13
0
IRB6730-MH3_240kg-290_OC_00
6
1
16
-1
0
0
1
0
4
35.1
54
43.2
27
NOPROGRAM
20
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
20.8
-1361180008564350567025445562217508724173603065505635846906448266429743862523392462586482367360510367396200812802209222375054205657706704603864829907766520141201464852483824040618932321575657336388338657436277869943398376817861265058444785165751431131002279837920700678471249554351063040.0
16.9
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(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
1922.5 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
-2.96706
-1.13446
-3.14159
-5.23599
-2.26893
-6.28319
2.96706
1.39626
1.22173
5.23599
2.26893
6.28319
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 1.42713 0 0 0
1 2 3 4 5 6
0 0 0 0 0 0
0 0 0 0 0 0
-0.1431750655174255 6.060148837201115e-17 -0.9896973967552185 0
4.326104630081318e-08 1 -6.258380924606399e-09 0
0.9896973967552185 -4.371138828673793e-08 -0.1431750655174255 0
0 0 0 1
1 0 0 0
0 1 0 0
0 0 1 0
-0 -0 -780 1
6.123234262925839e-17 6.123234262925839e-17 -1 0
-3.74939976039497e-33 1 6.123234262925839e-17 0
1 0 6.123234262925839e-17 0
1722.5 0 1.054727119986949e-13 1
0 0 8.38883e-14 0 -7.52929e-05 0
340 1170 1396.89 1.05473e-13 7.52929e-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
29.7
59.4
89.1
118.8
148.5
178.2
207.9
237.6
267.3
297.0
326.7
356.4
386.1
415.8
445.5
475.2
504.9
534.6
564.3
594.0
623.7
653.4
683.1
712.8
742.5
772.2
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
*
27
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
IRB6730-MH3_210kg-310.0
0
0
0
12
0
*
*
*
*
*IRB6730-MH3_210kg-310.0
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
46
29.9
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
IRB6730-MH3_210kg-310.1
2 5 18
1 1
0
12
0
*
*
*
*
*IRB6730-MH3_210kg-310.1
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
46
29.9
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
-345 0 640 1
IRB6730-MH3_210kg-310-cylinder
2 5 17
0
1
=-sasa(230, DOF(2), 699)
12
0
*
*
*
*
*IRB6730-MH3_210kg-310-cylinder
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
60
39.0
01
-1 262145 0 1 1 
-3 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
IRB6730-MH3_210kg-310.1-cable
0
0
0
12
0
*
*
*
*
*IRB6730-MH3_210kg-310.1-cable
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
58
37.7
01
-1 262145 0 1 1 
-3 1
1 1 1
-1 -1 -1
-1 -1 -1
1 0 0 0
0 1 0 0
0 0 1 0
340 0 780 1
IRB6730-MH3_210kg-310.2
2 5 17
1 2
0
12
0
*
*
*
*
*IRB6730-MH3_210kg-310.2
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
46
29.9
1
-1 262145 0 1 1 
-3 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
IRB6730-MH3_210kg-310.2-cable
0
0
0
12
0
*
*
*
*
*IRB6730-MH3_210kg-310.2-cable
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
58
37.7
01
-1 262145 0 1 1 
-3 1
1 1 1
-1 -1 -1
-1 -1 -1
1 0 0 0
0 1 0 0
0 0 1 0
-225.3999938964844 0 -46 1
IRB6730-MH3_210kg-310-piston
2 5 17
0
1
=sasa(699, DOF(2), 230)-PI
12
0
*
*
*
*
*IRB6730-MH3_210kg-310-piston
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
56
36.4
01
-1 262145 0 1 1 
-3 1
1 1 1
-1 -1 -1
-1 -1 -1
1 0 0 0
0 1 0 0
0 0 1 0
0 0 1170 1
IRB6730-MH3_210kg-310.3
2 5 17
1 3
0
12
0
*
*
*
*
*IRB6730-MH3_210kg-310.3
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
46
29.9
1
-1 262145 0 1 1 
-3 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
IRB6730-MH3_210kg-310.3-cable
0
0
0
12
0
*
*
*
*
*IRB6730-MH3_210kg-310.3-cable
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
58
37.7
01
-1 262145 0 1 1 
-4 1
1 1 1
-1 -1 -1
-1 -1 -1
1 0 0 0
0 1 0 0
0 0 1 0
-340 0 200 1
IRB6730-MH3_240kg-290.4
2 5 16
1 4
0
12
0
*
*
*
*
*IRB6730-MH3_240kg-290.4
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
46
29.9
1
-1 262145 0 1 1 
-4 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
IRB6730-MH3_240kg-290.4-cable
0
0
0
12
0
*
*
*
*
*IRB6730-MH3_240kg-290.4-cable
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
58
37.7
01
-1 262145 0 1 1 
-4 1
1 1 1
-1 -1 -1
-1 -1 -1
1 0 0 0
0 1 0 0
0 0 1 0
1722.5 0 0 1
IRB6730-MH3_240kg-290.5
2 5 17
1 5
0
12
0
*
*
*
*
*IRB6730-MH3_240kg-290.5
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
46
29.9
1
-1 262145 0 1 1 
-4 1
1 1 1
-1 -1 -1
-1 -1 -1
1 0 0 0
0 1 0 0
0 0 1 0
-1722.5 0 0 1
IRB6730-MH3_240kg-290.6
2 5 16
1 6
0
12
0
*
*
*
*
*IRB6730-MH3_240kg-290.6
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
46
29.9
000000012
0
0
1
4
7
9
11
12
0
17
0
0
0
0
0
0
0
0
0
0
0
0
0
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
