ROS 2 driver for Mitsubishi Melfa RV-FR

Drivers
1

Hello ROS community,

as a long-standing partner of Mitsubishi in the field of robotics, we (Adiro Automatisierungstechnik) have developed a ROS 2 driver for Mitsubishi robots in close cooperation with our partner Software byTS GmbH.
Take a look at the driver on GitHub and give us your feedback:

Best regards
Nico

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2

@Nico2691 I am getting a 404 error on the webpage.

image
image777Ă—378 49.2 KB

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We had to take the repo offline again temporarily at Mitsubishi’s request. We had used the Mitsubishi R3 protocol to activate the real-time interface, but Mitsubishi does not want to publish it and we only know about it because of our close partnership. We will take the part out and put the repo back online on Monday.
Sorry for the inconvenience.

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Oh, that’s very sad :frowning:

So no realtime control of Mitsubishi… our motivation to test it is now instantly going down…

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Link should be available again :slight_smile:

@destogl: We use the real time protocol.
It was just about the way the protocol is activated.
Now the melfa programm is loaded manually onto the controller.
Previously we had automated it. But it shouldn’t be too much effort this way either.

We look forward to your feedback

6

Thanks for the clarification! It is great to see more drivers that support high-bandwidth streaming commands and not simply low-bandwidth/long-distance intermittent commands. Do you have an idea of what streaming command rate the Mitsubishi controller and driver supports? 100 Hz? 500 Hz? 1 kHz?

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As far as I know, the firmware on the Robot itself works with a maximum of ~285Hz.

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Yes, the cycle time for the new CR800 controllers is 3.5 ms. The older controllers (CR750) still run at 7 ms. The real-time interface is described in the Mitsubishi manual BFP-A3379-D.
You could even specify the setpoints in the form of motor pulses via the real-time interface.

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