13
0
IRB5710-MH3_90kg-270_OmniCore_rev00
6
1
16
-1
0
0
1
0
4
45.5
70
56.0
35
NOPROGRAM
20
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
26.9
0.0
21.9
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(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
160 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 1.44813 0 0 0
1 2 3 4 5 6
0 0 0 0 0 0
0 0 0 0 0 0
-0.1223612949252129 6.07722184504421e-017 -0.9924856424331665 0
4.338292569627811e-008 1 -5.348582021724724e-009 0
0.9924856424331665 -4.371138828673793e-008 -0.1223612949252129 0
0 0 0 1
1 0 0 0
0 1 0 0
0 0 1 0
-0 -0 -670 1
6.123234262925839e-017 6.123234262925839e-017 -1 0
-3.74939976039497e-033 1 6.123234262925839e-017 0
1 0 6.123234262925839e-017 0
0 -0 0 1
0 0 6.91925e-014 0 -4.80298e-030 0
280 950 1471.05 7.84386e-014 -0 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
38.5
77.0
115.5
154.0
192.5
231.0
269.5
308.0
346.5
385.0
423.5
462.0
500.5
539.0
577.5
616.0
654.5
693.0
731.5
770.0
808.5
847.0
885.5
924.0
962.5
1001.0
1039.5
1078.0
1116.5
1155.0
1193.5
1232.0
1270.5
1309.0
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
*
54
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
irb5710_mh3_90.0
0
0
0
12
0
*
*
*
*
*irb5710_mh3_90.0
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
32
20.8
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
irb5710_mh3_90.1
2 5 18
1 1
0
12
0
*
*
*
*
*irb5710_mh3_90.1
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
32
20.8
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
irb5710_mh3_90.1-cable
0
0
0
12
0
*
*
*
*
*irb5710_mh3_90.1-cable
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
44
28.6
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
280 0 670 1
irb5710_mh3_90.2
2 5 17
1 2
0
12
0
*
*
*
*
*irb5710_mh3_90.2
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
32
20.8
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
-280 0 -670 1
irb5710_mh3_90.2-cable
0
0
0
12
0
*
*
*
*
*irb5710_mh3_90.2-cable
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
44
28.6
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 0 950 1
irb5710_mh3_90.3
2 5 17
1 3
0
12
0
*
*
*
*
*irb5710_mh3_90.3
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
32
20.8
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
-280 0 -1620 1
irb5710_mh3_90.3-cable
0
0
0
12
0
*
*
*
*
*irb5710_mh3_90.3-cable
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
44
28.6
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
179 0 180 1
irb5710_mh3_90.4
2 5 16
1 4
0
12
0
*
*
*
*
*irb5710_mh3_90.4
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
32
20.8
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
-459 0 -1800 1
irb5710_mh3_90.4-cable
0
0
0
12
0
*
*
*
*
*irb5710_mh3_90.4-cable
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
44
28.6
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
1281 0 0 1
irb5710_mh3_90.5
2 5 17
1 5
0
12
0
*
*
*
*
*irb5710_mh3_90.5
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
32
20.8
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
irb5710_mh3_90.6
2 5 16
1 6
0
12
0
*
*
*
*
*irb5710_mh3_90.6
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
32
20.8
000000010
0
0
1
3
5
7
9
10
0
17
0
0
0
0
0
0
0
0
0
0
0
0
0
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
