13
0
IRB7720-LID-MH_400kg-330_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
159490319824224870516138220298602465615115913049583021072658750376547574129909223111766232714879515263840889541599226100907439003553664650445908310198592052734646781398175770342232625953412680204727779612305540183053502421162467844557153811427112282067769736839561216.0
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 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
2428 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 1.39823 0 0 0
1 2 3 4 5 6
0 0 0 0 0 0
0 0 0 0 0 0
-0.1717148423194885 -4.440892098500626e-16 -0.985146701335907 0
4.306212986193714e-08 1 -7.505894572545913e-09 0
0.985146701335907 -4.371138828673793e-08 -0.1717148423194885 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
2028 0 1.241791906933173e-13 1
0 0 9.76656e-14 0 -8.86467e-05 0
320 1295 1747.08 1.24179e-13 8.86467e-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
*
111
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 1 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-330-350.3
2 5 17
0
1
=dof(3)-DOF(2)
12
0
*
*
*
*
*IRB7720_all-330-350.3
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
42
27.3
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
-306.8669738769531 0 300 1
IRB77x0_all_330.4
2 5 16
1 4
0
12
0
*
*
*
*
*IRB77x0_all_330.4
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
34
22.1
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
2028 0 0 1
IRB77x0_all-330.5
2 5 17
1 5
0
12
0
*
*
*
*
*IRB77x0_all-330.5
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
-2028 0 0 1
IRB77X0_All-330_CABLE.6
2 5 16
1 6
0
12
0
*
*
*
*
*IRB77X0_All-330_CABLE.6
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
46
29.9
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
-2037.870239257813 -5.909634590148926 -2525 1
IRB77X0-LID_All-330_LINK05_CABLE
0
0
0
12
0
*
*
*
*
*IRB77X0-LID_All-330_LINK05_CABLE
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
64
41.6
001
-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
0 0 -2525 1
IRB77X0-LID_All-330_LINK04_CABLE
0
0
0
12
0
*
*
*
*
*IRB77X0-LID_All-330_LINK04_CABLE
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
64
41.6
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 -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 
-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
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 
-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
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 
-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_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 -1.60901399794966e-05 1.062923544736805e-07 0
-1.608940328878816e-05 0.9999874234199524 0.005016419570893049 0
-1.870058952135878e-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 
-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_LINK01_CABLE
0
0
0
12
0
*
*
*
*
*IRB77X0_All_LINK01_CABLE
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
48
31.2
0006
0
0
1
2
3
4
5
6
0
17
0
0
0
0
0
0
0
0
0
0
0
0
0
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
