MELFA ROS2 Driver, 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.
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.
MELFA ROS2 Driver consists of six main components: melfa_bringup, melfa_description, melfa_driver, melfa_io_controllers, melfa_msgs, various moveit_config packages.
- provides launch files for robot bringup
- contains robot descriptions
- ros2_controllers
- supports ros2_control.
- provides real time communication1 hardware interface with our CR800/860-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.
- supports ros2_control.
- user configurable io controllers.
- provides ROS2 controllers for GPIO control
- provides ROS2 msgs for MELFA robots
- 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.
| Tier 1 Supported Robots | Robot Controllers | |||
|---|---|---|---|---|
| Robot Model | CR800-R | CR800-Q | CR800-D | CR860-D/R/Q |
| RH-6FRH5520 | ◯ | ◯ | ◯ | ✕ |
| RH-6CRH6020 | ✕ | ✕ | ◯ | ✕ |
| RV-2FR | ◯ | ◯ | ◯ | ✕ |
| RV-4FR | ◯ | ◯ | ◯ | ✕ |
| RV-4FRL | ◯ | ◯ | ◯ | ✕ |
| RV-5AS | ✕ | ✕ | ◯ | ✕ |
| RV-7FRL | ◯ | ◯ | ◯ | ✕ |
| RV-8CRL | ✕ | ✕ | ◯ | ✕ |
| RV-13FRL | ◯ | ◯ | ◯ | ✕ |
| RV-80FR | ✕ | ✕ | ✕ | ◯ |
| Tier 2 Supported Robots | Robot Controllers | |
|---|---|---|
| Robot Model | ||
| ...Coming soon... | ||
➢ 1 real time communication frequency is 286Hz for CR800/860-R & CR-800/860-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.
MELFA ROS2 Driver 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 Driver-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.
- MELFA ROS2 8XS : Sample package with MELSERVO integration for 6+2-axis articulated robot and 4+2-axis SCARA robot. Accompanied with RT Toolbox3 Project File to try in RT Toolbox3 simulator.
- MELFA ROS2 Masterclass 2024 : Masterclass repository for ROS-Industrial Asia Pacific Summit 2024: Empowering Innovations with MELSOFT Simulators.
- MELFA ROS2 PLC : Sample program with simple integration for MELSEC iQ-R Controllers.
- MELFA ROS2 HMI : Sample program with simple integration with GOT-HMI (Human Machine Interface) for iQ-platform robot controllers.
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.
More Support & Service, please contact us @MEAP ☏. For contributing and reporting, refer to this for development related enquiries.