of Achievements in Materials

and Manufacturing Engineering

VOLUME 27
ISSUE 2
April
2008

The web-based programming interface

for the Mitsubishi Movemaster robot
K. Foit*
Institute of Engineering Processes Automation and Integrated Manufacturing Systems,
Silesian University of Technology, ul. Konarskiego 18a, 44-100 Gliwice, Poland
* Corresponding author: E-mail address: krzysztof.foit@polsl.pl
Received 27.01.2008; published in revised form 01.04.2008

Manufacturing and processing

Abstract
Purpose: of this paper. The aim of this paper is to present a prototype of web-based programming interface for
the Mitsubishi Movemaster RV-M1 robot.
Design/methodology/approach: In the previous papers [11-14] the off-line, remote programming system for
the mentioned robot has been presented. It has been used as a base for developing a new branch: web-based
programming interface. The web techniques have been selected due to possibility of use existing code fragments
for elaborating new applications and modularity of this solution.
Findings: As a result, a prototype of the system has been developed.
Research limitations/implications: Because the presented system is in the early development stage, there is
a lack of some useful functions. Future work will include elaboration of the robots visualisation module and
implementation of a trajectory translator intended to co-operate with CAD software.
Practical implications: The elaborated system has been previously intended for educational purposes, but it
may be adapted for other devices, like small PLCs or other robots.
Originality/value: Remote supervision of machines during a manufacturing process is an actual issue. Most of
automation systems manufacturers produce software for their PLCs and robots. Mitsubishi Movemaster RV-M1
is an old model and there is very few programs dedicated to this machine. On the other hand the programming
and development of applications for this robot are very easy. The aim of the presented project is to develop a
flexible, remote-programming environment.
Keywords: Automation engineering processes; Robotics; Mechatronics; Technological devices and equipment;
Numerical techniques

1. 
Introduction
1. Introduction
Every contemporary factory uses industrial networks for a
data exchange between machines. The network also connects
different levels of a company, giving the possibility of
analysing and change of production parameters from an office
room. Programs for controllers are often prepared and tested
on computers, using a virtual environment, then are uploaded to
a real device [1-9].
In the papers [11-14] the off-line programming and simulation
package has been presented. The software package has been

written in a high level, object oriented programming language and

has consisted of three applications:
x The server module SERWER,
x The programming and simulation module ROBO,
x The Internet camera and robot control module KAMROB.
The complete system has been designed to operate with the
Mitsubishi Movemaster RV-M1 robot by using a typical PC
computer and serial connection between the robot's control unit and
the computer. The package has been intended to run on the Microsoft
Windows platform with the use of a network connection.
The Mitsubishi Movemaster RV-M1 robot has a five-axis
manipulator with 1,2 kg lifting capacity. The controller of the

Copyright by International OCSCO World Press. All rights reserved. 2008

Short paper

183

Journal of Achievements in Materials and Manufacturing Engineering

robot is equipped with an array of inputs and outputs. Moreover,

it has a possibility of connecting it to a computer using Centronics
or RS232 port. In spite of small size, the robot is a typical
industrial machine. Programming of the robot can be carried out
by using a teach box or a personal computer. In case of using a
computer, program is prepared in Movemaster Commands
language, which has very simple syntax and allows writing of the
code in any text editor. It is also possible to use the batch mode
when command has been executed immediately after sending it to
a robot's controller [15]. Described properties of the Movemaster
Commands language allow a user to quickly create its own
communication software for co-operation with the robot.
The software described in [11-14] is intended for the
Windows platform only. The main disadvantage is that it requires
installation and it cannot be easily ported to the other operating
system platform. In the papers [10-14] an idea of the platformindependent system has been presented, but only as the general
concept. This paper presents more details of this idea and
describes a prototype of the software.

Volume 27 Issue 2 April 2008

DXF file, which can be created in a CAD program (for example

in AutoCAD). A path is coded by a line entity drawn in 3-D. Each
point represents a position of the robots wrist. The status of the
gripper (open or closed) is represented by a point entity. The
application is using a dictionary file to translate DXF commands
into proper Movemaster Commands directives.
The main window of the program consists of two areas
(Figure 2): a control panel and a simulation window. The
simulation routine uses the OpenGL libraries to achieve the exact
imitation of a real environment. Moreover, there is possible to add
some type of equipment to the virtual environment: besides an
object of manipulation, tables and shelves can be added to the
robots scene. The application can also handle more than one
virtual robot, but this feature requires at least two copies of the
ROBO program connected to the same server.

