##040003106495038000003
*
* Compile mechanism for irb4400_45_m2000
*
begin COMPONENT irb4400_45_m2000
	no_of_joints		11
	no_of_loops		1
	TCP_link_name		flange
	user_TCP :
0	0	1	1220.001343	
0	1	0	0	
-1	0	0	1720	
0	0	0	1	
	inverse_family	-1
	base_name		base

	begin LINK link1
		joint_from	base
		transformation_to_father :
1	0	0	0	
0	1	0	0	
0	0	1	0	
0	0	0	1	
		joint_name	j1
		axis_points	0 0 -5000 , 0 0 5000
		param_index	0
		joint_type	rot
		user_value	0
		range		-165 165
		max_speed	150
		max_acceleration	300
	end;

	begin LINK link2
		joint_from	link1
		transformation_to_father :
1	0	0	0.000382	
0	1	0	0	
0	0	1	-0.000152	
0	0	0	1	
		joint_name	j2
		axis_points	200 -5000 680 , 200 5000 680
		param_index	1
		joint_type	rot
		user_value	0
		range		-70 95
		max_speed	120
		max_acceleration	240
	end;

	begin LINK link3
		joint_from	link2
		transformation_to_father :
1	0	0	-0.001774	
0	1	0	0	
0	0	1	0	
0	0	0	1	
		joint_name	j3
		axis_points	200 -5000 1570 , 200 5000 1570
		param_index	2
		follows j2 by -1
		joint_type	rot
		user_value	0
		dependent range on joint	j2
		extreme		0	-30 ;
		extreme		0	65 ;
		extreme		95	30 ;
		extreme		95	135 ;
		extreme		-70	-30 ;
		extreme		-70	-5
		max_speed	120
		max_acceleration	240
	end;

	begin LINK link4
		joint_from	link3
		transformation_to_father :
1	0	0	0	
0	1	0	0	
0	0	1	0.000587	
0	0	0	1	
		joint_name	j4
		axis_points	-5000 0 1720 , 5000 0 1720
		param_index	3
		joint_type	rot
		user_value	0
		range		-200 200
		max_speed	225
		max_acceleration	450
	end;

	begin LINK link5
		joint_from	link4
		transformation_to_father :
1	0	0	0.000366	
0	1	0	0	
0	0	1	0	
0	0	0	1	
		joint_name	j5
		axis_points	1080.001343 -100 1720 , 1080.001343 100 1720
		param_index	4
		joint_type	rot
		user_value	0
		range		-120 120
		max_speed	90
		max_acceleration	90
	end;

	begin LINK flange
		joint_from	link5
		transformation_to_father :
1	0	0	0	
0	1	0	0	
0	0	1	0	
0	0	0	1	
		joint_name	j6
		axis_points	1080.001343 0 1720 , 1200.001343 0 1720
		param_index	5
		joint_type	rot
		user_value	0
		range		-400 400
		max_speed	90
		max_acceleration	90
	end;

	begin LINK link6
		joint_from	link3
		transformation_to_father :
1	0	0	0	
0	1	0	0	
0	0	1	0.000152	
0	0	0	1	
		joint_name	j7
		axis_points	-100 -5000 1570 , -100 5000 1570
		param_index	6
		joint_type	rot
		user_value	0
		range		no limits
		max_speed	90
		max_acceleration	90
	end;

	begin LINK link7
		joint_from	link6
		transformation_to_father :
1	0	0	0	
0	1	0	0	
0	0	1	0	
0	0	0	1	
		joint_name	j8
		axis_points	-100 -5000 680 , -100 5000 680
		param_index	7
		joint_type	rot
		user_value	0
		range		no limits
		max_speed	90
		max_acceleration	90
	end;

	begin LINK piston
		joint_from	link2
		transformation_to_father :
1	0	0	-0.00049	
0	1	0	0	
0	0	1	0	
0	0	0	1	
		joint_name	pist
		axis_points	321.700012 -500 708.400024 , 321.700012 500 708.400024
		param_index	8
		joint_type	rot
		user_value	0
		range		no limits
		max_speed	90
		max_acceleration	90
		function "curr = (((atan2(124.9698*sin((T(j2))),(693.8865+(124.9698*cos((T(j2))))))))-(T(j2)))" 
	end;

	begin LINK cylinder
		joint_from	link1
		transformation_to_father :
1	0	0	0	
0	1	0	0	
0	0	1	0	
0	0	0	1	
		joint_name	cyl
		axis_points	-478.049988 -500 532.599976 , -478.049988 500 532.599976
		param_index	9
		joint_type	rot
		user_value	0
		range		no limits
		max_speed	90
		max_acceleration	90
		function "curr = (atan2(124.9698*sin((T(j2))),(693.8865+(124.9698*cos((T(j2)))))))" 
	end;

	begin CLOSE_LOOP link2
		joint_from	link7
		transformation_to_father :
1	0	0	0.001686	
0	1	0	0	
0	0	1	-0.000171	
0	0	0	1	
		joint_name	j9
		axis_points	200 -5000 680 , 200 5000 680
		param_index	10
		joint_type	rot
		user_value	0
		range		no limits
		max_speed	90
		max_acceleration	90
	end

end
