14 DENEB_WORKCELL_FILE
User: DJQ
Time: 2:30 PM
Date: Thursday 6 July 2006
0
0.523599 0
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1 10 1095.25
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**BEGIN_DEVICES**
IRB5500 Paint
12
Dummy
1
16
-1
6
0
0
0
1
0
0
NOPROGRAM
17
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
1
1
1
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ABB S4
0
0
1500 1500 5000
360 360 360
720 720 720
0.5 0.5 0.5
0 0
1 1500 1 1 0.1 0.5 0
0 0 0 0 0 2 1 0
kin_abb_irb5402
none
none
6
1 1
Config_1
Config_2
0
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
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76.5999755859375 -0.003001000033691526 0.004027999937534332 1
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-2.61799
-1.309
=min(max(-145,-75+dof(2)*DEG),15)*RAD
=(-360-dof(6)*DEG)*RAD
-1.74533e+008
=(-360-dof(4)*DEG)*RAD
2.61799
1.5708
=min(max(5,75+dof(2)*DEG),min(150,125+(dof(2)*DEG-50)*25/40))*RAD
=(360-dof(6)*DEG)*RAD
1.74533e+008
=(360-dof(4)*DEG)*RAD
90 90 90 90 90 90
180 180 180 180 180 180
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32
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0 0
*
*
*
*
*
*
*
*
*
*
IRB5400
0
0
0
*
*
*
*
Home_1
0
*
Joint 1
Joint 2
Joint 3
Joint 4
Joint 5
Joint 6
Utool 1
Uframe 1
0 0 0
8
0.1 0.00174533
0 0 0 0 0 0
0 0 0 0 0 0
1 2 3 4 5 6
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0 0 0 0 0 0
11
*
*
1 1 1 1 1 1
1 1 1 1 1 1
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*
*
*
*
*
*
0
0
no_app_file
3
no_par_file
0 1 1 1
1
6
10 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
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-1 1
1 1 1
-1 -1 -1
-1 -1 -1
1 0 0 0
0 1 0 0
0 0 1 0
749.3458251953125 2807.5400390625 0 1
ABB/IRB5500.0
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0
0
10
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*
*
*
*
*IRB5500.0
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
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-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/IRB5500.1
2 5 18
1 1
0
10
0
*
*
*
*
*IRB5500.1
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
0 221.5 0 1
ABB/IRB5500.2
2 5 17
1 2
0
10
0
*
*
*
*
*IRB5500.2
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
-0.001379000023007393 -4.5 1299.998901367188 1
ABB/IRB5500.3
2 5 17
0
1
=dof(3)-dof(2)
10
0
*
*
*
*
*IRB5500.3
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
1
-1 1 1 262145 0 
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1 1 1
-1 -1 -1
-1 -1 -1
1 0 0 0
0 1 0 0
0 0 1 0
1438.99853515625 -217.0019836425781 0.002577000064775348 1
ABB/IRB5500.4
2 5 16
1 4
0
10
0
*
*
*
*
*IRB5500.4
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
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-1 1 1 262145 0 
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1 1 1
-1 -1 -1
-1 -1 -1
0.8191520571708679 0 -0.5735764503479004 0
0 1 0 0
0.5735764503479004 0 0.8191520571708679 0
59.510009765625 0 -1.582136292199721e-006 1
ABB/IRB5500.5a
2 5 16
0
1
=dof(5)
10
0
*
*
*
*
*IRB5500.5a
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
1
-1 1 1 262145 0 
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1 1 1
-1 -1 -1
-1 -1 -1
0.3420204520225525 0 0.939692497253418 0
0 1 0 0
-0.939692497253418 0 0.3420204520225525 0
118.7687835693359 5.199999941396527e-005 83.16287994384766 1
ABB/IRB5500.5b
2 5 -16
1 5
0
10
0
*
*
*
*
*IRB5500.5b
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
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1 1 1
-1 -1 -1
-1 -1 -1
0.8191522359848023 0 -0.5735761523246765 0
0 1 0 0
0.5735761523246765 0 0.8191522359848023 0
0 6.399999983841553e-005 3.999999989900971e-006 1
ABB/IRB5500.6
2 5 16
1 6
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10
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*
*
*
*
*IRB5500.6
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**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
000000007
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17
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**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
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-1
**END_DEVICES**
**BEGIN_PATHS**
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**END_PATHS**
**BEGIN_IO**
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0
0
0
0
0
0
0
0
0
0
0
0
0
**END_IO**
**BEGIN_COLL_Q**
1
*Default
0
0
1
0
**END_COLL_Q**
**BEGIN_DLISTS**
0
**END_DLISTS**
**BEGIN_CMM_INFO**
0
0
0
**END_CMM_INFO**
**BEGIN_CHAINS**
0
**END_CHAINS**
0
0
2 1 2
0
0
0
0
0
0
0
0
5
3
0
****** START PAINT DATA ****** 
****** END PAINT DATA ****** 
5
****** START ANNOTATION NAMES AND ARROWS ****** 
2
2
0
****** END ANNOTATION NAMES AND ARROWS ****** 
8
3
****** START PAINT DISPLAY INFO ****** 
0.050000
