13
0
IRB6720_170kg-310_OmniCore_00
6
1
16
-1
0
0
1
0
4
37.7
58
46.4
29
NOPROGRAM
20
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
22.3
9028219080625133789969508373124259516853013385849829251402259070228727770287177670119610256390871297833222897519435957506978020741354370723270779849821563626752590733852639377730250355527458939481424087806556840339297114138578174304055966736911454758482416598429728768.0
18.1
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(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
2005.5 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
-2.26893
-6.28319
2.96706
1.48353
1.25664
5.23599
2.26893
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
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 1.43697 0 0 0
1 2 3 4 5 6
0 0 0 0 0 0
0 0 0 0 0 0
-0.1334309577941895 0 -0.9910581111907959 0
4.332052583322366e-08 1 -5.832452298903945e-09 0
0.9910581111907959 -4.371138828673793e-08 -0.1334309577941895 0
0 0 0 1
1 0 0 0
0 1 0 0
0 0 1 0
-0 -0 -780 1
6.123234262925839e-17 6.123234262925839e-17 -1 0
-3.74939976039497e-33 1 6.123234262925839e-17 0
1 0 6.123234262925839e-17 0
1805.5 0 1.105549977736472e-13 1
0 0 9.09913e-14 0 -7.89209e-05 0
320 1286 1498.9 1.10555e-13 7.89209e-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
31.9
63.8
95.7
127.6
159.5
191.4
223.3
255.2
287.1
319.0
350.9
382.8
414.7
446.6
478.5
510.4
542.3
574.2
606.1
638.0
669.9
701.8
733.7
765.6
797.5
829.4
861.3
893.2
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
*
110
0.0
-1 262145 0 1 1 
-3 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
IRB6720_170kg-310.0
0
0
0
12
0
*
*
*
*
*IRB6720_170kg-310.0
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
38
24.7
1
-1 262145 0 1 1 
-3 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
IRB6720_170kg-310.1
2 5 18
1 1
0
12
0
*
*
*
*
*IRB6720_170kg-310.1
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
38
24.7
1
-1 262145 0 1 1 
-3 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
IRB6720_170kg-310.2
2 5 17
1 2
0
12
0
*
*
*
*
*IRB6720_170kg-310.2
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
38
24.7
1
-1 262145 0 1 1 
-3 1
1 1 1
-1 -1 -1
-1 -1 -1
1 0 0 0
0 1 0 0
0 0 1 0
0 0 1286 1
IRB6720_170kg-310.3
2 5 17
1 3
0
12
0
*
*
*
*
*IRB6720_170kg-310.3
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
38
24.7
1
-1 262145 0 1 1 
-3 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
IRB6720_170kg-310.4
2 5 16
1 4
0
12
0
*
*
*
*
*IRB6720_170kg-310.4
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
38
24.7
1
-1 262145 0 1 1 
-3 1
1 1 1
-1 -1 -1
-1 -1 -1
1 0 0 0
0 1 0 0
0 0 1 0
1805.5 0 0 1
IRB6720_170kg-310.5
2 5 17
1 5
0
12
0
*
*
*
*
*IRB6720_170kg-310.5
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
38
24.7
1
-1 262145 0 1 1 
-3 1
1 1 1
-1 -1 -1
-1 -1 -1
1 0 0 0
0 1 0 0
0 0 1 0
-1805.5 0 0 1
IRB6720_170kg-310.6
2 5 16
1 6
0
12
0
*
*
*
*
*IRB6720_170kg-310.6
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
38
24.7
0001
-1 262145 0 1 1 
-3 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
IRB6720_170kg-310.3-cable
0
0
0
12
0
*
*
*
*
*IRB6720_170kg-310.3-cable
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
50
32.5
001
-1 262145 0 1 1 
-3 1
1 1 1
-1 -1 -1
-1 -1 -1
1 0 0 0
0 1 0 0
0 0 1 0
-208.739990234375 0 -44.3699951171875 1
IRB6720_170kg-310-piston
2 5 17
0
1
=sasa(683.415, DOF(2), 213.404)-PI
12
0
*
*
*
*
*IRB6720_170kg-310-piston
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
48
31.2
01
-1 262145 0 1 1 
-3 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
IRB6720_170kg-310.2-cable
0
0
0
12
0
*
*
*
*
*IRB6720_170kg-310.2-cable
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
50
32.5
001
-1 262145 0 1 1 
-3 1
1 1 1
-1 -1 -1
-1 -1 -1
1 0 0 0
0 1 0 0
0 0 1 0
-348.5 0 638 1
IRB6720_170kg-310-cylinder
2 5 17
0
1
=-sasa(213.404, DOF(2), 683.415)
12
0
*
*
*
*
*IRB6720_170kg-310-cylinder
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
52
33.8
01
-1 262145 0 1 1 
-3 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
IRB6720_170kg-310.1-cable
0
0
0
12
0
*
*
*
*
*IRB6720_170kg-310.1-cable
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
50
32.5
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**
