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--- help:common:robot_mitsubishi_rv-6s [2010/10/12 16:48]
meloumar
+++ help:common:robot_mitsubishi_rv-6s [2021/09/14 12:52]
smutny
@@ Line 1: / Line 1: @@
 ===== 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 ===
@@ Line 50: / Line 47: @@
 |    ''4''    |   ''90''               |   ''0''   |  ''parameter''        |  ''315''  |   ''< -160; 160 >''  |
 |    ''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.