##040003115820946500008
*
* Compile mechanism for irb5500_01_rh
*
begin COMPONENT irb5500_01_rh
	no_of_joints		7
	no_of_loops		0
	TCP_link_name		link6
	user_TCP :
0	0	1	1720	
0	1	0	0	
-1	0	0	1765.5	
0	0	0	1	
	inverse_family	-1
	base_name		base

	begin LINK link1
		joint_from	base
		transformation_to_father :
1	0	0	0	
0	1	0	0	
0	0	1	0	
0	0	0	1	
		joint_name	j1
		axis_points	0 0 1000 , 0 0 0
		param_index	0
		joint_type	rot
		user_value	0
		range		-5 115
		max_speed	60
		max_acceleration	180
	end;

	begin LINK link2
		joint_from	link1
		transformation_to_father :
1	0	0	0	
0	1	0	0	
0	0	1	0	
0	0	0	1	
		joint_name	j2
		axis_points	0 500 465.5 , 0 -500 465.5
		param_index	1
		joint_type	rot
		user_value	0
		range		-70 155
		max_speed	130
		max_acceleration	180
	end;

	begin LINK link3
		joint_from	link2
		transformation_to_father :
-1	0	0	0.001726	
0	1	0	0	
0	0	-1	3531	
0	0	0	1	
		joint_name	j3
		axis_points	0 289 1765.5 , 0 -211 1765.5
		param_index	2
		joint_type	rot
		user_value	0
		range		-70 -70
		max_speed	130
		max_acceleration	180
	end;

	begin LINK link4
		joint_from	link3
		transformation_to_father :
1	0	0	-0.000103	
0	1	0	-0.000947	
0	0	1	0	
0	0	0	1	
		joint_name	j4
		axis_points	0 0 1765.5 , 2000 0 1765.5
		param_index	3
		joint_type	rot
		user_value	0
		range		-1440 1440
		max_speed	440
		max_acceleration	180
	end;

	begin LINK link5b
		joint_from	link4
		transformation_to_father :
1	0	0	-0.000701	
0	1	0	0.001157	
0	0	1	-0.000732	
0	0	0	1	
		joint_name	j5
		axis_points	1507.500854 -0.004883 1765.499512 , 1572.500854 -0.004883 1719.989502
		param_index	4
		joint_type	rot
		user_value	0
		range		-1440 1440
		max_speed	90
		max_acceleration	90
	end;

	begin LINK k1
		joint_from	link5b
		transformation_to_father :
1	0	0	0.000211	
0	1	0	-0.000434	
0	0	1	-0.000244	
0	0	0	1	
		joint_name	j5b
		axis_points	1637.500854 -0.004883 1765.499512 , 1572.500854 -0.004883 1719.989502
		param_index	5
		joint_type	rot
		user_value	0
		range		no limits
		max_speed	90
		max_acceleration	90
		function "curr = T(j5)" 
	end;

	begin LINK link6
		joint_from	k1
		transformation_to_father :
1	0	0	0.000366	
0	1	0	0	
0	0	1	0.000488	
0	0	0	1	
		joint_name	j6
		axis_points	0 0 1765.5 , 2000 0 1765.5
		param_index	6
		joint_type	rot
		user_value	0
		range		-1440 1440
		max_speed	500
		max_acceleration	90
	end

end
