##040003144535436600008
*
* Compile mechanism for irb8700_550kg_420
*
begin COMPONENT irb8700_550kg_420
	no_of_joints		15
	no_of_loops		3
	TCP_link_name		link6
	user_TCP :
0	0	1	2904.999023	
0	1	0	0.002606	
-1	0	0	2890.001221	
0	0	0	1	
	inverse_family	-1
	base_name		link0

	begin LINK link1
		joint_from	link0
		transformation_to_father :
1	0	0	0	
0	1	0	0	
0	0	1	0	
0	0	0	1	
		joint_name	J1
		axis_points	0 0 0 , 0 0 5000
		param_index	0
		joint_type	rot
		user_value	0
		range		-170 170
		max_speed	90
		max_acceleration	90
	end;

	begin LINK link2
		joint_from	link1
		transformation_to_father :
1	0	0	-0.000578	
0	1	0	0	
0	0	1	0.000485	
0	0	0	1	
		joint_name	J2
		axis_points	420 -1000 1000 , 420 197 1000
		param_index	1
		joint_type	rot
		user_value	0
		dependent range on joint	J3
		extreme		-30	-65 ;
		extreme		-30	35 ;
		extreme		25	90 ;
		extreme		30	90 ;
		extreme		132	90 ;
		extreme		132	65 ;
		extreme		2	-65 ;
		extreme		0	-65 ;
		extreme		-30	-65
		max_speed	90
		max_acceleration	90
	end;

	begin LINK link3
		joint_from	link2
		transformation_to_father :
1	0	0	0.003661	
0	1	0	0	
0	0	1	-0.000476	
0	0	0	1	
		joint_name	J3
		axis_points	420 -1000 2580 , 420 153.5 2580
		param_index	2
		follows J2 by -1
		joint_type	rot
		user_value	0
		dependent range on joint	J2
		extreme		-65	2 ;
		extreme		0	67 ;
		extreme		65	132 ;
		extreme		90	132 ;
		extreme		90	25 ;
		extreme		35	-30 ;
		extreme		0	-30 ;
		extreme		-65	-30
		max_speed	90
		max_acceleration	90
	end;

	begin LINK link4
		joint_from	link3
		transformation_to_father :
1	0	0	0.000275	
0	1	0	-0.003324	
0	0	1	0	
0	0	0	1	
		joint_name	J4
		axis_points	-1000 0 2890 , 118 0 2890
		param_index	3
		joint_type	rot
		user_value	0
		range		-300 300
		max_speed	90
		max_acceleration	90
	end;

	begin LINK link5
		joint_from	link4
		transformation_to_father :
1	0	0	0.001901	
0	1	0	-0.000263	
0	0	1	-0.001857	
0	0	0	1	
		joint_name	J5
		axis_points	2594.995117 0.003587 2890.001465 , 2594.995117 1000.003587 2890.001465
		param_index	4
		joint_type	rot
		user_value	0
		range		-130 130
		max_speed	90
		max_acceleration	90
	end;

	begin LINK link6
		joint_from	link5
		transformation_to_father :
1	0	0	-0.000244	
0	1	0	0.000216	
0	0	1	0	
0	0	0	1	
		joint_name	J6
		axis_points	2155.500244 -0.000436 2890 , 3000 -0.000436 2890
		param_index	5
		joint_type	rot
		user_value	0
		range		-360 360
		max_speed	90
		max_acceleration	90
	end;

	begin LINK link3a
		joint_from	link3
		transformation_to_father :
1	0	0	0.002441	
0	1	0	0	
0	0	1	0	
0	0	0	1	
		joint_name	J3a
		axis_points	-180 -40 2580 , -180 1000 2580
		param_index	6
		joint_type	rot
		user_value	0
		range		no limits
		max_speed	90
		max_acceleration	90
	end;

	begin LINK link3b
		joint_from	link3a
		transformation_to_father :
1	0	0	0	
0	1	0	0	
0	0	1	0	
0	0	0	1	
		joint_name	J3b
		axis_points	-180 -40 1000 , -180 1000 1000
		param_index	7
		joint_type	rot
		user_value	0
		range		no limits
		max_speed	90
		max_acceleration	90
	end;

	begin LINK link2Lb
		joint_from	link1
		transformation_to_father :
1	0	0	-0.008394	
0	1	0	0	
0	0	1	0.001317	
0	0	0	1	
		joint_name	J2Lb
		axis_points	477.352081 -349.5 1324.934204 , 477.303925 349.5 1324.986572
		param_index	8
		joint_type	rot
		user_value	0
		range		no limits
		max_speed	90
		max_acceleration	90
	end;

	begin LINK link2La
		joint_from	link2Lb
		transformation_to_father :
1	0	0	-0.000493	
0	1	0	0.002808	
0	0	1	0.000222	
0	0	0	1	
		joint_name	J2LbLa
		axis_points	426.549713 375.004578 2437.829834 , 473.563538 375.055511 1406.400635
		param_index	9
		joint_type	prism
		user_value	0
		range		no limits
		max_speed	1000
		max_acceleration	1000
	end;

	begin LINK link2Rb
		joint_from	link1
		transformation_to_father :
1	0	0	-0.007072	
0	1	0	0	
0	0	1	0.000765	
0	0	0	1	
		joint_name	J2Rb
		axis_points	477.352081 -349.5 1324.934204 , 477.303925 349.5 1324.986572
		param_index	10
		joint_type	rot
		user_value	0
		range		no limits
		max_speed	90
		max_acceleration	90
	end;

	begin LINK link2Ra
		joint_from	link2Rb
		transformation_to_father :
1	0	0	0	
0	1	0	0.002808	
0	0	1	0.001834	
0	0	0	1	
		joint_name	J2RbRa
		axis_points	426.491608 -375 2437.827148 , 473.593018 -375.083038 1406.401978
		param_index	11
		joint_type	prism
		user_value	0
		range		no limits
		max_speed	1000
		max_acceleration	1000
	end;

	begin CLOSE_LOOP link2
		joint_from	link2La
		transformation_to_father :
1	0	0	0.008309	
0	1	0	-0.002819	
0	0	1	-0.001054	
0	0	0	1	
		joint_name	J2La2
		axis_points	420 153.5 2580 , 420 -1000 2580
		param_index	12
		joint_type	rot
		user_value	0
		range		no limits
		max_speed	90
		max_acceleration	90
	end;

	begin CLOSE_LOOP link2
		joint_from	link2Ra
		transformation_to_father :
1	0	0	0.006455	
0	1	0	-0.002819	
0	0	1	-0.002115	
0	0	0	1	
		joint_name	J2Ra2
		axis_points	420 153.5 2580 , 420 -1000 2580
		param_index	13
		joint_type	rot
		user_value	0
		range		no limits
		max_speed	90
		max_acceleration	90
	end;

	begin CLOSE_LOOP link1
		joint_from	link3b
		transformation_to_father :
1	0	0	-0.005524	
0	1	0	0	
0	0	1	0	
0	0	0	1	
		joint_name	J3b1
		axis_points	420 197 1000 , 420 -1000 1000
		param_index	14
		joint_type	rot
		user_value	0
		range		no limits
		max_speed	90
		max_acceleration	90
	end

end
