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rt_toolbox3_setup.md

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RT Toolbox3 Setup

The complete RT Toolbox3 manual can be downloaded at RT ToolBox3/RT ToolBox3 mini User's Manual from Robot Industrial/Collaborative Robot MELFA Manual. MELFA ROS2 Driver is developed using the Real Time External Control function. For more information, refer to Ethernet Function Instruction Manual from Robot Industrial/Collaborative Robot MELFA ManualThis chapter will cover the basics of project file creation, setting up a robot in simulation and connecting to a physical robot in the context of operating MELFA ROS2.

If you have completed this guide, please take a look at real robot setup or RT Toolbox3 simulator setup.

Sections:

  1. Project File Setup
  2. Program Creation

1. Project File Setup

This section will guide you on creating an RT Toolbox3 project file in the context of ROS2.

  1. Create a project file by selecting New, and give your workspace a name and a title, as shown below.


  1. Select Robot Model from the popup window and select your robot. For this tutorial, RV-7FRL-R will be used.


  1. Select Communication and select your preferred robot connection method.
  • For CRnQ_R USB connection, it is recommended to use a USB cable with a ferrite core such as GT09-C30USB-5P


  1. Select Travel Axis to configure robot travel axis. For this tutorial, the travel axis will not be used. To learn more about setting up the travel axis, refer to RT ToolBox3/RT ToolBox3 mini User's Manual from Robot Industrial/Collaborative Robot MELFA Manual.
  • Select Finish.


  1. Select Cancel


2. Program Creation

  1. Creating program for external control
  • Right-click Program and select New.


  1. Give your program a name. For this tutorial, it is named "ROSMXT".


  1. Copy and paste the following and replace "192.168.0.100" with your IP address of your ROS2 computer. The MXT command takes three arguments; the third argument is the low pass filter in milliseconds. It is recommended to use a 10ms low pass filter. If the application requires slow motion, it is recommended to increase this value. Ctrl + S to save.
Servo On
Open "ENET: 192.168.0.100" As #1 'Insert your Linux Machine IP address in this line. Open stores the IP address into variable 1.
Mxt 1,1,10 'The first 1 refers to the IP address from the line above. 
           'The second 1 configures Mxt to expect Joint commands. 
           'The 10 refers to a 10ms low pass filter.
End


Your project file is ready!

You are ready to move on to a real robot setup or a RT Toolbox3 simulator setup

Other guides: