cell Instruction Directory
+
+* Motion Primitive Command Control: https://github.com/rpiRobotics/dx200_motion_progam_exec
+* MotoSim License: https://github.com/rpiRobotics/dx200_motion_progam_exec/blob/main/Motosim.md
+* YCP21 CF Card: https://github.com/rpiRobotics/dx200_motion_progam_exec/blob/main/YCP21_CF_setup.md
+* FujiCAM Installation: 
+* MotoPlus Streaming with RR: 
+
+
+* Modified Fronius RR Driver on Pi: https://github.com/hehonglu123/fronius_robotraconteur_driver
+* FLIR RR Driver: https://github.com/robotraconteur-contrib/flir_thermal_camera_robotraconteur_driver
+* MTI RR Driver: https://github.com/robotraconteur-contrib/MTI_RR_Interface
diff --git a/Robot_Calibration.md b/Robot_Calibration.md
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+
+# Robot Calibration (On Teach Pandant)
+## Check robot calibration data from teach pandant
+* Click [ROBOT] on left menu, and select [ROBOT CALIB]
+
+<img src="images/robotcalibration01.png" alt="Alt Text" width="300" height="auto">
+
+* Click [DISPLAY] and select [COORDINATE DATA]
+
+<img src="images/robotcalibration02.png" alt="Alt Text" width="300" height="auto">
+
+<img src="images/robotcalibration03.png" alt="Alt Text" width="300" height="auto">
+
+* The data shown on the screen will be robot calibrated configuration:
+
+<img src="images/robotcalibration04.png" alt="Alt Text" width="300" height="auto">
+
+## Robot calibration
+* Use [select] on teach pandant and select the robot group to calibrate:
+
+<img src="images/robotcalibration05.png" alt="Alt Text" width="300" height="auto">
+
+<img src="images/robotcalibration06.png" alt="Alt Text" width="150" height="auto">
+
+* Use `5 points rule` for calibration:
+Point the TCP of robot#1 to a reference point on robot#2, and keep them pointing each other for all 5 points:
+
+<img src="images/robotcalibration07.png" alt="Alt Text" width="300" height="auto">
+
+<img src="images/robotcalibration08.png" alt="Alt Text" width="150" height="auto">
+
+Jog C1, C2, C3 with fixing 2nd axis of robot#2.
+Jog C3, C4, C5 with fixing 1st axis of robot#2.
+Use [MODIFY] + [ENTER] to adjust C1 - C5.
+
+<img src="images/robotcalibration09.png" alt="Alt Text" width="300" height="auto">
+
+Click [COMPLETE] to finish robot calibration, if errors happen, follow the error instruction to re-adjust C1 - C5.
+
+<img src="images/robotcalibration10.png" alt="Alt Text" width="300" height="auto">
diff --git a/YCP21_CF_setup.md b/YCP21_CF_setup.md
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+# YCP21 Compact Flash Setup
+<img src="images/cf_error.jpg" alt="Alt Text" width="300" height="auto">
+
+Plug in the VGA cable with a display for debugging.
+
+The main computer (YCP21) has its system on CF card as shown below. 
+
+<img src="images/YCP21_CF.png" alt="Alt Text" width="300" height="auto">
+
+# Image Setup
+Our WAAM cell uses Software Version DN3.17.00A(US)-00, and this info can be found under `SYSTEM.SYS` file. RPI box includes the image flash tool from Yaskawa, and `vcredist_x86.exe` is required to be installed and included in the folder. `mk_vx_cf.exe` is the tool to burn the CF card, need to check `Set boot loader` and `Delete file` as shown below.
+
+<img src="images/burning_tool.png" alt="Alt Text" width="300" height="auto">
+
+# Load Backup to CF Image
+DX200 only recognizes the CF card it has always been using. Swapping CF card from other controllers or a brand new burnt CF card will result in **Total Checksum Error** due to different configurations. In order to load backup file `CMOS.bin` onto the CF card, the controller needs to be in **One Time Management Mode**, which requires a password depending on the system and CF card serial ID. 
+
+CF card serial ID could be looked up under {SYSTEM} -> {VERSION} -> {UTILITY} -> {CF Serial ID}. Copy this and zip `CMOS.bin` and send to `[email protected]` to acquire the one time passcode. 
+
+<img src="images/cf_serial.png" alt="Alt Text" width="300" height="auto">
+
+Once in the **One Time Management Mode**, make sure the `CMOS.bin` is included in the teachpendant USB. Load the backup by {EX. MEMORY} -> {LOAD} ->{CMOS}. Loading process takes 2~5 minutes, and perform a FSU Reset under {FILE} -> {INITIALIZE} -> {Functional Safety Board FLASH Reset} after the flashing finished.
+
+## Compatability
+CF card with 256MB size from other brands also work, directly from *.img* clone of the vendor's CF card. However it is not confirmed if other CF cards' serial ID would be able to generate One-Time passcode from Yaskawa, when setting up from scratch.
diff --git a/images/YCP21_CF.png b/images/YCP21_CF.png
diff --git a/images/burning_tool.png b/images/burning_tool.png
diff --git a/images/cf_error.jpg b/images/cf_error.jpg
diff --git a/images/cf_serial.png b/images/cf_serial.png
diff --git a/images/cond_num.png b/images/cond_num.png
diff --git a/images/cooling_connection.jpg b/images/cooling_connection.jpg
diff --git a/images/fujicam_installed.jpg b/images/fujicam_installed.jpg
diff --git a/images/fujicam_mounted.jpg b/images/fujicam_mounted.jpg
diff --git a/images/fujicam_mounting_plate.jpg b/images/fujicam_mounting_plate.jpg
diff --git a/images/magnetic_barrier.jpg b/images/magnetic_barrier.jpg
diff --git a/images/new_controller_motosim.jpg b/images/new_controller_motosim.jpg
diff --git a/images/pull_pipe.jpg b/images/pull_pipe.jpg
diff --git a/images/pull_pipe2.jpg b/images/pull_pipe2.jpg
diff --git a/images/pull_pipe_connection.jpg b/images/pull_pipe_connection.jpg
diff --git a/images/robotcalibration01.png b/images/robotcalibration01.png
diff --git a/images/robotcalibration02.png b/images/robotcalibration02.png
diff --git a/images/robotcalibration03.png b/images/robotcalibration03.png
diff --git a/images/robotcalibration04.png b/images/robotcalibration04.png
diff --git a/images/robotcalibration05.png b/images/robotcalibration05.png
diff --git a/images/robotcalibration06.png b/images/robotcalibration06.png
diff --git a/images/robotcalibration07.png b/images/robotcalibration07.png
diff --git a/images/robotcalibration08.png b/images/robotcalibration08.png
diff --git a/images/robotcalibration09.png b/images/robotcalibration09.png
diff --git a/images/robotcalibration10.png b/images/robotcalibration10.png
diff --git a/images/torch_magnet.jpg b/images/torch_magnet.jpg
diff --git a/images/torch_mounting_plate.jpg b/images/torch_mounting_plate.jpg
diff --git a/images/touchsense.jpg b/images/touchsense.jpg
diff --git a/images/unscrew_pipe.jpg b/images/unscrew_pipe.jpg