12
IRB1100_4-580_OmniCore_rev02
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
8
DEFAULT
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_generic
none
none
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_joint_0
mot_straight_0
mot_circular_0
mot_slew_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)
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
-4.371138828673793e-008 -0 -1 0
0 1 0 0
1 0 -4.371138828673793e-008 0
364 0 617 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
-4.01426
-2.00713
-3.57792
-4.01426
-2.18166
-6.98132
4.01426
1.97222
0.959931
4.01426
2.0944
6.98132
460 360 280 560 420 750
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
*
*
*
*
Home_1
0
*
Joint 1
Joint 2
Joint 3
Joint 4
Joint 5
Joint 6
Utool 1
Uframe 1
0 0 0
5
0.1 0.00174533
0 -1.5708 1.53748 0 0 0
0 0 0 0 0 0
1 2 3 4 5 6
0 0 0 0 0 0
-0.03331487253308296 6.119633049411028e-017 -0.9994449019432068 0
4.368712325231172e-008 1 -1.456239240305024e-009 0
0.9994449019432068 -4.371138828673793e-008 -0.03331487253308296 0
0 0 0 1
1 0 0 0
0 1 0 0
0 0 1 0
-0 -0 -327 1
6.123031769111886e-017 6.123031769111886e-017 -1 0
-3.749151804555344e-033 1 6.123031769111886e-017 0
1 0 6.123031769111886e-017 0
-64 -0 -3.918740332231607e-015 1
0 0 1.77568e-014 0 2.79753e-006 0
0 280 300.167 1.83691e-014 -2.79753e-006 0
11
*
*
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
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
*
0
*
-1 1 1 262145 0 
-3 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/irc5/irb1100/irb1100_base
0
0
0
10
0
*
*
*
*
*irb1100_base
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
1
-1 1 1 262145 0 
-3 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/irc5/irb1100/irb1100_link1
2 5 18
1 1
0
10
0
*
*
*
*
*irb1100_link1
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
1
-1 1 1 262145 0 
-3 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/irc5/irb1100/irb1100_580_link2
2 5 17
1 2
0
10
1
1 0 0 0
-0 1 0 0
0 -0 1 0
0 0 327 1
*irb1100_580_link2
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
1
-1 1 1 262145 0 
-3 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/irc5/irb1100/irb1100_580_link3
2 5 17
1 3
0
10
1
1 0 0 0
-0 1 0 0
0 -0 1 0
0 0 607 1
*irb1100_580_link3
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
1
-1 1 1 262145 0 
-3 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/irc5/irb1100/irb1100_580_link4
2 5 16
1 4
0
10
1
1 0 0 0
-0 1 0 0
0 -0 1 0
0 0 617 1
*irb1100_580_link4
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
1
-1 1 1 262145 0 
-3 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/irc5/irb1100/irb1100_580_link51
2 5 17
1 5
0
10
1
1 0 0 0
-0 1 0 0
0 -0 1 0
300 0 617 1
*irb1100_580_link51
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
1
-1 1 1 262145 0 
-3 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/irc5/irb1100/irb1100_580_link52
0
0
0
10
0
*
*
*
*
*irb1100_580_link52
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
01
-1 1 1 262145 0 
-3 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/irc5/irb1100/irb1100_580_link6
2 5 16
1 6
0
10
1
1 0 0 0
-0 1 0 0
0 -0 1 0
364 0 617 1
*irb1100_580_link6
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
00000007
0
0
1
2
3
4
5
7
0
17
0
0
0
0
0
0
0
0
0
0
0
0
0
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
