• Mitsubishi SW RT-Toolbox2 is working over both USB and RS-232. COSIROP is not supported anymore. RT ToolBox2 shortcut is placed on the desktop.
• To control robot from matlab you can use Mitsubishi Melfa Robot Control Toolbox pro Matlab .

• RS-232 cable has to be crossed according documentation. Standard Specifications Manual page 3-101.
• RS-232 communication with the RT-Toolbox2 version 1.2 (we have) is not working in the 1: High reliability communication method, which is the robot default. Robot is currently set to 0: Conventional communication method defined by the parameter COMSPEC as described in Detailed explanations of functions and operations manual page 5-383.
• RT-Toolbox2 is set as in RT-Toolbox2 manual, page 5-58, except of BaudRate, which is set to 38400 and the protocol is non-procedural. The voltage required for transmission is on 12 V level (it is not tolerant to 3V levels against the standard).
• RS-232 is currently set to:
  • COM9:
  • 38400 Baud,
  • 8 bits (default),
  • parity even (default),
  • two stopbits (default),
  • non-procedural,
  • terminator 'CR' (default).

• manuals (private access)
• Manufacturers site
• Mild start
• Local representative of the manufacturer Mitsubishi, Autocont, ing. Beges

The parameters α (rotation around new X axis) Θ (rotation around Z axis) are in degress and the parameters a (translation in new X axis) and d (translation in Z axis) are in milimeters. The Base is eye matrix and there is no Tool installed. The parameter range is in degrees and is the maximum possible range.

Robot currently set using parameter MEPAR to work above plane with the z coordinate 100 mm.

Images , top view and oblique view, of cubes placed on the TV screen, which projects “wild water”.