##040003152064840100008
*
* Compile mechanism for irb5710_110kg_230_rev00
*
begin COMPONENT irb5710_110kg_230_rev00
	no_of_joints		6
	no_of_loops		0
	TCP_link_name		link6
	user_TCP :
0	0	1	1502	
0	1	0	0	
-1	0	0	1800	
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 0 , 0 0 265
		param_index	0
		joint_type	rot
		user_value	0
		range		-170 170
		max_speed	90
		max_acceleration	90
	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	280 -109 670 , 280 0 670
		param_index	1
		joint_type	rot
		user_value	0
		range		-75 145
		max_speed	90
		max_acceleration	90
	end;

	begin LINK link3
		joint_from	link2
		transformation_to_father :
1	0	0	0	
0	1	0	0	
0	0	1	0	
0	0	0	1	
		joint_name	j3
		axis_points	280 -247.5 1620 , 280 0 1620
		param_index	2
		joint_type	rot
		user_value	0
		range		-180 70
		max_speed	90
		max_acceleration	90
	end;

	begin LINK link4
		joint_from	link3
		transformation_to_father :
1	0	0	0	
0	1	0	0	
0	0	1	0	
0	0	0	1	
		joint_name	j4
		axis_points	309.5 0 1800 , 500 0 1800
		param_index	3
		joint_type	rot
		user_value	0
		range		-300 300
		max_speed	90
		max_acceleration	90
	end;

	begin LINK link5
		joint_from	link4
		transformation_to_father :
1	0	0	0	
0	1	0	0	
0	0	1	0	
0	0	0	1	
		joint_name	j5
		axis_points	1335 -76.5 1800 , 1335 79 1800
		param_index	4
		joint_type	rot
		user_value	0
		range		-130 130
		max_speed	90
		max_acceleration	90
	end;

	begin LINK link6
		joint_from	link5
		transformation_to_father :
1	0	0	0	
0	1	0	0	
0	0	1	0	
0	0	0	1	
		joint_name	j6
		axis_points	500 0 1800 , 1469 0 1800
		param_index	5
		joint_type	rot
		user_value	0
		range		-360 360
		max_speed	90
		max_acceleration	90
	end

end
