13
0
IRB5720-LID-MH_155kg-260_OmniCore_rev00
6
1
16
-1
0
0
1
0
4
50.7
78
62.4
39
NOPROGRAM
20
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
30.0
0.0
24.4
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
199 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
-1.309
-2.79253
-5.23599
-2.0944
-3.49066
2.96706
1.309
1.22173
5.23599
2.0944
3.49066
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 1.3975 0 0 0
1 2 3 4 5 6
0 0 0 0 0 0
0 0 0 0 0 0
-0.1724326759576798 3.615196969978846e-016 -0.9850212931632996 0
4.305664802473075e-008 1 -7.537271251578659e-009 0
0.9850212931632996 -4.371138828673793e-008 -0.1724326759576798 0
0 0 0 1
1 0 0 0
0 1 0 0
0 0 1 0
-0 -0 -670 1
6.123234262925839e-017 6.123234262925839e-017 -1 0
-3.74939976039497e-033 1 6.123234262925839e-017 0
1 -2.347174927744069e-041 6.123234262925839e-017 0
-147 -0 -9.001154009158959e-015 1
0 0 8.08267e-014 0 6.42557e-006 0
320 1120 1159.87 5.54459e-014 -6.42557e-006 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
42.9
85.8
128.7
171.6
214.5
257.4
300.3
343.2
386.1
429.0
471.9
514.8
557.7
600.6
643.5
686.4
729.3
772.2
815.1
858.0
900.9
943.8
986.7
1029.6
1072.5
1115.4
1158.3
1201.2
1244.1
1287.0
1329.9
1372.8
1415.7
1458.6
1501.5
1544.4
1587.3
1630.2
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
*
58
0.0
-1 262145 0 1 1 
-2 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
IRB5720-LID-MH_155kg-260.0
0
0
0
12
0
*
*
*
*
*IRB5720-LID-MH_155kg-260.0
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
52
33.8
1
-1 262145 0 1 1 
-2 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
IRB5720-LID-MH_155kg-260.1
2 5 18
1 1
0
12
0
*
*
*
*
*IRB5720-LID-MH_155kg-260.1
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
52
33.8
1
-1 262145 0 1 1 
-2 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
IRB5720-LID-MH_155kg-260.1-cable
0
0
0
12
0
*
*
*
*
*IRB5720-LID-MH_155kg-260.1-cable
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
64
41.6
01
-1 262145 0 1 1 
-2 1
1 1 1
-1 -1 -1
-1 -1 -1
1 0 0 0
0 1 0 0
0 0 1 0
320 0 670 1
IRB5720-LID-MH_155kg-260.2
2 5 17
1 2
0
12
0
*
*
*
*
*IRB5720-LID-MH_155kg-260.2
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
52
33.8
1
-1 262145 0 1 1 
-2 1
1 1 1
-1 -1 -1
-1 -1 -1
1 0 0 0
0 1 0 0
0 0 1 0
-320 0 -670 1
IRB5720-LID-MH_155kg-260.2-cable
0
0
0
12
0
*
*
*
*
*IRB5720-LID-MH_155kg-260.2-cable
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
64
41.6
01
-1 262145 0 1 1 
-2 1
1 1 1
-1 -1 -1
-1 -1 -1
1 0 0 0
0 1 0 0
0 0 1 0
0 0 1120 1
IRB5720-LID-MH_155kg-260.3
2 5 17
1 3
0
12
0
*
*
*
*
*IRB5720-LID-MH_155kg-260.3
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
52
33.8
1
-1 262145 0 1 1 
-2 1
1 1 1
-1 -1 -1
-1 -1 -1
1 0 0 0
0 1 0 0
0 0 1 0
-320 0 -1790 1
IRB5720-LID-MH_155kg-260.3-cable
0
0
0
12
0
*
*
*
*
*IRB5720-LID-MH_155kg-260.3-cable
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
64
41.6
01
-1 262145 0 1 1 
-2 1
1 1 1
-1 -1 -1
-1 -1 -1
1 0 0 0
0 1 0 0
0 0 1 0
237 0 200 1
IRB5720-LID-MH_155kg-260.4
2 5 16
1 4
0
12
0
*
*
*
*
*IRB5720-LID-MH_155kg-260.4
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
52
33.8
1
-1 262145 0 1 1 
-2 1
1 1 1
-1 -1 -1
-1 -1 -1
1 0 0 0
0 1 0 0
0 0 1 0
-557 0 -1990 1
IRB5720-LID-MH_155kg-260.4-cable
0
0
0
12
0
*
*
*
*
*IRB5720-LID-MH_155kg-260.4-cable
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
64
41.6
01
-1 262145 0 1 1 
-2 1
1 1 1
-1 -1 -1
-1 -1 -1
1 0 0 0
0 1 0 0
0 0 1 0
905.5 0 0 1
IRB5720-LID-MH_155kg-260.5
2 5 17
1 5
0
12
0
*
*
*
*
*IRB5720-LID-MH_155kg-260.5
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
52
33.8
1
-1 262145 0 1 1 
-2 1
1 1 1
-1 -1 -1
-1 -1 -1
1 0 0 0
0 1 0 0
0 0 1 0
-1462.5 0 -1990 1
IRB5720-LID-MH_155kg-260.6-cable
0
0
0
12
0
*
*
*
*
*IRB5720-LID-MH_155kg-260.6-cable
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
64
41.6
01
-1 262145 0 1 1 
-2 1
1 1 1
-1 -1 -1
-1 -1 -1
1 0 0 0
0 1 0 0
0 0 1 0
147 0 0 1
IRB5720-LID-MH_155kg-260.6
2 5 16
1 6
0
12
0
*
*
*
*
*IRB5720-LID-MH_155kg-260.6
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
52
33.8
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0
0
1
3
5
7
9
11
0
17
0
0
0
0
0
0
0
0
0
0
0
0
0
0
**BEGIN_ATTRIBUTES**
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