12
irb930_12_85_30_b_r01
1
16
-1
4
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
2
1
1
1
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 1 0.1 0.5 0
0 1 0 2 0 2 0 1
kin_numeric
none
none
4
1
Config_1
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 1 0
0 0 1 0
0 0 0 0
1
0 0 0 0
0 15 -10 0
=dof(1)
=dof(2)
=dof(3)
=dof(4)
1 2 3 4
18 18 15 18
0 0 0 0
0 0 0 0
1 1 1
1 0 0 0
0 -1 1.509958025280866e-007 0
-0 -1.509958025280866e-007 -1 0
850 0 274.2000122070313 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
-2.53073
-2.53073
-300
-6.98132
2.53073
2.53073
0
6.98132
418 534 2240 1702
180 180 10000 180
0.5 0.5 0.5 0.5
0 0 0 0
0 0 0 0
32
4
0 0
*
*
*
*
*
*
*
*
*
*
DEFAULT
0
0
0
*
*
*
*
Home
HomePosition
0
*
*
Joint 1
Joint 2
Joint 3
Joint 4
Utool 1
Uframe 1
0 0 0
8
0.1 0.00174533
0 0 0 0 0 0
0 0 0 0 0 0
1 2 3 4 0 0
0 0 0 0 2 2
1 0 0 0
0 1 0 0
0 0 1 0
0 0 0 1
1 0 0 0
0 1 0 0
0 0 1 0
0 0 0 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
11
*
*
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/omnicore/irb930/IRB930_BTM_Omnicore_rev00_LINK0
0
0
0
10
0
*
*
*
*
*IRB930_BTM_Omnicore_rev00_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/omnicore/irb930/IRB930_850_Omnicore_rev00_LINK1
2 5 18
1 1
0
10
0
*
*
*
*
*IRB930_850_Omnicore_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/omnicore/irb930/IRB930_850_Omnicore_rev00_LINK2
2 5 18
1 2
0
10
1
1 0 0 0
-0 1 0 0
0 -0 1 0
360 0 0 1
*IRB930_850_Omnicore_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/omnicore/irb930/irb930_all_link3a
2 5 15
1 3
0
10
1
1 0 0 0
-0 1 0 0
0 -0 1 0
850 0 0 1
*irb930_all_link3a
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/omnicore/irb930/IRB930_850_300_Omnicore_rev00_LINK3
2 5 18
1 4
0
10
1
1 0 0 0
-0 1 0 0
0 -0 1 0
850 0 0 1
*IRB930_850_300_Omnicore_rev00_LINK3
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
000004
0
0
1
2
3
4
0
17
0
0
0
0
0
0
0
0
0
0
0
0
0
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
