Author Topic: Mitsubishi RV-1a external control  (Read 1914 times)

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Offline jone.smith

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Mitsubishi RV-1a external control
« on: December 20, 2016, 08:56:42 AM »
Hi every one

I have problem controlling RV-1a Robot using c#

when I send Command like (1;1;GC) or (1;1;MJ 30,0,0,0,0,0) the robot didn't move

and the controller send error (QeR601000000)

I am sure there is some thing wrong in controller parameters (CR1-571) but i don't know what is it??????????

if any can help me

the following pictures are for robot parameters


please help me




Offline gabrielschubert

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Re: Mitsubishi RV-1a external control
« Reply #1 on: January 17, 2017, 12:27:23 AM »
Hello,

Based on the troubleshooting manual, this error means:

  • Error message: Illegal command
  • Cause: This may have occurred because data was sent before the communication line was opened via a data link,
    or an unregistered communication command was sent due to the mismatch between the versions of the
    controller and support software.
  • Measures: Send after the communication line is opened. Or, match the versions.

Gabriel.

Offline jone.smith

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Re: Mitsubishi RV-1a external control
« Reply #2 on: January 24, 2017, 05:48:05 PM »
thank you Gabriel

I read cr1-571 troubleshooting

but my problem is how to solve this error??????

i am very sure that connection was opened before sending command
and there is no difference between versions

could you please help me??

Offline gabrielschubert

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Re: Mitsubishi RV-1a external control
« Reply #3 on: January 25, 2017, 01:11:08 PM »
Hi Jone,

Maybe the command you've sent was wrong.
Did you try another commands like "1;1;STATE" or "1;1;OPEN=TEST"?

The answer of controller have to be QoK.

Gabriel.

Offline jone.smith

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Re: Mitsubishi RV-1a external control
« Reply #4 on: January 27, 2017, 05:53:25 PM »
I tried following code :

SerialPort _SerialPort = new SerialPort();
_SerialPort.PortName = combo_Port_Name.Text;
_SerialPort.BaudRate = Convert.ToInt16(combo_Port_CommSpeed.Text);
_SerialPort.DataBits = Convert.ToInt16(combo_Port_DataBit.Text);
_SerialPort.StopBits = (StopBits)Enum.Parse(typeof(StopBits), combo_Port_StopBit.Text);
_SerialPort.Parity = (Parity)Enum.Parse(typeof(Parity), combo_Port_Parity.Text);

_SerialPort.Open();
_SerialPort.Write("1;1;OPEN=usertool" + "\r");
_SerialPort.Write("1;1;Cntlon" + "\r");
_SerialPort.Write("1;1;Srvon" + "\r");


where
connection speed = 9600
Data Bit = 8
Stop Bits = 2
Parity = even

and I tried (1;1;JPOSF) command
every thing is ok the servo turned on and I got joints position's

but any command to move robot niether melfa iv or movemaster didn't work

Offline RobotisizeThePlanet

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Re: Mitsubishi RV-1a external control
« Reply #5 on: February 26, 2017, 05:02:55 AM »
Hello,

I am working on one now. I don't think your commands are correct for moves:

First try setting a position to a variable using this command

1;1;EXECJP2 = (50.00, 0.000, 0.000, 0.000, 0.000, 0.000)  --> This will set the P2 variable to the Joint Position (50.00, 0.000, 0.000, 0.000, 0.000, 0.000)

Than Execute the move using

1;1;EXECMOV JP2 --> this should move the robot to the P2 position.

This works for me.

Make sure they RLNG parameter in the controller is set to 1 which is for MelfaBasic IV

Offline jone.smith

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Re: Mitsubishi RV-1a external control
« Reply #6 on: March 28, 2017, 05:29:09 PM »
Hi RobotisizeThePlanet
thank you for reply
I 'll try your code using MelfaBasic IV
but i prefer using movemaster commands

and I have already tried both of them

Offline spg666

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Re: Mitsubishi RV-1a external control
« Reply #7 on: March 30, 2017, 09:17:19 AM »
RobotisizeThePlanet is correct. You should be using Melfa basic with that robot. If you do change the RLNG parameter to switch it to move master I suspect you will find yourself in a world of pain, its only available on the later robot for backward comparability with the old e-series robots. I think you'll find the RLNG parameter is a manufacturer parameter so you'd need a password to change it.

The software you are using "RoboExplorer" will not work correctly because it is not designed to work with movemaster.

Offline spg666

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Re: Mitsubishi RV-1a external control
« Reply #8 on: March 30, 2017, 09:39:30 AM »
just a though but if all your command work but the motion commands don't it might be that another routine has control of the arm. you might need to issue a "getm" command.