Mitsubishi MELFA Controller Configuration

Supported Controllers

Notes

Physical Configuration

New Melfa robots require a few physical steps to be ready for operation. Please follow the instructions in the CR800 setup manual on how to enter calibration data, and how to connect the pins on the CNUSR11 connector.

The easiest way to setup a new Melfa robot is to connect pins 6&22, 7&23, 13&29, 14&30 on the CNUSR11 connector. Also connect a dual-line switch to pins 5&21 and 12&28. This switch is the TP/AUTO switch of the robot.

Use a LAN cable to connect the robot directly to the RTR controller.

Network Configuration

Set the NETIP parameter to a local network address unique for each robot (suggested default is 192.168.0.20)

Check if the NETPORT parameter contains at least two valid ports, adapt if necessary.

Settings Configuration

To run the RTR controller, the E-Stop must be released, the robot must be in AUTO mode, and override must be at 100%.

Realtime Controller Configuration

RTR requires two ports for control. Note two ports in the NETPORT param. The first port in that list is the “MXT port“. Pick any other port in the list as “Datalink port“

In usual operation, the RTR controller will upload a program called RTRMXT, activate servos, and start the program automatically. No further programming from the user is required to run the robot.

Alternatively, the user might want to control the active program, and start/stop program execution with another device. To do so, the user can disable the “Enable Servos on Load” parameter. In this mode, the robot will not change the state of the controller, i.e. the user has to reset errors, activate servos, and manually run a the RTRMXT program.