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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 13:01]
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 ===
-  * [[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
-  * There was a reinstalation of the operating system to Windows XP.
-  * 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 ]].
+  * To control robot from ROS use [[help:common:robot_mitsubishi|Mitsubishi ROS interface ]].
+  * 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 This method is obsolete and it is not supported anymore.
 === RS-232 ===
 {{:help:common:robot_mitsubishi_rv-6s:rv-6s-rs232.jpg|RS-232 connector in computer.}}
@@ Line 50: / Line 45: @@
 |    ''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.