help:common:robot_mitsubishi_rv-6sdl [CourseWare Wiki]

Mitsubishi robot RV-6SDL

How to use it

To control robot from ROS use Mitsubishi ROS interface .
To control robot from matlab you can use 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 This method is obsolete and it is not supported anymore.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. 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).

Manuals

Manuals (restricted access)
Manufacturers site
Base of the fingers for Schunk gripper PG70 STEP
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.