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help:common:robot_mitsubishi_rv-6sdl [2010/10/25 09:19]
meloumar
help:common:robot_mitsubishi_rv-6sdl [2022/10/21 15:49] (current)
smutny
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 ===== Mitsubishi robot RV-6SDL ===== ===== Mitsubishi robot RV-6SDL =====
-A robot used in MASH project. Room number is A420 and a phone number is +420 224 357 245 (local line 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 experimentsPlease, 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, MASH is RV-6SDL +  * To control robot from ROS use [[help:common:​robot_mitsubishi|Mitsubishi ROS interface ​]]. 
-  * Computer (MASH Application server) is installedThe operating system ​is Windows 7.  +  * 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can use [[help:​common:​robot_mitsubishimelfa_toolbox|Mitsubishi Melfa Robot Control Toolbox pro Matlab ]]This method ​is obsolete and it is not supported anymore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. RT ToolBox2 shortcut is placed on the desktop+  * Mitsubishi SW RT-Toolbox2 is working over both USB and RS-232. ​ COSIROP is not supported anymore. 
-  * Cameras are working. One can use: + 
-    * FlyCap - SW by Pointgrey, which allows to grab images or test the camera. +=== RS-232 ​connection ​=== 
-    * Matlab Image Acquisition Toolbox. + 
-  * Robot is not mounted yet, be careful. Will be done soon. +  * 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. 
-  * To control robot from matlab you can use [[help:​common:​robot_mitsubishimelfa_toolbox|Mitsubishi Melfa Robot Control Toolbox pro Matlab ]]. +  * 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.
-=== RS-232 === +
-  * RS-232 cable has to be crossed according 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. ​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).   * 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:   * RS-232 is currently set to:
-    * COM9: 
     * 38400 Baud,      * 38400 Baud, 
     * 8 bits (default), ​     * 8 bits (default), ​
     * parity even (default), ​     * parity even (default), ​
-    * two stopbits ​(default), ​+    * two stop bits (default), ​
     * non-procedural,​     * non-procedural,​
     * terminator '​CR'​ (default).     * terminator '​CR'​ (default).
  
 === Manuals === === Manuals ===
-  ​* [[http://​cmp.felk.cvut.cz/​cmp/​hardware/​Mitsubishi-RV6SL/​manuals/​|manuals]] ​(private ​access) + 
-  * [[http://www.mitsubishi-automation.com/​products/​robots.html|Manufacturers site]] +  ​* [[courses:​b3b33rob:​hidden:rv6sdl_manuals|Manuals ​(restricted ​access)]] 
-  * [[http://www.docstoc.com/​docs/​document-preview.aspx?doc_id=21202704|Mild start]] +  * [[https://eu3a.mitsubishielectric.com/fa/en/products/rbt/​robot/​index.html|Manufacturers site]] 
-  * 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. Beges+  * 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 fingerwhich can be replaced by your finger  
 === Denavit-Hartenberg notation === === Denavit-Hartenberg notation ===
  
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 |    ''​4'' ​   |   ''​90'' ​              ​| ​  ''​0'' ​  ​| ​ ''​parameter'' ​       |  ''​425'' ​ |   ''<​ -160; 160 >'' ​ | |    ''​4'' ​   |   ''​90'' ​              ​| ​  ''​0'' ​  ​| ​ ''​parameter'' ​       |  ''​425'' ​ |   ''<​ -160; 160 >'' ​ |
 |    ''​5'' ​   |   ''​-90'' ​             |   ''​0'' ​  ​| ​ ''​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 milimeters. The Base is eye matrix and there is no Tool installed. The parameter range is in degrees and is the maximum possible range.
  
-=== Robot setup === 
-Robot currently set using parameter MEPAR to work above plane with the z coordinate 100 mm. 
-=== Sample images === 
  
-{{:​help:​common:​help:​common:​robot_mitsubishi_rv-6sdl:​photos-1:​mash_robot_pictures.zip|Images }}, top view and oblique view, of cubes placed on the TV screen, which projects "wild water"​. 
help/common/robot_mitsubishi_rv-6sdl.1287991175.txt.gz · Last modified: 2018/02/03 10:48 (external edit)