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help:common:robot_mitsubishi_rv-6s [2010/10/11 13:26]
meloumar
help:common:robot_mitsubishi_rv-6s [2021/10/20 13:26] (current)
krsek
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 ===== Mitsubishi robot RV-6S ===== ===== Mitsubishi robot RV-6S =====
-Joint laboratory of [[http://​mech.fsik.cvut.cz/​doku.php| Dept. of Mechanics, Faculty of 
-Mechanical Engineering]] and [[http://​cmp.felk.cvut.cz/​|CMP]]. 
-Room number is A420 and phone number is 7245. 
  
 === How to use it === === How to use it ===
  
-  * [[http://​cmp.felk.cvut.cz/​cmp/​hardware/​rezervace/​|Reservation]] This is used to reserve the robot time for the experiments. Please, fill, who is reserving the robot. Private access, username and password same as for manuals. Be sure, that you reserve yourself for the right robot, that is RV6S +  * To control robot from ROS use [[help:common:​robot_mitsubishi|Mitsubishi ROS interface ​]]. 
-  * There was a reinstalation of the operating system to Windows XP. +  * 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 This method is obsolete and it is not supported anymore.
-  * COSIROP (program to control robot) is in c:\Program Files\COSIROP\bin\cosirop32.exe (shortcut is placed on the desktop). COSIROP setup is placed in c:\Program Files\COSIROP\Projects\Pokus1\Pokus1.mod. +
-  * 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 matlab ​you can use [[help:​common:​robot_mitsubishimelfa_toolbox|Mitsubishi Melfa Robot Control Toolbox ​pro Matlab ]]. +
-=== 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 ===
-  * [[http://​cmp.felk.cvut.cz/​cmp/​hardware/​Mitsubishi-RV6S/​manuals/​|manuals]] ​(private ​access) +  * [[courses:b3b33rob:​hidden:​rv6s_manuals|Manuals ​(restricted ​access)]] 
-  * [[http://​www.mitsubishi-automation.com/​products/​robots.html|Manufacturers site]] +  * [[https://eu3a.mitsubishielectric.com/fa/en/products/rbt/robot/index.html|Manufacturer 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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 ^  ''​Joint'' ​ ^    ''​α'' ​              ​^ ​  ''​a'' ​  ​^ ​ ''​Θ'' ​               ^   ''​d'' ​  ​^ ​ ''​parameter range''​ ^ ^  ''​Joint'' ​ ^    ''​α'' ​              ​^ ​  ''​a'' ​  ​^ ​ ''​Θ'' ​               ^   ''​d'' ​  ​^ ​ ''​parameter range''​ ^
 |    ''​1'' ​   |   ''​-90'' ​             |  ''​85'' ​  ​| ​ ''​parameter'' ​       |  ''​350'' ​ |   ''<​ -170; 170 >'' ​ | |    ''​1'' ​   |   ''​-90'' ​             |  ''​85'' ​  ​| ​ ''​parameter'' ​       |  ''​350'' ​ |   ''<​ -170; 170 >'' ​ |
-|    ''​2'' ​   |    ''​0'' ​              ​| ​ ''​280'' ​ |  ''​-90 + parameter'' ​  ​|   ''​0'' ​  ​| ​   ''<​ -92; 135 >'' ​ | +|    ''​2'' ​   |    ''​0'' ​              ​| ​ ''​280'' ​ |  ''​-90 + parameter'' ​ |   ''​0'' ​  ​| ​   ''<​ -92; 135 >'' ​ | 
-|    ''​3'' ​   |   ''​90'' ​              ​  ​''​0'' ​  ​|  ''​parameter'' ​       |   ''​0'' ​  ​| ​  ''<​ -107; 166 >'' ​ | +|    ''​3'' ​   |   ''​-90'' ​              ''​100'' ​ |  ''​-90 + parameter'' ​ |   ''​0'' ​  ​| ​  ''<​ -107; 166 >'' ​ | 
-|    ''​4'' ​   |   ''​-90 + parameter'' ​  ''​315'' ​ |  ''​0'' ​               |  ''​100'' ​ |   ''<​ -160; 160 >'' ​ | +|    ''​4'' ​   |   ''​90'' ​              ​  ​''​0'' ​  ​|  ''​parameter'' ​       |  ''​315'' ​ |   ''<​ -160; 160 >'' ​ | 
-|    ''​5'' ​   |   ''​90'' ​              ​|   ''​0'' ​  ​| ​ ''​90 + parameter'' ​  ​|   ''​0'' ​  ​| ​  ''<​ -120; 120 >'' ​ | +|    ''​5'' ​   |   ''​-90'' ​             |   ''​0'' ​  ​| ​ ''​parameter'' ​       |   ''​0'' ​  ​| ​  ''<​ -120; 120 >'' ​ | 
-|    ''​6'' ​   |    ''​0'' ​              ​| ​  ''​0'' ​  ​| ​ ''​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.1286796393.txt.gz · Last modified: 2018/02/03 10:48 (external edit)