##040003144231481800003
*
* Compile mechanism for irb6700_205_280_r06
*
begin COMPONENT irb6700_205_280_r06
	no_of_joints		9
	no_of_loops		1
	TCP_link_name		link6
	user_TCP :
0	0	1	1702.5	
0	1	0	0	
-1	0	0	2260	
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 1500
		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	
0	1	0	0	
0	0	1	0	
0	0	0	1	
		joint_name	j2
		axis_points	320 0 780 , 320 1500 780
		param_index	1
		joint_type	rot
		user_value	0
		range		-65 85
		max_speed	90
		max_acceleration	90
	end;

	begin LINK link3
		joint_from	link2
		transformation_to_father :
1	0	0	0.001099	
0	1	0	0	
0	0	1	-0.000244	
0	0	0	1	
		joint_name	j3
		axis_points	320 -1500 2060 , 320 1500 2060
		param_index	2
		joint_type	rot
		user_value	0
		range		-180 70
		max_speed	90
		max_acceleration	90
	end;

	begin LINK link4
		joint_from	link3
		transformation_to_father :
1	0	0	0	
0	1	0	0	
0	0	1	0	
0	0	0	1	
		joint_name	j4
		axis_points	0 0 2260 , 1500 0 2260
		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	0.000707	
0	1	0	-0.000131	
0	0	1	-0.000227	
0	0	0	1	
		joint_name	j5
		axis_points	1502.5 0 2260 , 1502.5 1500 2260
		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	-0.000122	
0	1	0	0.000116	
0	0	1	-0.000244	
0	0	0	1	
		joint_name	j6
		axis_points	0 0 2260 , 1500 0 2260
		param_index	5
		joint_type	rot
		user_value	0
		range		-360 360
		max_speed	90
		max_acceleration	90
	end;

	begin LINK linkd2
		joint_from	link2
		transformation_to_father :
1	0	0	0.101138	
0	1	0	0	
0	0	1	-0.015245	
0	0	0	1	
		joint_name	jd2
		axis_points	111.260002 0 735.630005 , 111.260002 1500 735.630005
		param_index	6
		joint_type	rot
		user_value	0
		range		no limits
		max_speed	90
		max_acceleration	90
	end;

	begin LINK linkd1
		joint_from	link1
		transformation_to_father :
1	0	0	-0.37103	
0	1	0	0	
0	0	1	-0.202876	
0	0	0	1	
		joint_name	jd1
		axis_points	-349 0 638 , -349 1500 638
		param_index	7
		joint_type	rot
		user_value	0
		range		no limits
		max_speed	90
		max_acceleration	90
	end;

	begin CLOSE_LOOP linkd2
		joint_from	linkd1
		transformation_to_father :
1	0	0	0.472168	
0	1	0	0	
0	0	1	0.187631	
0	0	0	1	
		joint_name	jd3
		axis_points	-349 0 638 , 111.26001 0 735.630005
		param_index	8
		joint_type	prism
		user_value	0
		range		no limits
		max_speed	1000
		max_acceleration	1000
	end

end
