##040003149260982900007
*
* Compile mechanism for irb1600_120_m2004
*
begin COMPONENT irb1600_120_m2004
	no_of_joints		6
	no_of_loops		0
	TCP_link_name		link6
	user_TCP :
0	0	1	815	
0	1	0	0	
-1	0	0	961.5	
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 0 , 0 0 500
		param_index	0
		joint_type	rot
		user_value	0
		range		-180 180
		max_speed	90
		max_acceleration	90
	end;

	begin LINK link2
		joint_from	link1
		transformation_to_father :
1	0	0	0	
0	1	0	0	
0	0	1	0	
0	0	0	1	
		joint_name	j2
		axis_points	150 0 486.5 , 150 500 486.5
		param_index	1
		joint_type	rot
		user_value	0
		range		-63 136
		max_speed	90
		max_acceleration	90
	end;

	begin LINK link3
		joint_from	link2
		transformation_to_father :
1	0	0	0	
0	1	0	0	
0	0	1	0	
0	0	0	1	
		joint_name	j3
		axis_points	150 0 961.5 , 150 500 961.5
		param_index	2
		joint_type	rot
		user_value	0
		range		-235 55
		max_speed	90
		max_acceleration	90
	end;

	begin LINK link4
		joint_from	link3
		transformation_to_father :
1	0	0	0	
0	1	0	0	
0	0	1	0	
0	0	0	1	
		joint_name	j4
		axis_points	750 0 961.5 , 900 0 961.5
		param_index	3
		joint_type	rot
		user_value	0
		range		-200 200
		max_speed	90
		max_acceleration	90
	end;

	begin LINK link5
		joint_from	link4
		transformation_to_father :
1	0	0	0.000145	
0	1	0	0	
0	0	1	-0.000113	
0	0	0	1	
		joint_name	j5
		axis_points	750 0 961.5 , 750 500 961.5
		param_index	4
		joint_type	rot
		user_value	0
		range		-115 115
		max_speed	90
		max_acceleration	90
	end;

	begin LINK link6
		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	750 0 961.5 , 900 0 961.5
		param_index	5
		joint_type	rot
		user_value	0
		range		-400 400
		max_speed	90
		max_acceleration	90
	end

end
