13
0
IRB6720-LID-MH_140kg_320_OC_00
6
1
16
-1
0
0
1
0
4
39.0
60
48.0
30
NOPROGRAM
20
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
23.1
0.0
18.8
8
1
1
1
DEFAULT
0
0
720 720 720
0.5 0.5 0.5
1500 1500 5000
360 360 360
0 0
0 1 0 2 1 1 1 1 0.1 0.5 0
0 1
0 2 none
none
kin_generic
6
1 1 1 1 1 1 1 1
Config_1
Config_2
Config_3
Config_4
Config_5
Config_6
Config_7
Config_8
0
mot_aux1_0
mot_aux2_0
mot_joint_0
mot_straight_0
mot_circular_0
mot_slew_0
0 0 0 0 0 0
0 0 0 0 0 0
0 0 0 0 0 0
1
0 0 0 0 0 0
=dof(1)
=dof(2)
=dof(3)
=dof(4)
=dof(5)
=dof(6)
1 2 3 4 5 6
18 17 17 16 17 16
0 0 0 0 0 0
0 0 0 0 0 0
1 1 1
0 0 -1 0
0 1 0 0
1 0 0 0
2256.5 0 0 1
1
1 0 0 0
0 1 0 0
0 0 1 0
0 0 0 1
1
1 0 0 0
0 1 0 0
0 0 1 0
0 0 0 1
0 0 0 0 0 0
0 0 0 0 0 0
0 0 0 0 0 0 0 0
-2.96706
-1.13446
-2.79253
-5.23599
-2.0944
-3.83972
2.96706
1.48353
1.25664
5.23599
2.0944
3.83972
90 90 90 90 90 90
180 180 180 180 180 180
0.5 0.5 0.5 0.5 0.5 0.5
0 0 0 0 0 0
0 0 0 0 0 0
32
6
0 0
*
*
*
*
*
*
*
*
*
*
DEFAULT
0
0
0
*
*
*
*
0
*
Home_1
Joint 1
Joint 2
Joint 3
Joint 4
Joint 5
Joint 6
Utool 1
Uframe 1
0 0 0
5
0.00174533 0.1
0 -1.5708 1.44539 0 0 0
1 2 3 4 5 6
0 0 0 0 0 0
0 0 0 0 0 0
-0.1250737905502319 6.075151246534867e-17 -0.9921474456787109 0
4.336814285466062e-08 1 -5.467148955773382e-09 0
0.9921474456787109 -4.371138828673793e-08 -0.1250737905502319 0
0 0 0 1
1 0 0 0
0 1 0 0
0 0 1 0
-0 -0 -780 1
6.123234262925839e-17 6.123234262925839e-17 -1 0
-3.74939976039497e-33 1 6.123234262925839e-17 0
1 0 6.123234262925839e-17 0
1906.5 0 1.167394631483576e-13 1
0 0 9.09913e-14 0 -8.33358e-05 0
320 1286 1599.06 1.16739e-13 8.33358e-05 0
11
*
*
1 1 1 1 1 1
1 1 1 1 1 1
0 0 0 0
*
*
*
*
*
*
0
0
no_app_file
6
no_par_file
0 1 1 1
1
22
11
14.3
0.0
33.0
66.0
99.0
132.0
165.0
198.0
231.0
264.0
297.0
330.0
363.0
396.0
429.0
462.0
495.0
528.0
561.0
594.0
627.0
660.0
693.0
726.0
759.0
792.0
825.0
858.0
891.0
924.0
957.0
7
10 327684 0 1 1 0 
-1 -1
-1 -1 -1
-1 -1 -1
-1 -1 -1
9
0
0 0 267
Device Sequence Information
2
*
0
*
30
0.0
-1 262145 0 1 1 
-3 1
1 1 1
-1 -1 -1
-1 -1 -1
1 0 0 0
0 1 0 0
0 0 1 0
0 0 0 1
IRB6720-LID-MH_150kg-310.0
0
0
0
12
0
*
*
*
*
*IRB6720-LID-MH_150kg-310.0
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
52
33.8
1
-1 262145 0 1 1 
-3 1
1 1 1
-1 -1 -1
-1 -1 -1
1 0 0 0
0 1 0 0
0 0 1 0
0 0 0 1
IRB6720-LID-MH_150kg-310.1
2 5 18
1 1
0
12
0
*
*
*
*
*IRB6720-LID-MH_150kg-310.1
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
52
33.8
1
-1 262145 0 1 1 
-3 1
1 1 1
-1 -1 -1
-1 -1 -1
1 0 0 0
0 1 0 0
0 0 1 0
320 0 780 1
IRB6720-LID-MH_150kg-310.2
2 5 17
1 2
0
12
0
*
*
*
*
*IRB6720-LID-MH_150kg-310.2
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
52
33.8
1
-1 262145 0 1 1 
-3 1
1 1 1
-1 -1 -1
