I am contacting you regarding the online control for a Mitsubishi robot arm. I am trying to control a Melfa rv-2aj robot arm from c++ using a rs232 connection, but I have a problem, it does not seem to respond to the commands. Are there required any additional preparations except setting up the connection using the parameters from the manual, changing the RLNG parameter to 0 for the MOVEMASTER language and using the CR for every command? The servo on the robot arm does not start... I would really appreciate any suggestion or some further references. Thank you very much.
This are the commands that I use to turn on the servo of a Mitsubishi robot.
Send ASCII string as follow.
“Robot No. ; Slot No. ; Command”
Robot No. : Specify robot No. when using multi robot.
Slot No. : Specify slot No. when using multi task
You should receive:
thank you very much for your reply, it is realy hard to get information related to this topic. I have tested your suggestion, but still did not get the desired output action. When I send a command to the robot I get from the serial(using a read command): ??QY?e0?L???0???0???
My first thought was that I am not doing a proper conversion from ASCII when I read from RS232, but if I convert this set of charaters to a unicode output I get some chinesse characters and this should not be right. As the robot sends a reply via rs232, makes me think that my implementation is not wrong , but maybe my approch has some faults in it
I tried to refactor my code to a C# solution because I wanted to aim to a higher level of programming, hence I have created a voice recognition functionality which I am planning to use for the control of the robot, so I translated my C++ code for rs232 communication to C# but the problem remains the same.
What could this message ??QY?e0?L???0???0??? mean? I think "?" represent ASCII characters that are not properly displayed.
Is thet CDTR232 parameter of the robot need to be enabled for this to work?
Before I use my application I always change the RLNG parameter to 0(MoveMaster), the communication is configured as described in the manual(baud 9600, data 8, parity even, endBit two). Is there something i am missing?
I have attached my C# source code for rs232 communication to this message. If someone can give me a hint on what i am doing wrong I would really apreciate it. Thank you very much.
Sorry, I should have given you more information. I was rushing to leave for the holiday weekend. I wrote both a VB6 and VB.net program to communicate to the robot controller. You can use RS232 or Ethernet. It works with both Movemaster and MEFLA Basic. Are you using a null modem serial cable? The Teach pendant key switch should be turn to Disable. The key switch on the controller should be switch to Auto.
VB6 Serial out:
MSComm1.Output = UCase("1;1;OPEN=usertool") & vbCr
VB6 Serial in:
ReturnMessage = MSComm1.Input
I have attached a picture of the communicate log.
Thank you very much for your help. I managed to figure out what was the problem. In the manual for the rv-2aj it is specified that in order to use the rs232 communication the following parameters have to be set: baud rate 9600, parity even, stop bits 2, data bits 8. So I configured my communication this way, and when I sent data to the controller I would receive strange messages as I showed in my previous message. It seems that the configuration for communication on the robot side was different then mine, so I changed the value for parity to none and the stop bits to one and now everything works as expected. I get proper feedback from the robot and the commands work, the log from your message helped me to see how proper feedback looks like, thank you. The code I wrote in c# works fine, no necessary modifications required.
I'm a new member and i hava a problem with melfa rv2aj use cr1-571 controller.
I also try to control the robot move to one position (ex. 0,0,0), i use hypetermial to tranfer the command to controler
1;1;EXECPCOSIROP = (0,0,0,0,90,0) (6,0)
when i send 1;1;SRVON comand to the controller, the servo is on
but when i send the command
1;1;EXECPCOSIROP = (0,0,0,0,90,0) (6,0) %%% (x,y,z,rol,pitch,yar)
robot not move
could you help me to online control it!
Hi. Sorry to "dig up" this topic. I'm working in a control system that communicates with a Mitsubish robot (RV-2SDB) by a serial port. Unfortutately, the robot is broken and I need to finish this system anyway. The only thing I need to know is if all the command I send to it, I receive an answer.
Thanks in advance!
Our Rv-2aj robot lost its data due to battery problem. we are looking for parameters backup for the same robot any help is appreciated.