12
irb6790_205kg_280_rev00
1
16
-1
6
0
0
0
1
0
0
NOPROGRAM
17
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
2
1
1
8
ABB S4
0
0.042
1500 1500 5000
360 360 360
720 720 720
0.5 0.5 0.5
0 0
1 1 1 2 0.1 0.5 0
0 1 0 2 0 2 0 1
kin_generic
none
none
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_joint_abb_0
mot_straight_abb_0
mot_straight_abb_0
mot_joint_abb_0
mot_aux1_0
mot_aux2_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
0 0 0 0 30 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
200 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
-2.96706
-1.13446
-3.14159
-5.23599
-2.0944
-6.28319
2.96706
1.48353
1.22173
5.23599
2.0944
6.28319
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
34
6
0 0
*
*
*
*
*
*
*
*
*
*
DEFAULT
0
0
0
*
*
*
*
Home
Home 30
0
*
*
Joint 1
Joint 2
Joint 3
Joint 4
Joint 5
Joint 6
Utool 1
Uframe 1
0 0 0
5
0.1 0.00174533
0 -1.5708 1.40325 0 0 0
0 0 0 0 0 0
1 2 3 4 5 6
0 0 0 0 0 0
-0.1667648106813431 -1.159768628688021e-015 -0.9859967231750488 0
4.309928414159003e-008 1 -7.289522319098296e-009 0
0.9859967231750488 -4.371138828673793e-008 -0.1667648106813431 0
0 0 0 1
1 0 0 0
0 1 0 0
0 0 1 0
-0 -0 -780 1
6.123031769111886e-017 6.123031769111886e-017 -1 0
-3.749151804555344e-033 1 6.123031769111886e-017 0
1 0 6.123031769111886e-017 0
0 -0 0 1
0 0 9.06209e-014 0 -5.6331e-030 0
320 1280 1199.29 9.19986e-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
3
no_par_file
0 1 1 1
1
6
10 1 1 327684 0 0 
-1 -1
-1 -1 -1
-1 -1 -1
-1 -1 -1
7
0
0 267 0
Device Sequence Information
2
*
0
*
-1 1 1 262145 0 
-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
abb/irc5/irb6700/irb6700_150-320_irc5_rev02_base_cad;
0
0
0
10
0
*
*
*
*
*irb6700_150-320_irc5_rev02_base_cad;
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
1
-1 1 1 262145 0 
-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
abb/irc5/irb6700/irb6700_all_link01_rev06
2 5 18
1 1
0
10
0
*
*
*
*
*irb6700_all_link01_rev06
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
1
-1 1 1 262145 0 
-1 1
1 1 1
-1 -1 -1
-1 -1 -1
1 0 0 0
0 1 0 0
0 0 1 0
-349.0003356933594 0 637.9996337890625 1
abb/irc5/irb6700/irb6700_all_cylinder_rev06
2 5 17
0
1
=sasa(213,-dof(2),683)
10
0
*
*
*
*
*irb6700_all_cylinder_rev06
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
01
-1 1 1 262145 0 
-1 1
1 1 1
-1 -1 -1
-1 -1 -1
1 0 0 0
0 1 0 0
0 0 1 0
320 0 780 1
abb/irc5/irb6700/irb6700_280_320_link02_rev03
2 5 17
1 2
0
10
0
*
*
*
*
*irb6700_280_320_link02_rev03
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
1
-1 1 1 262145 0 
-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 1280 1
abb/irc5/irb6700/irb6700_all_link03_rev05
2 5 17
1 3
0
10
0
*
*
*
*
*irb6700_all_link03_rev05
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
1
-1 1 1 262145 0 
-1 1
1 1 1
-1 -1 -1
-1 -1 -1
1 0 0 0
0 1 0 0
0 0 1 0
-320 0 200 1
abb/irc5/irb6700/irb6700_205-280_irc5_rev02_link04_cad
2 5 16
1 4
0
10
0
*
*
*
*
*irb6700_205-280_irc5_rev02_link04_cad
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
1
-1 1 1 262145 0 
-1 1
1 1 1
-1 -1 -1
-1 -1 -1
1 0 0 0
0 1 0 0
0 0 1 0
1502.5 0 0 1
abb/irc5/irb6700/irb6700_150-320_irc5_rev04_link05_cad
2 5 17
1 5
0
10
0
*
*
*
*
*irb6700_150-320_irc5_rev04_link05_cad
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
1
-1 1 1 262145 0 
-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
abb/irc5/irb6700/irb6700_150-320_irc5_rev02_link06_cad_160208
2 5 16
1 6
0
10
0
*
*
*
*
*irb6700_150-320_irc5_rev02_link06_cad_160208
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
0001
-1 1 1 262145 0 
-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
abb/irc5/irb6700/irb6700_150-320_irc5_rev02_link03m_cable
0
0
0
10
0
*
*
*
*
*irb6700_150-320_irc5_rev02_link03m_cable
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
001
-1 1 1 262145 0 
-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
abb/irc5/irb6700/irb6700_280_320_link02m_cable
0
0
0
10
0
*
*
*
*
*irb6700_280_320_link02m_cable
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
01
-1 1 1 262145 0 
-1 1
1 1 1
-1 -1 -1
-1 -1 -1
1 0 0 0
0 1 0 0
0 0 1 0
-208.7369995117188 0 -44.36800003051758 1
abb/irc5/irb6700/irb6700_all_rod_rev03
2 5 17
0
1
=-(sasa(683,-dof(2),213)-180*PI/180)
10
0
*
*
*
*
*irb6700_all_rod_rev03
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
001
-1 1 1 262145 0 
-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
abb/irc5/irb6700/irb6700_150-320_irc5_rev02_link01m_cable_160208
0
0
0
10
0
*
*
*
*
*irb6700_150-320_irc5_rev02_link01m_cable_160208
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
001
-1 1 1 262145 0 
-4 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
abb/irc5/irb6700/IRB6790_IRC5_rev_00_harness
0
0
0
10
0
*
*
*
*
*IRB6790_IRC5_rev_00_harness
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
007
0
0
1
3
4
5
6
7
0
17
0
0
0
0
0
0
0
0
0
0
0
0
0
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
