12
irb1300_12kg_140_r2
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
ABB S4
0
0.042
1500 1500 5000
360 360 360
720 720 720
0.5 0.5 0.5
0 0
1 1 1 2 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_abb_0
mot_straight_abb_0
mot_straight_abb_0
mot_joint_abb_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
7.549790126404332e-008 0 -1 0
0 1 0 0
1 -0 7.549790126404332e-008 0
665 0 1159 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
-3.66519
-4.01426
-2.26893
-6.98132
3.14159
2.70526
1.20428
4.01426
2.26893
6.98132
230 120 140 480 385 535
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
*
*
*
*
*
*
*
*
*
*
IRB1000
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 1.51161 0 0 0
0 0 0 0 1 0
1 2 3 4 5 6
0 0 0 0 0 0
0.05914925411343575 -8.742277657347586e-008 0.9982491731643677 0
-4.880584825173173e-008 -1 -8.4684216972164e-008 0
0.9982491731643677 -4.371138828673793e-008 -0.05914925411343575 0
0 0 0 1
1 0 0 0
0 1 0 0
0 0 1 0
-0 -0 -544 1
-6.123031769111886e-017 -8.742277657347586e-008 1 0
5.352924535182096e-024 -1 -8.742277657347586e-008 0
1 1.521484656065916e-031 6.123031769111886e-017 0
-90 0 -5.510728592200698e-015 1
0 0 3.76564e-014 0 3.93363e-006 0
150 575 676.184 0.0045166 -3.93402e-006 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/irc5/irb1300/irb1300_link0
0
0
0
10
0
*
*
*
*
*irb1300_link0
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/irc5/irb1300/irb1300_link1_1150
2 5 18
1 1
0
10
0
*
*
*
*
*irb1300_link1_1150
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/irc5/irb1300/irb1300_link2_1150
2 5 17
1 2
0
10
1
1 0 0 0
0 1 0 0
0 0 1 0
150 0 544 1
*irb1300_link2_1150
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/irc5/irb1300/irb1300_link3
2 5 17
1 3
0
10
1
1 0 0 0
0 1 0 0
0 0 1 0
150.0002593994141 0 1118.999755859375 1
*irb1300_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/irc5/irb1300/irb1300_link4_1400
2 5 16
1 4
0
10
1
1 0 0 0
0 1 0 0
0 0 1 0
279.5 0 1158.995483398438 1
*irb1300_link4_1400
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
250 0 0 1
abb/irc5/irb1300/irb1300_link5
2 5 17
1 5
0
10
1
1 0 0 0
-0 1 0 0
0 -0 1 0
575 0 1159 1
*irb1300_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/irc5/irb1300/irb1300_link6
2 5 16
1 6
0
10
1
1 0 0 0
-0 1 0 0
0 -0 1 0
665 0 1159 1
*irb1300_link6
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
00000006
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**
