13
0
IRB7720_450kg-350_OC_00
6
1
16
-1
0
0
1
0
4
29.9
46
36.8
23
NOPROGRAM
20
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17.7
0.0
14.4
8
1
1
1
DEFAULT
0
0
720 720 720
0.5 0.5 0.5
6000 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
2483 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
75 60 55 100 100 160
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 1.41564 0 0 0
1 2 3 4 5 6
0 0 0 0 0 0
0 0 0 0 0 0
-0.1545340567827225 6.049678715879664e-17 -0.9879874587059021 0
4.318630431043857e-08 1 -6.754897974303731e-09 0
0.9879874587059021 -4.371138828673793e-08 -0.1545340567827225 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
2238 0 1.370379775367941e-13 1
0 0 9.76656e-14 0 -9.78261e-05 0
320 1295 1941.32 1.37038e-13 9.78261e-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
25.3
50.6
75.9
101.2
126.5
151.8
177.1
202.4
227.7
253.0
278.3
303.6
328.9
354.2
379.5
404.8
430.1
455.4
480.7
506.0
531.3
556.6
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
*
67
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 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 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
-320 0 300 1
IRB77x0_all_350.4
2 5 16
1 4
0
12
0
*
*
*
*
*IRB77x0_all_350.4
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
2238 0 0 1
IRB77x0_all-350.5
2 5 17
1 5
0
12
0
*
*
*
*
*IRB77x0_all-350.5
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
-2238 0 0 1
IRB77x0_All-350.6
2 5 16
1 6
0
12
0
*
*
*
*
*IRB77x0_All-350.6
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
34
22.1
0001
-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
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
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 -1.609013088454958e-05 1.06292326051971e-07 0
-1.608939419384114e-05 0.9999874234199524 0.005016419570893049 0
-1.870058241593142e-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
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**
