17 DENEB_WORKCELL_FILE
User: MIWE
Time: 9:36 PM
Date: Sunday 29 September 2024
0
0.25 0.2 0.2
0.523599 0
0 0 0
-1 6 0 1
0 0
1
1 10 1627.5
0 -9810 0
0.1 1
*
1
20
1
2
40
2
1
4
1
17
1033500
2
1
**BEGIN_DEVICES**
IRB7720-LID-MH_480kg-310_OC_00
13
0
IIRB7720-LID-MH_480kg-310_OC_00
6
1
16
-1
0
0
1
0
4
40.3
62
49.6
31
NOPROGRAM
20
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
23.8
0.0
19.4
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(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
2168 0 0 1
1
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1
1 0 0 0
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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
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 1.36829 0 0 0
1 2 3 4 5 6
0 0 0 0 0 0
0 0 0 0 0 0
-0.2011245787143707 8.881784197001252e-16 -0.9795656800270081 0
4.281818988260966e-08 1 -8.791436911792516e-09 0
0.9795656800270081 -4.371140249759264e-08 -0.2011245787143707 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
1768 0 1.082587795450674e-13 1
0 0 9.76656e-14 0 -7.72817e-05 0
320 1295 1491.61 1.08259e-13 7.72817e-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
34.1
68.2
102.3
136.4
170.5
204.6
238.7
272.8
306.9
341.0
375.1
409.2
443.3
477.4
511.5
545.6
579.7
613.8
647.9
682.0
716.1
750.2
784.3
818.4
852.5
886.6
920.7
954.8
988.9
1023.0
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
*
30
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-290-310.3
2 5 17
0
1
=dof(3)-DOF(2)
12
0
*
*
*
*
*IRB7720_all-290-310.3
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 -2225 1
IRB7710_All_LINK3m_CABLE
0
0
0
12
0
*
*
*
*
*IRB7710_All_LINK3m_CABLE
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
48
31.2
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
-306.8669738769531 0 300 1
IRB77x0_all_310.4
2 5 16
1 4
0
12
0
*
*
*
*
*IRB77x0_all_310.4
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
1768 0 0 1
IRB77x0_all-310.5
2 5 17
1 5
0
12
0
*
*
*
*
*IRB77x0_all-310.5
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
34
22.1
1
-1 262145 0 1 1 
-2 1
1 1 1
-1 -1 -1
-1 -1 -1
1 0 0 0
0 1 0 0
0 0 1 0
-1768 0 0 1
IRB77X0_All-310_CABLE.6
2 5 16
1 6
0
12
0
*
*
*
*
*IRB77X0_All-310_CABLE.6
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
46
29.9
01
-1 262145 0 1 1 
-2 1
1 1 1
-1 -1 -1
-1 -1 -1
1 0 0 0
0 1 0 0
0 0 1 0
-1782.464233398438 0 -2525 1
IRB77X0-LID_All-310_LINK05_CABLE
0
0
0
12
0
*
*
*
*
*IRB77X0-LID_All-310_LINK05_CABLE
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
64
41.6
001
-1 262145 0 1 1 
-2 1
1 1 1
-1 -1 -1
-1 -1 -1
1 0 0 0
0 1 0 0
0 0 1 0
0 0 -2525 1
IRB77X0-LID_All-310_LINK04_CABLE
0
0
0
12
0
*
*
*
*
*IRB77X0-LID_All-310_LINK04_CABLE
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
64
41.6
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 -2225 1
IRB77X0_All_LINK03b_CABLE
0
0
0
12
0
*
*
*
*
*IRB77X0_All_LINK03b_CABLE
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
50
32.5
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 -2225 1
IRB77X0-MH3_All_LINK03a_CABLE
0
0
0
12
0
*
*
*
*
*IRB77X0-MH3_All_LINK03a_CABLE
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
58
37.7
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
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_LINK02_CABLE
0
0
0
12
0
*
*
*
*
*IRB77X0_All_LINK02_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 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 -1.609013452252839e-05 1.062923402628257e-07 0
-1.608939783181995e-05 0.9999874234199524 0.005016419570893049 0
-1.870058525810236e-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
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_LINK01_CABLE
0
0
0
12
0
*
*
*
*
*IRB77X0_All_LINK01_CABLE
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
48
31.2
0007
0
0
1
2
3
5
6
7
0
17
0
0
0
0
0
0
0
0
0
0
0
0
0
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
1
4
2.1
30
-47269781688880848896.0
2.2
-1
**END_DEVICES**
**BEGIN_PATHS**
0
