12
IRB_1600_6_145__03
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
1
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
=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
43.8795166015625 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
-3.14159
-1.5708
-4.27606
-3.49066
-2.00713
-6.98132
3.14159
2.61799
1.13446
3.49066
2.00713
6.98132
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
*
*
*
*
Home_1
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 1.5708 0 0 0
0 0 0 0 0 0
1 2 3 4 5 6
0 0 0 0 0 0
-4.371138828673793e-008 6.123031769111886e-017 -1 0
4.371138828673793e-008 1 -1.849455147473586e-015 0
1 -4.371138828673793e-008 -4.371138828673793e-008 0
0 0 0 1
1 0 0 0
0 1 0 0
0 0 1 0
0 9.999999974752427e-007 -486.5000305175781 1
6.123031769111886e-017 6.123031769111886e-017 -1 0
-3.749151804555344e-033 1 6.123031769111886e-017 0
1 0 6.123031769111886e-017 0
-21.1204833984375 0 -1.293213904967607e-015 1
0 0 0 0 9.23206e-007 0
150 700 600 1.75119e-014 -9.23206e-007 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/IRB1600/irb1600_x_145__01/irb1600_x-145_irc5_rev0_base
0
0
0
10
0
*
*
*
*
*irb1600_x-145_irc5_rev0_base
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 -9.999999974752427e-007 124.4999923706055 1
abb/IRB1600/irb1600_x_145__01/irb1600_x-145_irc5_rev0_link1
2 5 18
1 1
0
10
0
*
*
*
*
*irb1600_x-145_irc5_rev0_link1
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
149.9999847412109 -139.5000152587891 362.0000305175781 1
abb/IRB1600/irb1600_x_145__01/irb1600_x-145_irc5_rev0_link2
2 5 17
1 2
0
10
0
*
*
*
*
*irb1600_x-145_irc5_rev0_link2
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
1.499999962106813e-005 29.50001335144043 699.9999389648438 1
abb/IRB1600/irb1600_x_145__01/irb1600_x-145_irc5_rev0_link3
2 5 17
1 3
0
10
0
*
*
*
*
*irb1600_x-145_irc5_rev0_link3
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
314 110 0 1
abb/IRB1600/irb1600_x_145__01/irb1600_x-145_irc5_rev0_link4
2 5 16
1 4
0
10
0
*
*
*
*
*irb1600_x-145_irc5_rev0_link4
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
286 0 0 1
abb/IRB1600/irb1600_x_145__01/irb1600_x-145_irc5_rev0_link5
2 5 17
1 5
0
10
0
*
*
*
*
*irb1600_x-145_irc5_rev0_link5
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
21.1204833984375 0 0 1
abb/IRB1600/irb1600_x_145__01/irb1600_x-145_irc5_rev0_link6
2 5 16
1 6
0
10
0
*
*
*
*
*irb1600_x-145_irc5_rev0_link6
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
00000006
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**