-1 -1 -1
1 0 0 0
0 1 0 0
0 0 1 0
0 0 1286 1
IRB6720-LID-MH_150kg-310.3
2 5 17
1 3
0
12
0
*
*
*
*
*IRB6720-LID-MH_150kg-310.3
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
52
33.8
1
-1 262145 0 1 1 
-3 1
1 1 1
-1 -1 -1
-1 -1 -1
1 0 0 0
0 1 0 0
0 0 1 0
0 0 0 1
IRB6720-LID-MH_150kg-310.3-cable
0
0
0
12
0
*
*
*
*
*IRB6720-LID-MH_150kg-310.3-cable
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
64
41.6
01
-1 262145 0 1 1 
-4 1
1 1 1
-1 -1 -1
-1 -1 -1
1 0 0 0
0 1 0 0
0 0 1 0
-320 0 200 1
IRB6720-LID-MH_140kg-320.4
2 5 16
1 4
0
12
0
*
*
*
*
*IRB6720-LID-MH_140kg-320.4
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
52
33.8
1
-1 262145 0 1 1 
-4 1
1 1 1
-1 -1 -1
-1 -1 -1
1 0 0 0
0 1 0 0
0 0 1 0
1906.5 0 0 1
IRB6720-LID-MH_140kg-320.5
2 5 17
1 5
0
12
0
*
*
*
*
*IRB6720-LID-MH_140kg-320.5
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
52
33.8
1
-1 262145 0 1 1 
-4 1
1 1 1
-1 -1 -1
-1 -1 -1
1 0 0 0
0 1 0 0
0 0 1 0
-1906.5 0 0 1
IRB6720-LID-MH_140kg-320.6
2 5 16
1 6
0
12
0
*
*
*
*
*IRB6720-LID-MH_140kg-320.6
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
52
33.8
01
-1 262145 0 1 1 
-4 1
1 1 1
-1 -1 -1
-1 -1 -1
1 0 0 0
0 1 0 0
0 0 1 0
0 0 0 1
IRB6720-LID-MH_140kg-320.5-cable
0
0
0
12
0
*
*
*
*
*IRB6720-LID-MH_140kg-320.5-cable
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
64
41.6
001
-1 262145 0 1 1 
-4 1
1 1 1
-1 -1 -1
-1 -1 -1
1 0 0 0
0 1 0 0
0 0 1 0
0 0 0 1
IRB6720-LID-MH_140kg-320.4-cable
0
0
0
12
0
*
*
*
*
*IRB6720-LID-MH_140kg-320.4-cable
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
64
41.6
0001
-1 262145 0 1 1 
-3 1
1 1 1
-1 -1 -1
-1 -1 -1
1 0 0 0
0 1 0 0
0 0 1 0
-208.739990234375 0 -44.3699951171875 1
IRB6720-LID-MH_150kg-310-piston
2 5 17
0
1
=sasa(683.415, DOF(2), 213.404)-PI
12
0
*
*
*
*
*IRB6720-LID-MH_150kg-310-piston
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
62
40.3
01
-1 262145 0 1 1 
-3 1
1 1 1
-1 -1 -1
-1 -1 -1
1 0 0 0
0 1 0 0
0 0 1 0
0 0 0 1
IRB6720-LID-MH_150kg-310.2-cable
0
0
0
12
0
*
*
*
*
*IRB6720-LID-MH_150kg-310.2-cable
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
64
41.6
001
-1 262145 0 1 1 
-3 1
1 1 1
-1 -1 -1
-1 -1 -1
1 0 0 0
0 1 0 0
0 0 1 0
-348.5 0 638 1
IRB6720-LID-MH_150kg-310-cylinder
2 5 17
0
1
=-sasa(213.404, DOF(2), 683.415)
12
0
*
*
*
*
*IRB6720-LID-MH_150kg-310-cylinder
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
66
42.9
01
-1 262145 0 1 1 
-3 1
1 1 1
-1 -1 -1
-1 -1 -1
1 0 0 0
0 1 0 0
0 0 1 0
0 0 0 1
IRB6720-LID-MH_150kg-310.1-cable
0
0
0
12
0
*
*
*
*
*IRB6720-LID-MH_150kg-310.1-cable
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
64
41.6
0007
0
0
1
2
3
5
6
7
0
17
0
0
0
0
0
0
0
0
0
0
0
0
0
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
