MITSUBISHI ELECTRIC INDUSTRIAL ROBOT MELFA ROS2 DRIVER

1. Overview

Introducing the next generation of intelligent robots, incorporating advanced solutions technology and “e-F@ctory”, technologies and concepts developed and proven using Mitsubishi Electric’s own production facilities that go beyond basic robotic performance to find ways of reducing the TCO in everything from planning and design through to operation and maintenance.

• Learn more
• Robot catalog

MELFA ROS2, co-developed with ROS-Industrial Consortium Asia Pacific, provides a suite of tools to enable the creation of advance solutions using our industry proven platform. Mitsubishi Electric provides a ros2 driver, ros2 io controllers, robot description files and moveit_config packages of each robot; optimized in-house by our developers to ensure high performance.

2. MELFA ROS2 Feature

MELFA ROS2 consists of six main components: melfa_bringup, melfa_description, melfa_driver, melfa_io_controllers, melfa_msgs, various moveit_config packages.

__melfa_bringup__

• provides launch files for robot bringup

__melfa_description__

• contains robot descriptions
• ros2_controllers

__melfa_driver__

• supports ros2_control.
• provides real time communication¹ hardware interface with our CR800-R/Q/D robot controllers via rtexc api ² from our MELFA ethernet SDK.
• connects to the robot controller via rtexc api to control the robot via MELFA BASIC VI³ MXT⁴ command. The robot position command, robot state & I/O data are transmitted through this connection.
• includes quality of life features built into rtexc api such as user configurable disconnection detection and debugging tools.

melfa_io_controllers

• supports ros2_control.
• user configurable io controllers.
• provides ROS2 controllers for GPIO control

__melfa_msgs__

• provides ROS2 msgs for MELFA robots

__melfa_robot-model_moveit_config__

• provides example MoveIt config and launch files for MELFA robots
• supports OMPL, Pilz Industrial Planner, CHOMP and Moveit servo.
• optimized by our developers to ensure high performance in speed and accuracy.

➢ ¹ real time communication frequency is 286Hz for CR800-R & CR-800-D and 141Hz for CR800-Q.

➢ ² rtexc api stands for Real Time External Control API.

➢ ³ MELFA BASIC VI is our proprietary robot programming language.

➢ ⁴ MXT is the command to enable real time external control.

Note1: You can download the Ethernet Function Instruction Manual from Robot Industrial/Collaborative Robot MELFA Manual.

3. MELFA ROS2 Usage and Installation

MELFA ROS2 is designed to interface CR800 robot controllers with the ROS2 so that developers can leverage the contributions from the Open Source Community with an industry proven robot platform.

➤ If your ROS PC is installed with ROS 2 Humble Hawksbill, see MELFA ROS2-humble and follow the user guide.

• MELFA ROS2 user guide : Usage and Installation of MELFA ROS2.
• RT Toolbox3 Setup : Create your first RT Toolbox3 Project File for ROS2.
• RT Toolbox3 Simulator Setup : Connect to RT Toolbox3 simulator as if it is a real robot.
• RT Toolbox3 Real Robot Setup: Connect to a MELFA robot.

4. Other MELFA ROS2 Related Repositories

• MELFA ROS2 8axis with Demo : ROS2 description, moveit_config and simple moveit application for 6-axis articulated robot with 2-axis travel axis. Accompanied with RT Toolbox3 Project File to try in RT Toolbox3 simulator.
• MELSOFT Simulators Demo : uses MELSOFT GX simulator3, MELSOFT GT simulator3 and MELSOFT RT Toolbox3 simulator to demostrate "accurate" simulations using proprietary technologies that can be leveraged by the open source community.
• Simple applications : experience MELFA ROS2 features through simple applications.

5. MELFA Naming Convention

This section provides a brief introduction to naming conventions of MELFA robots. Below are images from our robot catalog describing the naming convention.

For articulated robots (RV), it is fairly straightforward as the variations that contribute to package differences are Maximum load capacity, Series and Arm length.

For SCARA robots (RH), it has more variations that contribute to packages differences such as Maximum load capacity, Series, Arm length in cm and Vertical stroke in cm.

Environment specifications, Internal wiring and Controller type do not contribute to kinematic variations. However, it is important to take note of Controller type as it may change the Control frequency and/or I/O controller settings.

6. Contact us / Technical support

More Support & Service, please contact us @MEAP. For contributing and reporting, refer to this for development related enquiries.