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help:common:robot_mitsubishi_rv-6s [2021/09/14 16:30]
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help:common:robot_mitsubishi_rv-6s [2021/10/20 13:26]
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=== How to use it ===
=== How to use it ===
-
* Cameras are working. One can use FlyCap - SW by Pointgrey, which allows to grab images or test the camera, is placed at
-
C:\Program Files\Point Grey Research\FlyCapture2\bin\FlyCap2.exe (shortcut is placed on the desktop).
* To control robot from ROS use [[help:common:robot_mitsubishi|Mitsubishi ROS interface ]].
* 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 This method is obsolete and it is not supported anymore.
+
* 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 This method is obsolete and it is not supported anymore.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 ===
+
-
{{:help:common:robot_mitsubishi_rv-6s:rv-6s-rs232.jpg|RS-232 connector in computer.}}
+
-
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:
+
=== RS-232 connection ===
-
* COM3:,
+
+
*
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,
* 38.400 kbps,
* 8 bits (default),
* 8 bits (default),
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=== Manuals ===
=== Manuals ===
-
* [[courses:
help
:
common
:
mitsubishi_manuals
|
manuals]]
+
* [[courses:
b3b33rob
:
hidden
:
rv6s_manuals
|
Manuals
(
restricted
access)]]
-
* [[http://cmp.felk.cvut.cz/cmp/hardware/Mitsubishi-RV6S/manuals/|manuals]]
(
private
access)
+
* [[
https
://
eu3a
.
mitsubishielectric
.com/
fa
/
en
/
products
/
rbt
/
robot
/
index
.html|
Manufacturer site
]]
-
* [[http://www.mitsubishi-automation.com/products/robots.html|Manufacturers site
]]
+
-
* [[
http
://
www
.
docstoc
.com/
docs
/
document-preview.aspx?doc_id=21202704|Mild start]]
+
-
* Local representative of the manufacturer [[http:
//
www.mitsubishi-automation-cz.com
/
contact
/
contacts
.html
?category_id=66
|
Mitsubishi
]]
, [[http://www.autocontcontrol.cz/rs/kontakt.asp|Autocont]], ing. Begeš
+
=== Calibration data ===
=== Calibration data ===
-
The robot was calibrated using jigs April 30th 2010. Here are the calibration data:\\
+
The robot was calibrated using jigs April 30th 2010. Here are the calibration data
(most probably obsolete)
:\\
D: I?Q #TO \\
D: I?Q #TO \\
1: YR4 GZT \\
1: YR4 GZT \\
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| ''6'' | ''0'' | ''0'' | ''180 + parameter'' | ''85'' | ''< -360; 360 >'' |
| ''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.
+
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.
help/common/robot_mitsubishi_rv-6s.1631629846.txt.gz
· Last modified: 2021/09/14 16:30 by
smutny