NEWROBOT				
NAME	Irbp500a_d1000-h700_m2001_rev1	EXT	
!Number of links				
!3				
!TYPE	NAME	 NO PARTS	 ACIS FILES
LINK	Base	1	IRBP500A_D1000-H700_M2001_REV1_01-1.sat
LINK	Link1	3	IRBP500A_D1000-H700_M2001_REV1_01-2.sat	IRBP500A_D1000-H700_M2001_REV1_01-4.sat	IRBP500A_D1000-H700_M2001_REV1_01-5.sat
LINK	Link2	1	IRBP500A_D1000-H700_M2001_REV1_01-3.sat
!Number of joints											
!2											
!TYPE	NAME	PARENT	CHILD	"""TYPE(1=R,0=P)"""	ACTIVE	AP1X	AP1Y	AP1Z	AP2X	AP2Y	AP2Z
JOINT	J1	Base	Link1	1	1	0	0	900	-1	0	900
JOINT	J2	Link1	Link2	1	1	0	0	0	0	0	1

!											
!TYPE	NAME	"""TYPE(0=NO,1=CONST,2=VAR)""" """TYPE(1=R,0=P)""" MIN	MAX	NO POINTS	POINTS					
LIM	J1	1	1	-181	181
LIM	J2	1	1	-3600	3600

!													
BASELINK	Base								
!TCP	LINK	ROT	"""00,01,02,10,11,12,20,21,22,"""	TRANS	"""x,y,z,"""	WFName
TCP	Link2	-1	0	0	0	-1	0	0	0	1	0	0	700	Irbp500A
!
BASEFRAME	1	0	0	0	1	0	0	0	1	0	0	0
!
CALIB	0	0	-1	0	-1	0	-1	0	0	0	0	900
CALIB	-1	0	0	0	-1	0	0	0	1	0	0	700
!
HOMEPOS	2	0	0
!
MASK	1	1	0	0	0	0

ENDNEWROBOT													
