12
IRB4600_20-250_IRC5_rev06
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 30 0
1
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 18 18 18 18 18
0 0 0 0 0 0
0 0 0 0 0 0
1 1 1
7.549790126404332e-008 0 -1 0
0 1 0 0
1 -0 7.549790126404332e-008 0
1490.5 0 1765 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
-3.14159
-6.98132
-2.0944
-6.98132
3.14159
2.61799
1.309
6.98132
2.0944
6.98132
175 175 175 360 360 500
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 1.42953 0 0 0
0 0 0 0 0 0
1 2 3 4 5 6
0 0 0 0 0 0
-0.1408018171787262 -3.365598595037869e-016 -0.9900377988815308 0
4.327592506569999e-008 1 -6.154643017453054e-009 0
0.9900377988815308 -4.371138828673793e-008 -0.1408018171787262 0
0 0 0 1
1 7.549790126404332e-008 0 0
-7.549790126404332e-008 1 0 0
0 -0 1 0
0 -0 -495 1
1 7.549790126404332e-008 0 0
-7.549790126404332e-008 1 0 0
0 -0 1 0
0 0 1405.5 1
0 0 2.64243e-005 0 -6.14364e-005 0
175 1095 1242.88 0.000106112 -0.000106112 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 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
irb4600_base_rev05
0
0
0
10
0
*
*
*
*
*irb4600_base_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
0 0 0 1
irb4600_20kg-250_link1_rev04
2 5 18
1 1
0
10
0
*
*
*
*
*irb4600_20kg-250_link1_rev04
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
irb4600_20kg-250_link2_rev04
2 5 18
1 2
0
10
1
-4.371138828673793e-008 -7.89264802004485e-025 -1 0
-1 7.549790126404332e-008 4.371138828673793e-008 0
7.549790126404332e-008 1 -3.300118077775665e-015 0
175 0 495 1
*irb4600_20kg-250_link2_rev04
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
irb4600_20kg-250_link3_rev04
2 5 18
1 3
0
10
1
1 0 0 0
0 7.549790126404332e-008 -1 0
-0 1 7.549790126404332e-008 0
175 0 1590 1
*irb4600_20kg-250_link3_rev04
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
irb4600_20kg-250_link4_rev04
2 5 18
1 4
0
10
1
7.549790126404332e-008 0 -1 0
0 1 0 0
1 -0 7.549790126404332e-008 0
0 0 1765 1
*irb4600_20kg-250_link4_rev04
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
irb4600_20kg-250_link5_rev04
2 5 18
1 5
0
10
1
1 0 0 0
0 7.549790126404332e-008 -1 0
-0 1 7.549790126404332e-008 0
1405.5 0 1765 1
*irb4600_20kg-250_link5_rev04
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
irb4600_20kg-250_link6_rev04
2 5 18
1 6
0
10
1
7.549790126404332e-008 0 -1 0
0 1 0 0
1 -0 7.549790126404332e-008 0
0 0 1765 1
*irb4600_20kg-250_link6_rev04
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
irb4600_20kg-250_cables_link3_rev03
0
0
0
10
0
*
*
*
*
*irb4600_20kg-250_cables_link3_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
irb4600_20kg-250_cables_link2_rev03
0
0
0
10
0
*
*
*
*
*irb4600_20kg-250_cables_link2_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
irb4600_20kg-250_cables_link1_rev03
0
0
0
10
0
*
*
*
*
*irb4600_20kg-250_cables_link1_rev03
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
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**
