Mitsubishi Arm Robot communication with PC

Body · Oct 18th 2016

Hey Guys !

am in deep shit right now , I hope someone would help me here

I am a college student, and am trying to perform an external realtime control on a "Mitsubishi RV2SDB" Arm robot based on a computer vision program running on a PC.

I knew from the manuals, and the German version of this forum that there are different ways for network communication with the robot:

1) TCP/IP Communication with Print/Input
2) TCP/IP Communication with R3-Protocoll
3) UDP realtime Communication with external C++ program

am working on the first and third option in parallel to have some redundancy on the options but neither work.... shit happens:D

I read that for data linking with the robot some parameters need to be set prior to the usage of OPEN command when using TCP/IP with Print/Input.. such as
(NETIP, NETMSK,NETPORT,COMDEV,CPRCE12 ,NETMODE ,NETHSTIP)

I grasped the idea of what should be the value of each parameter, but I have no idea how to set them on the program !!!

Is it NETIP = "192.168.0.10" or NETIP "192.168.0.10" or what????? and I did't find any code examples on how to configure these parameters.

I feel like it is a dumbass question but it is really a problem for me right now so go easy on me

Sorry for the intro but I hope it would be beneficial for anyone (if it were right of course ) and if it was wrong (probably yes :D) someone would guide me

gabrielschubert · Jan 17th 2017

Hi Body,

My project was to find a way to control my robot using a machine with Linux. So, a friend sent to me a manual that I didn't find on the internet with a lot of commands that you can send to the robot controller, exemple: 1;1;RUN1A (run program 1A), or 1;1;STATE (get robot status). You can do this after setting a telnet connect with the robot controller.

I'm using Python to do the telnet connection, sending the commands and receiving the output. You can do something like this:

Code

#!/usr/bin/env python3.4


#### IMPORTS ####
import socket, sys, time


#### OPTION MENU ####
def OptionMenu():
	print ('\nPossible Options (Exemple: ./RobotCommands.py 1)')
	print ('\n1 - Reset Alarm')
	print ('2 - Get Errors\n')
	#print ('2 - GET Speed')
	#print ('3 - Change Speed (Put speed too, ex: ./RobotCommands 2 100')





#### RESET ALARM ####
def ResetAlarm(s):


	commands=['1;1;RSTALRM']


	for cmd in commands:

		s.send(cmd.encode('utf-8'))
		while True:
			data = s.recv(4096)
			if data:
				print (data)
				break


	print('\nDONE!!!\n')


#### GET ERRORS ####
def GetErrors(s):


	commands=['1;1;ERROR']


	for cmd in commands:

		s.send(cmd.encode('utf-8'))
		while True:
			data = s.recv(4096)
			if data:
				print (data.decode('utf-8'))
				break


	print('\nDONE!!!\n')






#### MAIN PROGRAM ####
if __name__ == "__main__":


	if len(sys.argv)==1:
		OptionMenu()
		sys.exit()

	else: 
		Function = float(sys.argv[1])


		host = '192.0.0.0'	# STRING!!! YOUR ROBOT CONTROLLER IP!!!!
		port = 10001		# INT!!!         YOU CAN KEEP IT.

		s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
		s.settimeout(2)

		# connect to remote host
		try :
			s.connect((host, port))
		except :
			print ('Unable to connect')
			sys.exit()


		print ('Connected to remote host')


		socket_list = [sys.stdin, s]


		if Function == 1:
			ResetAlarm(s)

		if Function == 2:
			GetErrors(s)

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I guess i'm not abble to post the manual with the commands here, 'cause of the Mitsubishi Rights. If you want, send me a private message with your email and I may send it to you.

Hope I've helped.

Regards,

Gabriel.

Body · Feb 2nd 2017

thanks gabrielschubert I had found a way to access the robot parameters through RCI explorer in CIROS by absolute coincidence and communication was established
thanks again for your reply

AJ4 · Feb 16th 2017

Hi, I have the (more or less) same problem: I'm developing a standalone controller for a RV2-FD and I need the manual you mentioned. Could you help me please?

Thank You!!!

NHaman · Sep 24th 2018

I would also love to get a copy of this manual. Thank you.

Mitsubishi Arm Robot communication with PC

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