Warning

## Mitsubishi robot RV-6SDL

#### RS-232 connection

• RS-232 cable has to be crossed according to documentation. 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 Detailed explanations of functions and operations manual page 5-383.
• RT-Toolbox2 is set as in 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).

#### 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.