MELFA ROS2 Masterclass 2024: Empowering Innovations with MELSOFT Simulators

1. Introduction to MELSOFT

This repository was used for the Masterclass conducted at ROS Industrial Asia Pacific Summit 2024.

MELSOFT is a collection of Mitsubishi Electric engineering softwares that augment our state of art industrial hardware products to power industry leading automation solutions.

• Learn more about MELSOFT

MELSOFT RT Toolbox3 (Robot)

Total engineering support software for MELFA Robots

➢ Notable features

• Create and edit programs without teach pendant
• Operating environment validation with 3D viewer
• Accurate simulation of robot kinematics and dynamics
• Log & Optimize cycle times with Real Time Monitoring
• Monitoring & log robots states and faults during operations
• Click on the image below to learn more!
  
  

MELSOFT GX Works3 (PLC)

Reducing development costs through intuitive engineering with MELSEC Programmable Logic Controllers

➢ Notable features

• Graphic-based configuration realizing easier programming
• Integrated motion-control system configuration
• Complies with IEC 61131-3
• Global realization by multi-language support
• Click on the image below to learn more!
  
  

MELSOFT GT Works3 (HMI)

Professional designs. Maximized efficiency. Intuitive operations. Made possible with GOT Human Machine Interfaces.

➢ Notable features

• Data collection, visualization, analysis
• Data manipulation with C language scripts
• Supports custom audio files
• Configure built-in FTP, HTTP and OPC servers
• Click on the image below to learn more!
  
  

2. MELSOFT Project Files

MELFA ROS2 Masterclass 2024 utilizes physical and simulated hardware to provide a robust platform with hardware accurate digital twins for MELSEC, MELFA and GOT products. This section describes the purpose and functionality of the included MELSOFT project files.

RV-5AS

• MELSOFT RT Toolbox3 project folder for MELFA RV-5AS collaborate robot.
• This project folder is used to configure and program a physical RV-5AS robot used in the Masterclass.
• This project file is used to create and configure a simulated RV-5AS robot that is identical to the physical robot used in the Masterclass.

FX5UJ_hw.gx3

• MELSOFT GX Works3 project file for MELSEC IQ-F FX5UJ programmable logic controller.
• This project file is used to configure and program a physical FX5UJ PLC used in the Masterclass.
• This project file is used to create and configure a simulated FX5UJ PLC that is identical to the physical PLC used in the Masterclass.

GT27_hw.GTX

• MELSOFT GT works 3 project file for GOT GT2715-XTBA Human Machine Interface.
• This project file is a modification of the GOT2000 sample screen data for CR800-D series controller with a custom screen to interface with MELFA ROS2 Driver and associated I/O controllers.

GT27_sim.GTX

• MELSOFT GT works 3 project file for GOT simulation.
• This project file is a modification of the GT27_hw.GTX with better compatibility with other MELSOFT simulators.

3. MELFA ROS2 Packages

melfa_masterclass_msgs

• Custom ROS2 interfaces for this Masterclass

melfa_rv5as_masterclass

• Executables and launch files for ROS2 programs used during the Masterclass

4. Usage and Installation

➢ Note: This repository supports Ubuntu 22.04 for ROS2 Humble and Windows10 for MELSOFT ONLY. Using a different operating environment may cause in unintended results.

• Masterclass content: Class content with instructions and descriptions
• MELFA ROS2 & MELSOFT setup guide: Setup and configuration of MELSOFT simulators

5. Other MELFA ROS2 Related Repositories

• MELFA ROS2 Driver : Official MELFA ROS2 Driver.