2. The
existing
system
the
2. The existing
system
and theand
concept
of
concept of the new one

the new one

As it was mentioned earlier, the existing system consists of

three applications: the server module, the programming and
simulation module and the Internet camera and robot control
module. The example of a hardware configuration, used with this
software package is shown in Figure 1.

Internet camera

Fig. 2. The main window of the ROBO application with two

robots in simulation area
Client computer

Client station
(ROBO)

Server computer
(KAMROB, SERWER)

Server computer

Robot system

NETWORK
RV-M1 robot
Web browser with plug-ins

Fig. 1. The example of a hardware configuration used with ROBO

software package

Web server, CGI, robot control

application, video transmission

Fig. 3. The concept of the web-based programming system

As it can be seen, it is a typical configuration with a server on
the one side and a client on the other one. The ROBO application
is installed on the client side and the SERWER and KAMROB
should be installed on the server computer. There can be one
server for both applications or two machines one for handling
the robots controller and the other for the Internet camera
control.
The ROBO application is used for off-line programming and
simulation issues. It is also possible to generate a program using a

184

Short paper

All advantages of the system are described in details in the

papers [10-14]. It should be remarked that this package has been
developed in collaboration with a student and is intended for
educational purposed only. The main drawback of this system is
that it requires installation on the client and server side and it works
only under Windows operating system. In the papers [10,14] an
idea of a platform-independent system has been shown. There has
been one solution based on a web server (Figure 3), and the other

K. Foit

Manufacturing and processing

based on the Java environment (Figure 4). In the further part of

this paper, a selected method will be described.

Client computer

Server computer

Robot system

NETWORK

Java Runtime Environment

Web server with Java archives

Fig. 4. The concept of the Java-based programming system

After logging-in, the main page of the interface is displayed in a

web browser. A screen area is divided between a menu frame (on the
left side) and an operation frame (Figure 5).
The Control Panel menu contains three commands:
x Nest sets the manipulator to the origin position (zero),
x Run executing the program,
x Clear program erases the program from the robots memory,
x Clear positions erases the positions from the robots memory.
The Program and Positions menus are intended for manipulating
with the robots program and positions stored in the robots controller
memory. The program or positions can be sent to or received from the
controller, may be also saved to a file or received from. These pages
also contain the command for erasing all the positions or the program
from the controllers memory.

2.1. The concept of the new system

2.1. The concept of the new system

For the further development the method based on a web

server has been selected. It has some benefits in comparison with
the Java-based system:
x there is no need to translate the source code of the previously
developed system,
x the new applications can be created on the base of the existing
source code in the case that the server will be run on the
Windows operating system,
x there is no need to develop a graphical user interface for any
new application the interface is being provided by the web
resources,
x a high level of modularity can be achieved, because applications can be developed as independent modules used on
demand,
x the user interface can be easily modified and developed from
scratch to the advanced one,
x there is possibility of using secure connections certificates and
distributed services,
x there can be alternate user interfaces intended to use on a
different operating system and browser platforms.
It has been assumed, that the first version of the web-based
programming system has not been equipped with 3-D simulation
module. It is planned to enable this feature in further versions
using the Adobe Flash or the VRML/X3D plug-in. The Internet
camera functionality has been also disabled. These features have
not been important at the first stage of development. On the other
hand, special software may be required to develop them.

3. The first
version
of web-based
3. The
first
version
of web-based
programming
interface
programming interface
The first version of web-based programming interface for the
Mitsubishi Movemaster RV-M1 robot has been based on a web
server running on Windows operating system and CGI programs.
CGI stands for Common Gateway Interface and it is a protocol for
interfacing external applications with a server. This means that a
program installed on the server side could be started-up by the web
server service, after receiving information from a remote web
browser. In this manner, any application or script can be called.

Fig. 5. The Control Panel page from the web-based programming

interface
The request of a command execution is carried to the server and
managed by a proper service then an external program is called. In
this case, there are two applications: the first one elaborates incoming
data and the second realises the communication between the server
station and the robots controller. A user gets confirmation for every
executed command including a short report about status.

4. Conclusions
4. Conclusions
The aim of this research work is to elaborate a platformindependent system for programming the Mitsubishi Movemaster
RV-M1 robot. Presented, web-based structure should be regarded as a
project in the early development stage. In the future the project will be
supplemented with possibility of the robots visualisation and the
translation of a trajectory drawn in a CAD program.
The system is developed for educational purposes so far, but it
may be adapted for other devices, like small PLCs or other robots.

References
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The web-based programming interface for the Mitsubishi Movemaster robot

185

Journal of Achievements in Materials and Manufacturing Engineering

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Short paper

Volume 27 Issue 2 April 2008

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