12
irb920t_6_55
1
256
-1
4
0
0
0
1
0
0
NOPROGRAM
257
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
16
1
1
2
DEFAULT
0
0.042
508 508 29460
360 360 360
720 720 720
0.5 0.5 0.5
0 0
1 375 1 1 0.1 0 0
0 0 0 2 0 2 0 0
kin_adept
vel_adept
fwdvel_null
4
1 1
Config_1
Config_2
1
mot_joint_0
mot_straight_0
mot_straight_0
mot_joint_0
mot_aux1_0
mot_aux2_0
0 0 1 0
0 0 1 0
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
0 0 0 0
0 0 0 0
0 0 0 0
0 0 0 0
0 0 0 0
0 0 0 0
0 0 0 0
0 0 0 0
0 0 0 0
0 0 0 0
0 0 0 0
=dof(1)
=dof(2)
=dof(3)
=dof(4)
-99 -99 -99 -99
0 0 0 0
0 0 0 0
0 0 0 0
1 1 1
1 0 0 0
0 1 0 0
0 0 1 0
0 0 -63.5 1
1
1 0 0 0
0 1 0 0
0 0 1 0
0 0 63.5 1
1
1 0 0 0
0 1 0 0
0 0 1 0
0 0 0 1
290 260 201.5 0
0 0 0 0
0 0 0 0 0 0 0 0
-2.61799
-2.53073
0
-6.98132
2.61799
2.53073
180
6.98132
200 360 500 540
1000 1000 29460 1000
0.5 0.5 0.5 0.5
0 0 0 0
0 0 0 0
60
0
0 0
*
*
*
*
*
*
*
*
*
*
DEFAULT
0
0
0
*
*
*
*
Home_1
Home_2
Home_3
Home_4
Home_5
Home_6
Home_7
Home_8
Home_9
Home_10
Home_11
Home_12
Home_13
Home_14
Home_15
Home_16
0
*
*
*
*
*
*
*
*
*
*
*
*
*
*
*
*
Joint 1
Joint 2
Joint 3
Joint 4
Utool 1
Uframe 1
0 0 0
0
0.1 0.00174533
0 0 0 0 0 0
0 0 0 0 0 0
0 0 0 0 0 0
1 1 1 1 1 1
1 0 0 0
0 1 0 0
0 0 1 0
0 0 0 1
1 0 0 0
0 1 0 0
0 0 1 0
0 0 0 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
11
*(null)
*(null)
1 1 1 1 1 1
1 1 1 1
0 0 0 0
*
*
*
*
*
*
0
0
no_app_file
3
no_par_file
0 1 1 1
1
6
13 1 1 327685 0 0 
-1 -1
-1 -1 -1
-1 -1 -1
-1 -1 -1
7
0
0 267 0
Device Sequence Information
2
*
0
*
6 1 1 262145 0 
1 0.75
0.75 0.75 0.75
-1 -1 -1
-1 -1 -1
1 0 0 0
0 1 0 0
0 0 1 0
-1.518603221484227e-005 -6.144935905602611e-013 0 1
abb/irc5/IRB920T/irb920t_base_b
0
0
0
10
0
*
*
*
*
*irb920t_base_b
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
1
-1 1 1 262145 0 
1 0.75
0.75 0.75 0.75
-1 -1 -1
-1 -1 -1
1 0 0 0
0 1 0 0
0 0 1 0
0 0 0 1
abb/irc5/IRB920T/irb920t_6_55_link1
2 5 18
1 1
0
10
0
*
*
*
*
*irb920t_6_55_link1
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
1
-1 1 1 262145 0 
1 0.75
0.75 0.75 0.75
-1 -1 -1
-1 -1 -1
1 0 0 0
0 1 0 0
0 0 1 0
290 0 0 1
abb/irc5/IRB920T/irb920t_6_all_link2_adept
2 5 18
1 2
0
10
0
*
*
*
*
*irb920t_6_all_link2_adept
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
1
6 1 1 262145 1 
1 0.75
0.75 0.75 0.75
-1 -1 -1
-1 -1 -1
1 0 0 0
0 -1 -1.509958025280866e-007 0
0 1.509958025280866e-007 -1 0
260 -5.400124791776761e-013 201.5 1
abb/irc5/IRB920T/irb920t_6_all_link4_18_adept
3 5 15 18
2 3 4
0
10
0
*
*
*
*
*irb920t_6_all_link4_18_adept
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
1
6 1 1 262145 0 
-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 -60 1
abb/irc5/IRB920T/irb920t_6_all_link3
2 5 11
1 3
0
10
0
*
*
*
*
*irb920t_6_all_link3
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
000003
0
0
0
0
0
0
0
17
0
0
0
0
0
0
0
0
0
0
0
0
0
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
