13
0
IRB1200Gen2_8_91_STD_01
6
1
16
-1
0
0
1
0
4
29.9
46
36.8
23
NOPROGRAM
20
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17.7
0.0
14.4
8
1
1
1
DEFAULT
0
0
720 720 720
0.5 0.5 0.5
6500 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
545 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
-3.83972
-1.74533
-3.49066
-4.01426
-2.26893
-6.98132
3.83972
2.44346
1.22173
4.01426
2.26893
6.98132
360 300 360 500 470 840
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 1.51468 0 0 0
1 2 3 4 5 6
0 0 0 0 0 0
0 0 0 0 0 0
-0.05609136447310448 4.440892098500626e-16 -0.9984256625175476 0
4.364255090649749e-08 1 -2.451829850258491e-09 0
0.9984256625175476 -4.371137407588321e-08 -0.05609136447310448 0
0 0 0 1
1 0 0 0
0 1 0 0
0 0 1 0
-0 -0 -395 1
6.123234262925839e-17 6.123234262925839e-17 -1 0
-3.74939976039497e-33 1 6.123234262925839e-17 0
1 0 6.123234262925839e-17 0
465 0 2.847303962700762e-14 1
0 0 2.87792e-14 0 -2.03258e-05 0
20 445 445.702 2.8473e-14 2.03258e-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
25.3
50.6
75.9
101.2
126.5
151.8
177.1
202.4
227.7
253.0
278.3
303.6
328.9
354.2
379.5
404.8
430.1
455.4
480.7
506.0
531.3
556.6
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
*
23
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
IRB1200Gen2-link0R.0
0
0
0
12
0
*
*
*
*
*IRB1200Gen2-link0R.0
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
40
26.0
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
IRB1200Gen2-link1L.0
2 5 18
1 1
0
12
0
*
*
*
*
*IRB1200Gen2-link1L.0
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
40
26.0
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
20 0 395 1
IRB1200Gen2-link2L.0
2 5 17
1 2
0
12
0
*
*
*
*
*IRB1200Gen2-link2L.0
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
40
26.0
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 0 445 1
IRB1200Gen2-link3L.0
2 5 17
1 3
0
12
0
*
*
*
*
*IRB1200Gen2-link3L.0
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
40
26.0
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
-20 0 25 1
IRB1200Gen2-link4L.0
2 5 16
1 4
0
12
0
*
*
*
*
*IRB1200Gen2-link4L.0
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
40
26.0
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
465 0 0 1
IRB1200Gen2-link5L.0
2 5 17
1 5
0
12
0
*
*
*
*
*IRB1200Gen2-link5L.0
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
40
26.0
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
-465 0 0 1
IRB1200Gen2-link6L.0
2 5 16
1 6
0
12
0
*
*
*
*
*IRB1200Gen2-link6L.0
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
40
26.0
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**
