12
IRB2600C_20-165_IRC5_REV01
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
DEFAULT
0
0.024192
1500 1500 5000
360 360 360
720 720 720
0.5 0.5 0.5
0 0
1 1 1 1 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_0
mot_straight_0
mot_circular_0
mot_slew_0
mot_aux1_0
mot_aux2_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
1030 0 1260 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
-1.65806
-3.14159
-3.05433
-2.0944
-6.98132
3.14159
2.70526
1.309
3.05433
2.0944
6.98132
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 1
-4 1 -1
*ABB_S4__1.01/data/IRB2600-12-185/
*IRB2400_FLOOR
*ABB_S4_Socket
*
0.024192
*
*
*
*
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 1.42714 0 0 0
0 0 0 0 0 0
1 2 3 4 5 6
0 0 0 0 0 0
-0.1431640535593033 -6.128268550308286e-015 -0.9896990060806274 0
4.326107472252261e-008 1 -6.257899531902922e-009 0
0.9896990060806274 -4.371135275960114e-008 -0.1431640535593033 0
0 0 0 1
1 0 0 0
0 1 0 0
0 0 1 0
0 0 -445 1
6.123031769111886e-017 6.123031769111886e-017 -1 0
-3.749151804555344e-033 1 6.123031769111886e-017 0
1 0 6.123031769111886e-017 0
945 0 5.786265021810733e-014 1
0 0 4.99027e-014 0 -4.13073e-005 0
150 700 803.275 5.78627e-014 4.13073e-005 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 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/IRB2600-20/irb2600c_20-165_irc5_rev00_base
0
0
0
10
0
*
*
*
*
*irb2600c_20-165_irc5_rev00_base
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
ABB/IRB2600-20/irb2600c_20-165_irc5_rev00_link1
2 5 18
1 1
0
10
0
*
*
*
*
*irb2600c_20-165_irc5_rev00_link1
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
ABB/IRB2600-20/irb2600c_20-165_irc5_rev00_link2
2 5 17
1 2
0
10
1
1 0 0 0
0 1 0 0
0 0 1 0
150 0 445 1
*irb2600c_20-165_irc5_rev00_link2
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
ABB/IRB2600-20/irb2600c_20-165_irc5_rev00_link3
2 5 17
1 3
0
10
1
1 0 0 0
0 1 0 0
0 0 1 0
150 0 1145 1
*irb2600c_20-165_irc5_rev00_link3
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
ABB/IRB2600-20/irb2600c_20-165_irc5_rev00_link4
2 5 16
1 4
0
10
1
1 0 0 0
0 1 0 0
0 0 1 0
0 0 1260 1
*irb2600c_20-165_irc5_rev00_link4
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
ABB/IRB2600-20/irb2600c_20-165_irc5_rev00_link5
2 5 17
1 5
0
10
1
1 0 0 0
0 1 0 0
0 0 1 0
945 0 1260 1
*irb2600c_20-165_irc5_rev00_link5
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
ABB/IRB2600-20/irb2600c_20-165_irc5_rev00_link6
2 5 16
1 6
0
10
1
1 0 0 0
0 1 0 0
0 0 1 0
0 0 1260 1
*irb2600c_20-165_irc5_rev00_link6
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
ABB/IRB2600-20/irb2600_20-165_irc5_rev00_link03m_cable
0
0
0
10
0
*
*
*
*
*irb2600_20-165_irc5_rev00_link03m_cable
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
ABB/IRB2600-20/irb2600_20-165_irc5_rev00_link02m_cable
0
0
0
10
0
*
*
*
*
*irb2600_20-165_irc5_rev00_link02m_cable
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
ABB/IRB2600-20/irb2600_20-165_irc5_rev00_link01a_m_cable
0
0
0
10
0
*
*
*
*
*irb2600_20-165_irc5_rev00_link01a_m_cable
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 0 1
ABB/IRB2600-20/irb2600_20-165_irc5_rev00_link01b_m_cable
0
0
0
10
0
*
*
*
*
*irb2600_20-165_irc5_rev00_link01b_m_cable
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**
