13
0
IRB5710-MH3_110kg-230_OmniCore_rev00
6
1
16
-1
0
0
1
0
4
46.8
72
57.6
36
NOPROGRAM
20
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
27.7
0.0
22.5
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
167 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
-1.5708
-1.5708
-1.5708
-1.5708
-1.5708
-1.5708
1.5708
1.5708
1.5708
1.5708
1.5708
1.5708
90 90 90 90 90 90
180 180 180 180 180 180
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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 1.40181 0 0 0
1 2 3 4 5 6
0 0 0 0 0 0
0 0 0 0 0 0
-0.1681858003139496 6.036011045182328e-017 -0.9857553243637085 0
4.3088732581964e-008 1 -7.351634856433975e-009 0
0.9857553243637085 -4.371138828673793e-008 -0.1681858003139496 0
0 0 0 1
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0 1 0 0
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6.123234262925839e-017 6.123234262925839e-017 -1 0
-3.74939976039497e-033 1 6.123234262925839e-017 0
1 0 6.123234262925839e-017 0
0 -0 0 1
0 0 6.91925e-014 0 -3.28447e-030 0
280 950 1070.25 5.36395e-014 -0 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
39.6
79.2
118.8
158.4
198.0
237.6
277.2
316.8
356.4
396.0
435.6
475.2
514.8
554.4
594.0
633.6
673.2
712.8
752.4
792.0
831.6
871.2
910.8
950.4
990.0
1029.6
1069.2
1108.8
1148.4
1188.0
1227.6
1267.2
1306.8
1346.4
1386.0
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
*
36
0.0
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1 1 1
-1 -1 -1
-1 -1 -1
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22.1
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irb5710_mh3_110.1
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22.1
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-1 -1 -1
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0 0 1 0
0 0 0 1
irb5710_mh3_110.1-cable
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0
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12
0
*
*
*
*
*irb5710_mh3_110.1-cable
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**BEGIN_ATTRIBUTES**
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46
29.9
01
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irb5710_mh3_110.2
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22.1
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irb5710_mh3_110.2-cable
0
0
0
12
0
*
*
*
*
*irb5710_mh3_110.2-cable
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29.9
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22.1
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irb5710_mh3_110.3-cable
0
0
0
12
0
*
*
*
*
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46
29.9
01
-1 262145 0 1 1 
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-1 -1 -1
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irb5710_mh3_110.4
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12
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22.1
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1 1 1
-1 -1 -1
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1 0 0 0
0 1 0 0
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-459 0 -1800 1
irb5710_mh3_110.4-cable
0
0
0
12
0
*
*
*
*
*irb5710_mh3_110.4-cable
0
**BEGIN_ATTRIBUTES**
0
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46
29.9
01
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-1 -1 -1
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22.1
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12
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*
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22.1
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7
9
10
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17
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