REACHABILITY
{
Umax,LP-13200,TEACH
Lmin,TEACH
ORG
Lmin,Umax,TEACH
U185,TEACH
L180,U170,TEACH
Lmax,TEACH
Umin,TEACH
ORG
Umin,Lmax,TEACH
Lmin,Umin,TEACH
UP-1500,TEACH
}

ROBOT
{
TYPE=1-06VXH25_A11
}

MECHA
{
BASE2ROBOT=505.0
}

MODELMACRO
{
ADD %RBNAME%_rm %RBNAME%_LK0_DUMMY dummy
AXIS6 %RBNAME%_LK0_DUMMY=0,0,-505,0,0,0
HID %RBNAME%_LK0_DUMMY
ADD %RBNAME%_LK0_DUMMY %RBNAME%_LK0 "%RBPATH%\1-06VXH25-A1_LK0.hsf"

ADD %RBNAME%_link1 %RBNAME%_LK1_DUMMY dummy
AXIS6 %RBNAME%_LK1_DUMMY=0,0,-505,0,0,0
HID %RBNAME%_LK1_DUMMY
ADD %RBNAME%_LK1_DUMMY %RBNAME%_LK1 "%RBPATH%\1-06VXH25-A1_LK1.hsf"

ADD %RBNAME%_link2 %RBNAME%_LK2_DUMMY dummy
AXIS6 %RBNAME%_LK2_DUMMY=-505,150,0,-90,0,-90
HID %RBNAME%_LK2_DUMMY
ADD %RBNAME%_LK2_DUMMY %RBNAME%_LK2 "%RBPATH%\1-06VXH25-A1_LK2.hsf"

ADD %RBNAME%_link3 %RBNAME%_LK3_DUMMY dummy
AXIS6 %RBNAME%_LK3_DUMMY=-1265,150,0,-90,0,-90
HID %RBNAME%_LK3_DUMMY
ADD %RBNAME%_LK3_DUMMY %RBNAME%_LK3 "%RBPATH%\1-06VXH25-A1_LK3.hsf"

ADD %RBNAME%_link4 %RBNAME%_LK4_DUMMY dummy
AXIS6 %RBNAME%_LK4_DUMMY=-1465,0,-1232,180,-90,0
HID %RBNAME%_LK4_DUMMY
ADD %RBNAME%_LK4_DUMMY %RBNAME%_LK4 "%RBPATH%\1-06VXH25-A1_LK4.hsf"

ADD %RBNAME%_link5 %RBNAME%_LK5_DUMMY dummy
AXIS6 %RBNAME%_LK5_DUMMY=-1465,1232,0,-90,0,-90
HID %RBNAME%_LK5_DUMMY
ADD %RBNAME%_LK5_DUMMY %RBNAME%_LK5 "%RBPATH%\1-06VXH25-A1_LK5.hsf"

ADD %RBNAME%_link6 %RBNAME%_LK6_DUMMY dummy
AXIS6 %RBNAME%_LK6_DUMMY=-1465,0,-1232,180,-90,0
HID %RBNAME%_LK6_DUMMY
ADD %RBNAME%_LK6_DUMMY %RBNAME%_LK6 "%RBPATH%\1-06VXH25-A1_LK6.hsf"

ADD %RBNAME%_LK4 %RBNAME%_LABEL dummy
AXIS6 %RBNAME%_LABEL=1050,0,1485,90,-87,0
HID %RBNAME%_LABEL
ADD %RBNAME%_LABEL %RBNAME%_Y-mark1 "%RBPATH%\YASKAWA_3884W.hsf"
AXIS6 %RBNAME%_Y-mark1=-20,-40,-94,180,0,90
ADD %RBNAME%_LABEL %RBNAME%_Y-mark2 "%RBPATH%\YASKAWA_3884W.hsf"
AXIS6 %RBNAME%_Y-mark2=-20,-40,84,0,0,-90

}

[TORQUECOEF]
FRICTION1=100
FRICTION2=100
FRICTION3=100
FRICTION4=100
FRICTION5=100
FRICTION6=100
FR_A1=0.000E+00
FR_A2=0.000E+00
FR_A3=0.000E+00
FR_A4=0.000E+00
FR_A5=0.000E+00
FR_A6=0.000E+00
FR_B1=3.332E-04
FR_B2=9.812E-05
FR_B3=5.561E-05
FR_B4=5.257E-05
FR_B5=4.042E-05
FR_B6=1.634E-05
FR_C1=6.820E-01
FR_C2=1.373E+00
FR_C3=4.120E-01
FR_C4=2.250E-01
FR_C5=1.130E-01
FR_C6=7.500E-02
AVE_CNT=1
SR1=1
SR2=1
SR3=1
SR4=1
SR5=1
SR6=1
EFFICIENCY1=90
EFFICIENCY2=90
EFFICIENCY3=90
EFFICIENCY4=90
EFFICIENCY5=90
EFFICIENCY6=90

[MAINTENANCE]
OVERHAUL=36000

[SPEED_REDUCER_AXIS_S]
RatedTorque=1372
RatedServiceSpeed=15
TemperatureCoefficient=0.7
RatingLife=6000
GearCoefficient=10/3
SR=1.0

[SPEED_REDUCER_AXIS_L]
RatedTorque=1372
RatedServiceSpeed=15
TemperatureCoefficient=0.7
RatingLife=6000
GearCoefficient=10/3
SR=1.0

[SPEED_REDUCER_AXIS_U]
RatedTorque=411.6
RatedServiceSpeed=15
TemperatureCoefficient=0.7
RatingLife=6000
GearCoefficient=10/3
SR=1.0

[SPEED_REDUCER_AXIS_R]
RatedTorque=53.9
RatedServiceSpeed=65
TemperatureCoefficient=0.7
RatingLife=7000
GearCoefficient=3
SR=1.0

[SPEED_REDUCER_AXIS_B]
RatedTorque=34.3
RatedServiceSpeed=25
TemperatureCoefficient=0.7
RatingLife=7000
GearCoefficient=3
SR=1.0

VER=23398821