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rt_real_setup.md

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Connecting to Real Robot

This section will guide you on setting up a new robot using a USB cable with ferrite core assuming that you do not know the IP address of the robot and ethernet cable assuming that you know the IP address of the robot. This section will use the RT Toolbox3 project that you have configured in Chapter 2. RT Toolbox3 Setup and 3. Connecting to RT Toolbox3 Simulator as continuation from the previous chapters. It is highly recommended to test your ROS2 application using RT Toolbox3 simulator before testing it on a physical robot.

Robot Factory Default IP address: 192.168.0.20

Sections:

  1. Connecting via USB Cable

  2. Connecting via Ethernet Cable

  3. Setup Real Robot

  4. Verifying Local IP address on Ubuntu 22.04LTS

  5. ROS2 Connection to Real Robot

1. Connecting via USB Cable

This is not the preferred way as it requires a USB cable with a ferrite core to ensure stable connection with the robot controller. If you know the IP address of the robot, please use the Connect via Ethernet cable guide in the next section.

  1. Ensure that RT Toolbox3 is offline. Right click RC1 to open project options. Select Edit Project.


  1. Select Communication and set Method: as CRnQ_R. If you are using a CR800-D robot controller, set Method: as USB and skip to step 5. If not, Select Detail...


  1. Select Detail


  1. Select the Target CPU. For this tutorial, my robot CPU is the second CPU on the PLC. Select OK.


  1. Select the Finish.


  1. Select the Online.


  1. On the Workspace panel on the left, expand Online ⇒ Parameter ⇒ Communication Parameter ⇒ Ethernet. You will find the IP address of your robot in the popup window.


2. Connecting via Ethernet Cable

For connection guide, refer to Ethernet Function Instruction Manual from Robot Industrial/Collaborative Robot MELFA Manual.

  1. Ensure that RT Toolbox3 is offline. Right click RC1 to open project options. Select Edit Project.


  1. Select Communication and set Method: as TCP/IP. Select Finish.


  1. Select Online.


3. Setup Real Robot

  1. While connected to the robot, expand Online and right click Program. Select Program Manager


  1. In the popup window, select the Source as Project. This sets the source of the program file as the RT Toolbox3 project file you have created. Select the robot program using the checkbox. Select Copy.


  1. Select OK


  1. Expand Online and open Operation Panel by double clicking. On the Operation Panel (Blue popup window for real robot), click on the Select button and select the robot program you have created. Click OK.


  1. On the Operation Panel (Blue popup window for real robot), click on the blue START button


4. Verifying Local IP address on Ubuntu 22.04LTS

This section will guide you to find your local IP address on your Ubuntu 22.04LTS device. The process is similar on other Ubuntu versions.

  1. Go to Settings ⇒ Network ⇒ Wired (+) to create a new ethernet profile. Under IPv4 Method, select Manual and input your preferred IP address for your Linux computer.


  1. From your Linux computer, ping the robot's IP address. If ping is unsuccessful, verify your Linux and Robot IP addresses and try again.
#ping <Robot local IP address>
ping 192.168.3.20

5. ROS2 Connection to Real Robot

Assuming that ping is successful, you are now ready to connect your robot. Connect your Linux machine to the robot via ethernet cable. For connection guide, refer to Ethernet Function Instruction Manual from Robot Industrial/Collaborative Robot MELFA Manual. For the purpose of this tutorial, run the following command in the terminal.

  1. This command will launch the bringup launch file for RV7FRL robot using the CR800-R robot controller. [Terminal 1]
ros2 launch melfa_bringup rv7frl_control.launch.py use_fake_hardware:=false controller_type:="R" robot_ip:=192.168.3.100


1. Launch MoveIt. [Terminal 2] 
ros2 launch melfa_rv7frl_moveit_config rv7frl_moveit.launch.py


Other guides: