===== Mitsubishi robot RV-6S =====

=== How to use it ===

  * To control robot from ROS use [[help:common:robot_mitsubishi|Mitsubishi ROS interface ]].
  * To control robot from Matlab you can use [[help:common:robot_mitsubishimelfa_toolbox|Mitsubishi Melfa Robot Control Toolbox for Matlab ]]. This method is obsolete and it is not supported anymore.

=== RS-232 connection ===

  * 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:
    * 38.400 kbps, 
    * 8 bits (default), 
    * parity even (default), 
    * two stopbits (default), 
    * DTR checked,
    * RTS/CTS checked,
    * XON/XOFF unchecked,
    * non-procedural (default),
    * terminator 'CR' (default).


=== Manuals ===
  * [[courses:b3b33rob:hidden:rv6s_manuals|Manuals (restricted access)]]
  * [[https://eu3a.mitsubishielectric.com/fa/en/products/rbt/robot/index.html|Manufacturer site]]

=== Calibration data ===
The robot was calibrated using jigs April 30th 2010. Here are the calibration data (most probably obsolete):\\
D: I?Q #TO \\
1: YR4 GZT \\
2: E9K T2E \\
3: 01P MBN \\
4: YTY BO@ \\
5: 17$ WFS \\
6: Z2W 348
=== Denavit-Hartenberg notation ===

^  ''Joint''  ^    ''α''               ^   ''a''   ^  ''Θ''                ^   ''d''   ^  ''parameter range'' ^
|    ''1''    |   ''-90''              |  ''85''   |  ''parameter''        |  ''350''  |   ''< -170; 170 >''  |
|    ''2''    |    ''0''               |  ''280''  |  ''-90 + parameter''  |   ''0''   |    ''< -92; 135 >''  |
|    ''3''    |   ''-90''              |  ''100''  |  ''-90 + parameter''  |   ''0''   |   ''< -107; 166 >''  |
|    ''4''    |   ''90''               |   ''0''   |  ''parameter''        |  ''315''  |   ''< -160; 160 >''  |
|    ''5''    |   ''-90''              |   ''0''   |  ''parameter''        |   ''0''   |   ''< -120; 120 >''  |
|    ''6''    |    ''0''               |   ''0''   |  ''180 + parameter''  |  ''85''   |   ''< -360; 360 >''  |

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 millimeters. The Base is eye matrix and there is no Tool installed. The parameter range is in degrees and is the maximum possible range.