13
0
IRB5710_110_230
6
1
16
-1
0
0
1
0
4
19.5
30
24.0
15
NOPROGRAM
20
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
11.5
0.0
9.4
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
-2.96706
-1.309
-3.14159
-5.23599
-2.26893
-6.28319
2.96706
2.53073
1.22173
5.23599
2.26893
6.28319
90 90 90 90 90 90
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
*
*
*
*
*
*
*
*
*
*
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 -2.286962487807009e-016 -0.9857553243637085 0
4.3088732581964e-008 1 -7.351634856433975e-009 0
0.9857553243637085 -4.371138828673793e-008 -0.1681858003139496 0
0 0 0 1
1 0 0 0
0 1 0 0
0 0 1 0
-0 -0 -670 1
6.123234262925839e-017 6.123234262925839e-017 -1 0
-3.74939976039497e-033 1 6.123234262925839e-017 0
1 -2.347174927744069e-041 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
16.5
33.0
49.5
66.0
82.5
99.0
115.5
132.0
148.5
165.0
181.5
198.0
214.5
231.0
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
*
52
0.0
-1 262145 0 1 1 
-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
irb5710_110.0
0
0
0
12
0
*
*
*
*
*irb5710_110.0
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
26
16.9
1
-1 262145 0 1 1 
-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
irb5710_110.1
2 5 18
1 1
0
12
0
*
*
*
*
*irb5710_110.1
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
26
16.9
1
-1 262145 0 1 1 
-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
irb5710_110.1-cable
0
0
0
12
0
*
*
*
*
*irb5710_110.1-cable
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
38
24.7
01
-1 262145 0 1 1 
-1 1
1 1 1
-1 -1 -1
-1 -1 -1
1 0 0 0
0 1 0 0
0 0 1 0
280 0 670 1
irb5710_110.2
2 5 17
1 2
0
12
0
*
*
*
*
*irb5710_110.2
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
26
16.9
1
-1 262145 0 1 1 
-1 1
1 1 1
-1 -1 -1
-1 -1 -1
1 0 0 0
0 1 0 0
0 0 1 0
0 0 950 1
irb5710_110.3
2 5 17
1 3
0
12
0
*
*
*
*
*irb5710_110.3
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
26
16.9
1
-1 262145 0 1 1 
-1 1
1 1 1
-1 -1 -1
-1 -1 -1
1 0 0 0
0 1 0 0
0 0 1 0
-280 0 -1620 1
irb5710_110.3-cable
0
0
0
12
0
*
*
*
*
*irb5710_110.3-cable
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
38
24.7
01
-1 262145 0 1 1 
-1 1
1 1 1
-1 -1 -1
-1 -1 -1
1 0 0 0
0 1 0 0
0 0 1 0
179 0 180 1
irb5710_110.4
2 5 16
1 4
0
12
0
*
*
*
*
*irb5710_110.4
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
26
16.9
1
-1 262145 0 1 1 
-1 1
1 1 1
-1 -1 -1
-1 -1 -1
1 0 0 0
0 1 0 0
0 0 1 0
876 0 0 1
irb5710_110.5
2 5 17
1 5
0
12
0
*
*
*
*
*irb5710_110.5
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
26
16.9
1
-1 262145 0 1 1 
-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
irb5710_110.6
2 5 16
1 6
0
12
0
*
*
*
*
*irb5710_110.6
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
26
16.9
00001
-1 262145 0 1 1 
-4 1
1 1 1
-1 -1 -1
-1 -1 -1
1 0 0 0
0 1 0 0
0 0 1 0
-280 0 -670 1
irb5710_110.2-cable
0
0
0
12
0
*
*
*
*
*irb5710_110.2-cable
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
38
24.7
00008
0
0
1
3
4
6
7
8
0
17
0
0
0
0
0
0
0
0
0
0
0
0
0
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
