##040003148097753100002
*
* Compile mechanism for irb2600id_8_200__02
*
begin COMPONENT irb2600id_8_200__02
	no_of_joints		6
	no_of_loops		0
	TCP_link_name		link6
	user_TCP :
0	0	1	1288	
0	1	0	0	
-1	0	0	1495	
0	0	0	1	
	inverse_family	-1
	base_name		link0

	begin LINK link1
		joint_from	link0
		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 0 100
		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 0 445 , 150 100 445
		param_index	1
		joint_type	rot
		user_value	0
		range		-95 155
		max_speed	90
		max_acceleration	90
	end;

	begin LINK link3
		joint_from	link2
		transformation_to_father :
1	0	0	0.000214	
0	1	0	0	
0	0	1	0	
0	0	0	1	
		joint_name	j3
		axis_points	150 0 1345 , 150 100 1345
		param_index	2
		joint_type	rot
		user_value	0
		range		-180 75
		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	0 0 1495 , 100 0 1495
		param_index	3
		joint_type	rot
		user_value	0
		range		-175 175
		max_speed	90
		max_acceleration	90
	end;

	begin LINK link5
		joint_from	link4
		transformation_to_father :
1	0	0	0	
0	1	0	0	
0	0	1	0	
0	0	0	1	
		joint_name	j5
		axis_points	1088 0 1495 , 1088 100 1495
		param_index	4
		joint_type	rot
		user_value	0
		range		-120 120
		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	0 0 1495 , 100 0 1495
		param_index	5
		joint_type	rot
		user_value	0
		range		-400 400
		max_speed	90
		max_acceleration	90
	end

end
