12
IRB660_180_315__01
1
16
0
4
0
0
0
1
0
0
NOPROGRAM
18
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
0
1
23
1
1
ABB S4
0
0.042
2500 2500 5000
360 360 360
720 720 720
0.5 0.5 0.5
0 0
1 2500 0 2 0.02 0.5 0
0 0 0 2 1 2 1 0
kin_abb_640
none
none
4
1
Config_1
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
1
0 0 0 0
=dof(1)
=$th2chk1=inrange(dof(2),-70*RAD,-360*RAD);$th2chk2=inrange(dof(2),70*RAD,360*RAD);$th2=dof(2)+$th2chk1*180*RAD-$th2chk2*180*RAD;$th2
=dof(3)+dof(2)
=dof(4)
-99 -99 -99 -99
0 0 0 0
0 0 0 0
0 0 0 0
1 1 1
-1 0 0 0
0 1 0 0
0 0 -1 0
0 0 -247 1
1
1 0 0 0
0 1 0 0
0 0 1 0
0 0 0 1
1 0 0 0
0 1 0 0
0 0 1 0
0 0 0 1
1 0 0 0
0 1 0 0
0 0 1 0
0 0 0 1
1 0 0 0
0 1 0 0
0 0 1 0
0 0 0 1
1 0 0 0
0 1 0 0
0 0 1 0
0 0 0 1
1 0 0 0
0 1 0 0
0 0 1 0
0 0 0 1
1 0 0 0
0 1 0 0
0 0 1 0
0 0 0 1
1 0 0 0
0 1 0 0
0 0 1 0
0 0 0 1
1 0 0 0
0 1 0 0
0 0 1 0
0 0 0 1
1 0 0 0
0 1 0 0
0 0 1 0
0 0 0 1
1 0 0 0
0 1 0 0
0 0 1 0
0 0 0 1
1 0 0 0
0 1 0 0
0 0 1 0
0 0 0 1
1 0 0 0
0 1 0 0
0 0 1 0
0 0 0 1
1 0 0 0
0 1 0 0
0 0 1 0
0 0 0 1
1 0 0 0
0 1 0 0
0 0 1 0
0 0 0 1
1 0 0 0
0 1 0 0
0 0 1 0
0 0 0 1
1 0 0 0
0 1 0 0
0 0 1 0
0 0 0 1
1 0 0 0
0 1 0 0
0 0 1 0
0 0 0 1
1 0 0 0
0 1 0 0
0 0 1 0
0 0 0 1
1 0 0 0
0 1 0 0
0 0 1 0
0 0 0 1
1 0 0 0
0 1 0 0
0 0 1 0
0 0 0 1
1 0 0 0
0 1 0 0
0 0 1 0
0 0 0 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
800 1280 300 1350
260 0 0 0
0 0 0 0 0 0 0 0
-3.14159
-0.733038
=max(-20*RAD,-70*RAD+dof(2))
-5.23599
3.14159
1.48353
=min(120*RAD,70*RAD+dof(2))
5.23599
125 125 125 270
180 180 180 180
0.5 0.5 0.5 0.5
0 0 0 0
0 0 0 0
52
0
0 0
*
*
*
*
*
*
*
*
*
*
IRB640
0
0
0
*
*
*
*
Home_1
0
*
Joint 1
Joint 2
Joint 3
Joint 4
Utool 1
Utool 2
Utool 3
Utool 4
Utool 5
Utool 6
Utool 7
Utool 8
Utool 9
Utool 10
Utool 11
Utool 12
Utool 13
Utool 14
Utool 15
Utool 16
Utool 17
Utool 18
Utool 19
Utool 20
Utool 21
Utool 22
Utool 23
Uframe 1
0 0 0
8
0.1 0.00174533
0 0 0 0 0 0
0 0 0 0 0 0
1 2 3 4 0 0
0 0 0 0 2 2
1 0 0 0
0 1 0 0
0 0 1 0
0 0 0 1
1 0 0 0
0 1 0 0
0 0 1 0
0 0 0 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
11
*
*
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/IRB660/irb660_180_315__01/irb660_180_315__01.0
0
0
0
10
0
*
*
*
*
*irb660_180_315__01.0
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
9.999999974752427e-007 -9.999999974752427e-007 800 1
abb/IRB660/irb660_180_315__01/irb660_180_315__01.1
2 5 18
1 1
0
10
0
*
*
*
*
*irb660_180_315__01.1
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
300 9.999999974752427e-007 0 1
abb/IRB660/irb660_180_315__01/irb660_180_315__01.1a
2 5 17
1 3
0
10
0
*
*
*
*
*irb660_180_315__01.1a
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
-117.2330017089844 -401.7500915527344 168.5 1
abb/IRB660/irb660_180_315__01/irb660_180_315__01.1b
2 5 17
1 2
0
10
0
*
*
*
*
*irb660_180_315__01.1b
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
300 9.999999974752427e-007 0 1
abb/IRB660/irb660_180_315__01/irb660_180_315__01.2
2 5 17
1 2
0
10
0
*
*
*
*
*irb660_180_315__01.2
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
0 292.9999694824219 1280 1
abb/IRB660/irb660_180_315__01/irb660_180_315__01.c
2 5 17
0
1
=sasa(282,DOF(2),1280)
10
0
*
*
*
*
*irb660_180_315__01.c
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
0 0 1280 1
abb/IRB660/irb660_180_315__01/irb660_180_315__01.2a
2 5 -17
1 2
0
10
0
*
*
*
*
*irb660_180_315__01.2a
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
344.7200012207031 -130.4999847412109 289.22509765625 1
abb/IRB660/irb660_180_315__01/irb660_180_315__01.2b
2 5 17
1 3
0
10
0
*
*
*
*
*irb660_180_315__01.2b
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 1280 1
abb/IRB660/irb660_180_315__01/irb660_180_315__01.3
2 5 17
0
1
=dof(3)-DOF(2)
10
0
*
*
*
*
*irb660_180_315__01.3
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
-500 0 0 1
abb/IRB660/irb660_180_315__01/irb660_180_315__01.3a
2 5 17
0
1
=-dof(3)+DOF(2)
10
0
*
*
*
*
*irb660_180_315__01.3a
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
1350 0 -0.0002439999952912331 1
abb/IRB660/irb660_180_315__01/irb660_180_315__01.3b
2 5 -17
1 3
0
10
0
*
*
*
*
*irb660_180_315__01.3b
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
260 0 0 1
abb/IRB660/irb660_180_315__01/irb660_180_315__01.4
2 5 -18
1 4
0
10
0
*
*
*
*
*irb660_180_315__01.4
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
00001
-1 1 1 262145 0 
-1 1
1 1 1
-1 -1 -1
-1 -1 -1
0.9991505742073059 0 0.04120803996920586 0
0 1 0 0
-0.04120803996920586 0 0.9991505742073059 0
339.6640014648438 295.9999694824219 282 1
abb/IRB660/irb660_180_315__01/irb660_180_315__01.p
2 5 17
0
1
=sasa(1280,-dof(2)+8.28228*PI/180,285.029)-167*PI/180
10
0
*
*
*
*
*irb660_180_315__01.p
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
00011
0
0
0
0
0
0
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17
0
0
0
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0
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**BEGIN_ATTRIBUTES**
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**END_ATTRIBUTES**
