===== Mitsubishi robot RV-6SDL =====

=== 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 pro Matlab ]]. This method is obsolete and it is not supported anymore.
  * Mitsubishi SW RT-Toolbox2 is working over both USB and RS-232.  COSIROP is not supported anymore.

=== RS-232 connection ===

  * RS-232 cable has to be crossed according to documentation. [[http://cmp.felk.cvut.cz/cmp/hardware/Mitsubishi-RV6SL/manuals/Factory-English/bfp-a8654j.pdf|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. The robot is currently set to 0: Conventional communication method defined by the parameter COMSPEC as described in [[http://cmp.felk.cvut.cz/cmp/hardware/Mitsubishi-RV6SL/manuals/Factory-English/bfp-a8661l.pdf| Detailed explanations of functions and operations manual]] page 5-383.
  * RT-Toolbox2 is set as in [[http://cmp.felk.cvut.cz/cmp/hardware/Mitsubishi-RV6SL/manuals/Factory-English/bfp-a8618.pdf|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:
    * 38400 Baud, 
    * 8 bits (default), 
    * parity even (default), 
    * two stop bits (default), 
    * non-procedural,
    * terminator 'CR' (default).

=== Manuals ===

  * [[courses:b3b33rob:hidden:rv6sdl_manuals|Manuals (restricted access)]]
  * [[https://eu3a.mitsubishielectric.com/fa/en/products/rbt/robot/index.html|Manufacturers site]]
  * Base of the fingers for Schunk gripper PG70 {{ :help:common:prsty_schunk01.stp | STEP}}{{:help:common:prsty_schunk01.png?400|Picture}}
  * End piece of the finger, which can be replaced by your finger 

=== Denavit-Hartenberg notation ===

^  ''joint''  ^    ''α''               ^   ''a''   ^  ''Θ''                ^   ''d''   ^  ''parameter range'' ^
|    ''1''    |   ''-90''              |  ''85''   |  ''parameter''        |  ''350''  |   ''< -170; 170 >''  |
|    ''2''    |    ''0''               |  ''380''  |  ''-90 + parameter''  |   ''0''   |    ''< -92; 135 >''  |
|    ''3''    |   ''-90''              |  ''100''  |  ''-90 + parameter''  |   ''0''   |   ''< -129; 166 >''  |
|    ''4''    |   ''90''               |   ''0''   |  ''parameter''        |  ''425''  |   ''< -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 milimeters. The Base is eye matrix and there is no Tool installed. The parameter range is in degrees and is the maximum possible range.