13
0
IRB7720-MH3_620kg-290_OC_00
6
1
16
-1
0
0
1
0
4
35.1
54
43.2
27
NOPROGRAM
20
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
20.8
159490319824224813238330383348680056777548045699906039629180406035242515247009818489638222009071196573272357892342475242188420565554224501652186796051838651844594698269016529316484009994988475671125256654347987692973485957671972892696046597951945051350195523890970624.0
16.9
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 0 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(2)
=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
1858 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
-1.5708
-1.5708
-1.5708
-1.5708
-1.5708
-1.5708
1.5708
1.5708
1.5708
1.5708
1.5708
1.5708
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 1.33848 0 0 0
1 2 3 4 5 6
0 0 0 0 0 0
0 0 0 0 0 0
-0.2302369475364685 8.881784197001252e-16 -0.9731346368789673 0
4.25370600964925e-08 1 -1.006397454261787e-08 0
0.9731346368789673 -4.371138828673793e-08 -0.2302369475364685 0
0 0 0 1
1 0 0 0
0 1 0 0
0 0 1 0
-0 -0 -930 1
6.123234262925839e-17 6.123234262925839e-17 -1 0
-3.74939976039497e-33 1 6.123234262925839e-17 0
1 0 6.123234262925839e-17 0
1588 0 9.723696321869632e-14 1
0 0 9.76656e-14 0 -6.94137e-05 0
320 1295 1303.01 9.7237e-14 6.94137e-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
29.7
59.4
89.1
118.8
148.5
178.2
207.9
237.6
267.3
297.0
326.7
356.4
386.1
415.8
445.5
475.2
504.9
534.6
564.3
594.0
623.7
653.4
683.1
712.8
742.5
772.2
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
*
108
0.0
-1 262145 0 1 1 
-1 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
IRB7720_all.0
0
0
0
12
0
*
*
*
*
*IRB7720_all.0
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
26
16.9
1
-1 262145 0 1 1 
-1 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
IRB77x0_all.1
2 5 18
1 1
0
12
0
*
*
*
*
*IRB77x0_all.1
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
26
16.9
1
-1 262145 0 1 1 
-1 1
1 1 1
-1 -1 -1
-1 -1 -1
1 0 0 0
0 1 0 0
0 0 1 0
320 0 930 1
IRB77x0_all.2
2 5 17
1 2
0
12
0
*
*
*
*
*IRB77x0_all.2
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
26
16.9
1
-1 262145 0 1 1 
-1 1
1 1 1
-1 -1 -1
-1 -1 -1
1 0 0 0
0 1 0 0
0 0 1 0
0 0 1295 1
IRB7720_all-290-310
2 5 17
0
1
=dof(3)-DOF(2)
12
0
*
*
*
*
*IRB7720_all-290-310
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
38
24.7
1
-1 262145 0 1 1 
-1 1
1 1 1
-1 -1 -1
-1 -1 -1
1 0 0 0
0 1 0 0
0 0 1 0
-320 0 -2225 1
IRB7710_All_LINK3m_CABLE
0
0
0
12
0
*
*
*
*
*IRB7710_All_LINK3m_CABLE
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
48
31.2
01
-1 262145 0 1 1 
-2 1
1 1 1
-1 -1 -1
-1 -1 -1
1 0 0 0
0 1 0 0
0 0 1 0
-320 0 300 1
IRB7720_all-290.4
2 5 16
1 4
0
12
0
*
*
*
*
*IRB7720_all-290.4
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
34
22.1
1
-1 262145 0 1 1 
-2 1
1 1 1
-1 -1 -1
-1 -1 -1
1 0 0 0
0 1 0 0
0 0 1 0
1588 0 0 1
IRB7720_all-290.5
2 5 17
1 5
0
12
0
*
*
*
*
*IRB7720_all-290.5
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
34
22.1
1
-1 262145 0 1 1 
-2 1
1 1 1
-1 -1 -1
-1 -1 -1
1 0 0 0
0 1 0 0
0 0 1 0
-1588 0 0 1
IRB7720_all-290.6
2 5 16
1 6
0
12
0
*
*
*
*
*IRB7720_all-290.6
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
34
22.1
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
0 0 -2525 1
IRB77X0-MH3_All-290_LINK04_CABLE
0
0
0
12
0
*
*
*
*
*IRB77X0-MH3_All-290_LINK04_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
-320 0 -2225 1
IRB77X0-MH3_All_LINK03a_CABLE
0
0
0
12
0
*
*
*
*
*IRB77X0-MH3_All_LINK03a_CABLE
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
58
37.7
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
-320 0 -2225 1
IRB77X0_All_LINK03b_CABLE
0
0
0
12
0
*
*
*
*
*IRB77X0_All_LINK03b_CABLE
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
50
32.5
001
-1 262145 0 1 1 
-1 1
1 1 1
-1 -1 -1
-1 -1 -1
1 0 1.224646852585168e-16 0
0 1 -0 0
-1.224646852585168e-16 0 1 0
0 0 1295 1
IRB77x0_all_cylinder
2 5 17
0
1
=a1=sssa(998,300,1295);a2=sssa(300,998,1295);a2-sasa(300,a1-DOF(2),1295)
12
0
*
*
*
*
*IRB77x0_all_cylinder
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
40
26.0
01
-1 262145 0 1 1 
-1 1
1 1 1
-1 -1 -1
-1 -1 -1
1 0 0 0
0 1 0 0
0 0 1 0
-320 0 -930 1
IRB77x0_all.2-cable
0
0
0
12
0
*
*
*
*
*IRB77x0_all.2-cable
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
38
24.7
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
-320 0 -930 1
IRB77X0_All_LINK02_CABLE
0
0
0
12
0
*
*
*
*
*IRB77X0_All_LINK02_CABLE
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
48
31.2
001
-1 262145 0 1 1 
-1 1
1 1 1
-1 -1 -1
-1 -1 -1
1 0 0 0
0 1 0 0
0 0 1 0
320 0 930 1
IRB7720_all_linkarm
2 5 17
0
1
=DOF(3)
12
0
*
*
*
*
*IRB7720_all_linkarm
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
38
24.7
1
-1 262145 0 1 1 
-1 1
1 1 1
-1 -1 -1
-1 -1 -1
1 0 0 0
0 1 0 0
0 0 1 0
-530 0 0 1
IRB77x0_all_linkbar
2 5 17
0
1
=DOF(2)-DOF(3)
12
0
*
*
*
*
*IRB77x0_all_linkbar
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
38
24.7
001
-1 262145 1 1 1 
-1 1
1 1 1
-1 -1 -1
-1 -1 -1
-1 -1.609013816050719e-05 1.062923473682531e-07 0
-1.608940146979876e-05 0.9999874234199524 0.005016419570893049 0
-1.870058810027331e-07 0.005016419570893049 -0.9999874234199524 0
361.7520141601563 0 1227.079956054688 1
IRB77x0_all_piston
2 5 17
0
1
=A2=sssa(998.79,300,1295);A1=sssa(1295,998.79,300);2*PI-(sasa(1295,DOF(2)-A2,300)+A1)
12
0
*
*
*
*
*IRB77x0_all_piston
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
36
23.4
01
-1 262145 0 1 1 
-1 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
IRB77X0_All_LINK1m_CABLE
0
0
0
12
0
*
*
*
*
*IRB77X0_All_LINK1m_CABLE
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
48
31.2
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
IRB77X0_All_LINK01_CABLE
0
0
0
12
0
*
*
*
*
*IRB77X0_All_LINK01_CABLE
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
48
31.2
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**