0.025000 0.050000
340282346638528860000000000000000000000.000000 0.050000 107
0.050000 0.025000 203
0.025000 0.000000 171
****** END PAINT DISPLAY INFO ****** 
2
************** START USER INPUT FILES ************
************** END USER INPUT FILES **************
3
0
************** START GROUP INFORMATION ************
************** END GROUP INFORMATION **************
**BEGIN_LIGHTS**
9
1 2 0.250000 0.250000 0.250000
0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
0.000000 0.000000 0.250000 1.000000 90.000000 1
0 0 0 0 -1
1 0 0.550000 0.550000 0.550000
-0.043978 -0.135349 0.989821 0.000000 0.000000 1.000000
1.427997 -0.314159 0.550000 1.000000 90.000000 1
0 0 0 0 -1
1 0 0.400000 0.400000 0.400000
0.332374 -0.690182 0.642788 0.000000 0.000000 1.000000
0.698132 0.448799 0.400000 1.000000 90.000000 1
0 0 0 0 -1
1 0 0.400000 0.400000 0.400000
0.700629 0.404509 0.587785 0.000000 0.000000 1.000000
0.628319 2.094395 0.400000 1.000000 90.000000 1
0 0 0 0 -1
1 0 0.400000 0.400000 0.400000
-0.769421 0.250000 0.587785 0.000000 0.000000 1.000000
0.628319 4.398230 0.400000 1.000000 90.000000 1
0 0 0 0 -1
0 1 0.400000 0.400000 0.400000
0.000000 0.000000 1.000000 0.000000 0.000000 1.000000
1.570796 0.000000 0.400000 1.000000 90.000000 1
0 0 0 0 -1
0 1 0.400000 0.400000 0.400000
0.000000 0.000000 1.000000 0.000000 0.000000 1.000000
1.570796 0.000000 0.400000 1.000000 90.000000 1
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0 1 0.400000 0.400000 0.400000
0.000000 0.000000 1.000000 0.000000 0.000000 1.000000
1.570796 0.000000 0.400000 1.000000 90.000000 1
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0 1 0.400000 0.400000 0.400000
0.000000 0.000000 1.000000 0.000000 0.000000 1.000000
1.570796 0.000000 0.400000 1.000000 90.000000 1
0 0 0 0 -1
0 -7 1.000000 1.000000 1.000000 1.000000
**END_LIGHTS**
**BEGIN_RENDER**
current_view
2242.22
0.6293970346450806 -0.2792375385761261 0.7251798510551453 0
-4.240155533352663e-007 0.9332064986228943 0.3593405783176422 0
-0.7770839333534241 -0.2261682003736496 0.5873572826385498 0
-3538.1767578125 181.7404327392578 8.279266357421875 1
7189.12 4304.86 71747.7 0 0.804202 1650.38 42
-1 -1
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1 1.5 60
2
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1
0
0
0
0 0 0 0 0
20 8000 3 1e+008 0.523599 32
20 3000 20 3000 1 20000
200 10000 50 25000 3 500
3
1
0 3 50000
1
0 10 1.5 1.5 100
1
0 200 50 20
**END_RENDER**
*ULTRAARC
0
0
path!@#$%^&*(){}[]|/?<>+-
-1 4 0 2
0
1 0 0 0
0 1 0 0
0 0 1 0
0 0 0 1
1
28
Tag Type
3 1 0 1
*WELD
Table Name
3 1 0 1
*STRAIGHT
Table Number
1 1 0 1
1
.AUXDATA_MASK_Speed (%)
4 1 0 0
1
.AUXDATA_MASK_Speed Val
4 1 0 0
1
.AUXDATA_MASK_Speed Mode
4 1 0 0
1
.AUXDATA_MASK_Time
4 1 0 0
1
.AUXDATA_MASK_Motype
4 1 0 0
1
.AUXDATA_MASK_Termtype
4 1 0 0
1
.AUXDATA_MASK_Round
4 1 0 0
1
.AUXDATA_MASK_Corner Mode
4 1 0 0
1
.AUXDATA_MASK_Distance
4 1 0 0
1
.AUXDATA_MASK_Cfg
4 1 0 0
1
.AUXDATA_MASK_T1
4 1 0 0
1
.AUXDATA_MASK_T4
4 1 0 0
1
.AUXDATA_MASK_T5
4 1 0 0
1
.AUXDATA_MASK_T6
4 1 0 0
1
.AUXDATA_MASK_Rapid cf1
4 1 0 0
1
.AUXDATA_MASK_Rapid cf4
4 1 0 0
1
.AUXDATA_MASK_Rapid cf6
4 1 0 0
1
.AUXDATA_MASK_Rapid cfx
4 1 0 0
1
.AUXDATA_MASK_Orient Type
4 1 0 0
1
.AUXDATA_MASK_Break Blend
4 1 0 0
1
.AUXDATA_MASK_Utool
4 1 0 0
1
.AUXDATA_MASK_Uframe
4 1 0 0
1
.AUXDATA_MASK_Tag Type
4 1 0 0
1
.AUXDATA_MASK_Table Name
4 1 0 0
1
.AUXDATA_MASK_Table Number
4 1 0 0
1
*ARC/default
1
1
NO_ID
via!!@#$%^&*(){}[]|/?<>+-
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0
6
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28
0
*VIA
1
*N/A
2
0
3
1
4
1
5
1
6
1
7
1
8
1
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1
10
1
11
1
12
1
13
1
14
1
15
1
16
1
17
1
18
1
19
1
20
1
21
1
22
1
23
1
24
1
25
1
26
1
27
1
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*
0
4
12
-100
-100
-100
-100
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-1
-1
-1
-1
-1
-1
7
 -1
 1
 2
 -1
 -1
 0
 0
2
*
*
1
NO_ID
weld!@#$%^&*(){}[]|/?<>+-
1 0 0 0
0 1 0 0
0 0 1 0
0 0 0 1
0 0 2
0 0 0 0
0
6
 2 2 0 0 1 1
28
0
*WELD
1
*STRAIGHT
2
1
3
1
4
1
5
1
6
1
7
1
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1
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1
10
1
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1
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1
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1
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1
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1
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1
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1
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1
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1
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NO_ID
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