12
IRB_4400_10kg-253_IRC5_rev02
1
47
4
6
0
0
0
1
0
0
NOPROGRAM
53
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
0
1
2
3
4
1
6
20
4
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_abb_irb2000
none
6
6
1 1 1 1
Config_1
Config_2
Config_3
Config_4
1
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)
-99 -99 -99 -99 -99 -99
0 0 0 0 0 0
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
85 0 0 1
2
1 0 0 0
0 1 0 0
0 0 1 0
0 0 0 1
0 0 1 0
0 1 -0 0
-1 0 0 0
0 0 -85 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
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
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
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
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
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
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
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
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
680 890 1500 0 0 0
200 0 150 0 0 0
0 0 0 0 0 0 0 0
-2.87979
=-80*RAD
=inrange(dof(2)*DEG,-360,30)*(-30)*RAD+inrange(dof(2)*DEG,30,360)*ramp(dof(2)*DEG,30,-30,95,35)*RAD
-3.49066
-2.0944
-6.98132
2.87979
=95*RAD
=inrange(dof(2)*DEG,-360,0)*ramp(dof(2)*DEG,-80,-15,0,65)*RAD+inrange(dof(2)*DEG,0,43)*ramp(dof(2)*DEG,0,65,43,108)*RAD+inrange(dof(2)*DEG,43,360)*ramp(dof(2)*DEG,43,108,95,119)*RAD
3.49066
2.0944
6.98132
150 150 150 370 330 381
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
56
0
0 0
*
*
*
*
*
*
*
*
*
*
DEFAULT
0
0
0
*
*
*
*
Home_1
0
*
Joint 1
Joint 2
Joint 3
Joint 4
Joint 5
Joint 6
Utool 1
Utool 2
Utool 3
Utool 4
Utool 5
Utool 6
Uframe 1
Uframe 2
Uframe 3
Uframe 4
Uframe 5
Uframe 6
Uframe 7
Uframe 8
Uframe 9
Uframe 10
Uframe 11
Uframe 12
Uframe 13
Uframe 14
Uframe 15
Uframe 16
Uframe 17
Uframe 18
Uframe 19
Uframe 20
0 0 0
5
0.1 0.00174533
0 -1.5708 1.47113 0 0 0
0 0 0 0 1 0
1 2 3 4 5 6
0 0 0 0 0 0
0.09950363636016846 -8.742277657347586e-008 0.9950371980667114 0
-5.219333942818594e-008 -1 -8.263947393061244e-008 0
0.9950371980667114 -4.371138473402425e-008 -0.09950363636016846 0
0 0 0 1
1 0 0 0
0 1 0 0
0 0 1 0
0 0 -680 1
-2.676462267591048e-024 1 4.371138828673793e-008 0
-6.123031769111886e-017 -4.371138828673793e-008 1 0
1 7.607423280329582e-032 6.123031769111886e-017 0
0 0 0 1
0 0 6.36795e-014 0 0 0
200 890 1507.48 0 0 0
11
*RAPID
*RAPID
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
13 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/IRB4400/irb4400_60-195_base_rev02
0
0
0
10
0
*
*
*
*
*irb4400_60-195_base_rev02
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 0 680 1
ABB/IRB4400/irb4400_60-195_link1_rev02
2 5 18
1 1
0
10
0
*
*
*
*
*irb4400_60-195_link1_rev02
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
1
-1 1 1 262145 0 
-1 1
1 1 1
-1 -1 -1
-1 -1 -1
-0.2588189840316773 0 0.9659258723258972 0
0 -1 0 0
0.9659258723258972 0 0.2588189840316773 0
-472.5141296386719 48.00000762939453 -200.7420043945313 1
ABB/IRB4400/irb4400_60-195_bal-a_rev02
2 5 17
0
1
=s1=701.835;s2=126.467;s3=826.455;a2=sssa(s2,s1,s3);a3=sssa(s3,s1,s2);a2-sasa(s2,a3-dof(2),s1)
10
0
*
*
*
*
*irb4400_60-195_bal-a_rev02
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
01
-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
200 0 0 1
ABB/IRB4400/irb4400_60-195_link2_rev02
2 5 17
1 2
0
10
0
*
*
*
*
*irb4400_60-195_link2_rev02
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
1
-1 1 1 262145 0 
-1 1
1 1 1
-1 -1 -1
-1 -1 -1
-0.1473111212253571 1.089337911253097e-005 0.9890902638435364 0
-3.146059725622763e-006 -1 1.05449726106599e-005 0
0.9890902638435364 -1.558345161356556e-006 0.1473111212253571 0
121.3857574462891 48.00003814697266 29.5611515045166 1
ABB/IRB4400/irb4400_L10-195_bal-b_rev02
2 5 17
0
1
=s1=701.835;s2=126.467;s3=826.455;a1=sssa(s1,s2,s3);a3=sssa(s3,s1,s2);sasa(s1,a3-dof(2),s2)-a1
10
0
*
*
*
*
*irb4400_L10-195_bal-b_rev02
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
01
-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 0 890 1
ABB/IRB4400/irb4400_60-195_link3_rev02
2 5 17
0
1
=dof(3)-DOF(2)
10
0
*
*
*
*
*irb4400_60-195_link3_rev02
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
247.4999694824219 0 150 1
ABB/IRB4400/irb4400_L10-195_link5_rev02
2 5 16
1 4
0
10
0
*
*
*
*
*irb4400_L10-195_link5_rev02
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
1252.501953125 0 0 1
ABB/IRB4400/irb4400_l10-253_link5_cad_rev03
2 5 17
1 5
0
10
0
*
*
*
*
*irb4400_l10-253_link5_cad_rev03
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
1
6 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/IRB4400/irb4400_l10-253_link6_cad_rev03
2 5 16
1 6
0
10
0
*
*
*
*
*irb4400_l10-253_link6_cad_rev03
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
0001
-1 1 1 262145 0 
-1 1
1 1 1
-1 -1 -1
-1 -1 -1
0 0 -1 0
-1 0 0 0
0 1 0 0
-300 -103.9999923706055 -0.0001219999976456165 1
ABB/IRB4400/irb4400_60-195_linkrod_rev02
2 5 18
0
1
=dof(2)-dof(3)
10
0
*
*
*
*
*irb4400_60-195_linkrod_rev02
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
0001
-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
200 0 0 1
ABB/IRB4400/irb4400_60-195_linkarm_rev02
2 5 17
1 3
0
10
0
*
*
*
*
*irb4400_60-195_linkarm_rev02
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
0008
0
0
0
0
0
0
0
0
0
22
0
0
0
0
0
0
0
0
0
0
0
0
0
0
**BEGIN_ATTRIBUTES**
5
1
1
Robot Name
3 1 0 0
*IRB_4400_L10
**END_ATTRIBUTES**