**END_PATHS**
**BEGIN_IO**
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
**END_IO**
**BEGIN_COLL_Q**
1
*Default
0
0
1
0
**END_COLL_Q**
**BEGIN_DLISTS**
0
**END_DLISTS**
**BEGIN_CMM_INFO**
0
0
0
**END_CMM_INFO**
**BEGIN_CHAINS**
0
**END_CHAINS**
0
0
2 1 2
0
4
A1=2.96022
A2=0.139577
a2=0.0372286
a1=0.124136
0
0
0
0
0
0
5
3
0
****** START PAINT DATA ****** 
****** END PAINT DATA ****** 
5
****** START ANNOTATION NAMES AND ARROWS ****** 
2
2
0
****** END ANNOTATION NAMES AND ARROWS ****** 
8
3
****** START PAINT DISPLAY INFO ****** 
0.050000
0.025000 0.050000
340282346638528859811704183484516925440.000000 0.050000 107
0.050000 0.025000 203
0.025000 0.000000 171
****** END PAINT DISPLAY INFO ****** 
2
************** START USER INPUT FILES ************
************** END USER INPUT FILES **************
3
0
************** START GROUP INFORMATION ************
************** END GROUP INFORMATION **************
**BEGIN_LIGHTS**
9
1 2 0.250000 0.250000 0.250000
0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
0.000000 0.000000 0.250000 1.000000 90.000000 1
0 0 0 0 -1
1 0 0.550000 0.550000 0.550000
-0.043978 -0.135349 0.989821 0.000000 0.000000 1.000000
1.427997 -0.314159 0.550000 1.000000 90.000000 1
0 0 0 0 -1
1 0 0.400000 0.400000 0.400000
0.332374 -0.690182 0.642788 0.000000 0.000000 1.000000
0.698132 0.448799 0.400000 1.000000 90.000000 1
0 0 0 0 -1
1 0 0.400000 0.400000 0.400000
0.700629 0.404509 0.587785 0.000000 0.000000 1.000000
0.628319 2.094395 0.400000 1.000000 90.000000 1
0 0 0 0 -1
1 0 0.400000 0.400000 0.400000
-0.769421 0.250000 0.587785 0.000000 0.000000 1.000000
0.628319 4.398230 0.400000 1.000000 90.000000 1
0 0 0 0 -1
0 1 0.400000 0.400000 0.400000
0.000000 0.000000 1.000000 0.000000 0.000000 1.000000
1.570796 0.000000 0.400000 1.000000 90.000000 1
0 0 0 0 -1
0 1 0.400000 0.400000 0.400000
0.000000 0.000000 1.000000 0.000000 0.000000 1.000000
1.570796 0.000000 0.400000 1.000000 90.000000 1
0 0 0 0 -1
0 1 0.400000 0.400000 0.400000
0.000000 0.000000 1.000000 0.000000 0.000000 1.000000
1.570796 0.000000 0.400000 1.000000 90.000000 1
0 0 0 0 -1
0 1 0.400000 0.400000 0.400000
0.000000 0.000000 1.000000 0.000000 0.000000 1.000000
1.570796 0.000000 0.400000 1.000000 90.000000 1
0 0 0 0 -1
0 -8 1.000000 1.000000 1.000000 1.000000
**END_LIGHTS**
**BEGIN_RENDER**
current_view
2483.61
0.999988317489624 -0.0005164569010958076 0.004817313514649868 0
1.827720375047193e-08 0.9943026304244995 0.1065938919782639 0
-0.004844918847084045 -0.1065926477313042 0.9942910075187683 0
-360.2601928710938 767.644287109375 0 1
8153.77 4882.5 81375 0 0.804202 2483.61 42
-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 1.5 60
2
0
1
0
0
0
0 0 0 0 0
20 8000 3 1e+08 0.523599 32
20 3000 20 3000 1 20000
200 10000 50 25000 3 500
3
1
0 3 50000
1
0 10 1.5 1.5 100
1
0 200 50 20
**END_RENDER**
*ULTRAARC
0
0
path!@#$%^&*(){}[]|/?<>+-
-1 4 0 2
1 0 0 0
0 1 0 0
0 0 1 0
0 0 0 1
0
1
22
.AUXDATA_MASK_Speed (%)
4 1 0 0
1
.AUXDATA_MASK_Speed Val
4 1 0 0
1
.AUXDATA_MASK_Speed Mode
4 1 0 0
1
.AUXDATA_MASK_Time
4 1 0 0
1
.AUXDATA_MASK_Motype
4 1 0 0
1
.AUXDATA_MASK_Termtype
4 1 0 0
1
.AUXDATA_MASK_Round
4 1 0 0
1
.AUXDATA_MASK_Corner Mode
4 1 0 0
1
.AUXDATA_MASK_Distance
4 1 0 0
1
.AUXDATA_MASK_Cfg
4 1 0 0
1
.AUXDATA_MASK_T1
4 1 0 0
1
.AUXDATA_MASK_T4
4 1 0 0
1
.AUXDATA_MASK_T5
4 1 0 0
1
.AUXDATA_MASK_T6
4 1 0 0
1
.AUXDATA_MASK_Rapid cf1
4 1 0 0
1
.AUXDATA_MASK_Rapid cf4
4 1 0 0
1
.AUXDATA_MASK_Rapid cf6
4 1 0 0
1
.AUXDATA_MASK_Rapid cfx
4 1 0 0
1
.AUXDATA_MASK_Orient Type
4 1 0 0
1
.AUXDATA_MASK_Break Blend
4 1 0 0
1
.AUXDATA_MASK_Utool
4 1 0 0
1
.AUXDATA_MASK_Uframe
4 1 0 0
1
*
1
1
NO_ID
via!!@#$%^&*(){}[]|/?<>+-
0 0 0 0
0 0 2
1 0 0 0
0 1 0 0
0 0 1 0
0 0 0 1
0
6
 2 2 0 0 1 1
0
8
*
0
4
12
-100
-100
-100
-100
0
0
-1
-1
-1
-1
-1
-1
7
 -1
 1
 2
 -1
 -1
 0
 0
2
*
*
1
NO_ID
weld!@#$%^&*(){}[]|/?<>+-
0 0 0 0
0 0 2
1 0 0 0
0 1 0 0
0 0 1 0
0 0 0 1
0
6
 2 2 0 0 1 1
0
7
*
0
4
12
-100
-100
-100
-100
0
0
-1
-1
-1
-1
-1
-1
7
 -1
 1
 2
 -1
 -1
 0
 0
2
*
*
1
NO_ID
0
