##040003165234600100005
*
* Compile mechanism for irb1100_4_475_04
*
begin COMPONENT irb1100_4_475_04
	no_of_joints		6
	no_of_loops		0
	TCP_link_name		link6
	user_TCP :
0	0	1	314	
0	1	0	0	
-1	0	0	562	
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 1000
		param_index	0
		joint_type	rot
		user_value	0
		range		-230 230
		max_speed	460
		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	0 0 327 , 0 1000 327
		param_index	1
		joint_type	rot
		user_value	0
		range		-115 113
		max_speed	380
		max_acceleration	90
	end;

	begin LINK link3
		joint_from	link2
		transformation_to_father :
1	0	0	0	
0	1	0	0	
0	0	1	0	
0	0	0	1	
		joint_name	j3
		axis_points	0 0 552 , 0 1000 552
		param_index	2
		joint_type	rot
		user_value	0
		range		-205 55
		max_speed	280
		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 0 562 , 1000 0 562
		param_index	3
		joint_type	rot
		user_value	0
		range		-230 230
		max_speed	560
		max_acceleration	90
	end;

	begin LINK link5
		joint_from	link4
		transformation_to_father :
1	0	0	0	
0	1	0	0	
0	0	1	0	
0	0	0	1	
		joint_name	j5
		axis_points	250 0 562 , 250 1000 562
		param_index	4
		joint_type	rot
		user_value	0
		range		-125 120
		max_speed	420
		max_acceleration	90
	end;

	begin LINK link6
		joint_from	link5
		transformation_to_father :
1	0	0	0	
0	1	0	0	
0	0	1	0	
0	0	0	1	
		joint_name	j6
		axis_points	250 0 562 , 1000 0 562
		param_index	5
		joint_type	rot
		user_value	0
		range		-400 400
		max_speed	750
		max_acceleration	90
	end

end
