REACHABILITY
{
Umax,LP-11200,TEACH
Lmin,TEACH
U162,TEACH
L0,U-18,TEACH
Lmax,TEACH
Umin,TEACH
ORG
Umin,Lmax,TEACH
Lmin,Umin,TEACH
UP-6700,TEACH
}

ROBOT
{
TYPE=1-06VXH12_A00
}

MECHA
{
BASE2ROBOT=450.0
}

MODELMACRO
{
ADD %RBNAME%_rm %RBNAME%_LK0_DUMMY dummy
AXIS6 %RBNAME%_LK0_DUMMY=0,0,-450,0,0,0
HID %RBNAME%_LK0_DUMMY
ADD %RBNAME%_LK0_DUMMY %RBNAME%_LK0 "%RBPATH%\1-06VXH12-A00_LK0.hsf"
AXIS6 %RBNAME%_LK0=0,0,0,0,0,0

ADD %RBNAME%_link1 %RBNAME%_LK1_DUMMY dummy
AXIS6 %RBNAME%_LK1_DUMMY=0,0,-450,0,0,0
HID %RBNAME%_LK1_DUMMY
ADD %RBNAME%_LK1_DUMMY %RBNAME%_LK1 "%RBPATH%\1-06VXH12-A00_LK1.hsf"
AXIS6 %RBNAME%_LK1=0,0,0,0,0,0

ADD %RBNAME%_link2 %RBNAME%_LK2_DUMMY dummy
AXIS6 %RBNAME%_LK2_DUMMY=-450,155,0,-90,0,-90
HID %RBNAME%_LK2_DUMMY
ADD %RBNAME%_LK2_DUMMY %RBNAME%_LK2 "%RBPATH%\1-06VXH12-A00_LK2.hsf"
AXIS6 %RBNAME%_LK2=-0,0,0,0,0,0

ADD %RBNAME%_link3 %RBNAME%_LK3_DUMMY dummy
AXIS6 %RBNAME%_LK3_DUMMY=-1064,155,0,-90,0,-90
HID %RBNAME%_LK3_DUMMY
ADD %RBNAME%_LK3_DUMMY %RBNAME%_LK3 "%RBPATH%\1-06VXH12-A00_LK3.hsf"
AXIS6 %RBNAME%_LK3=0,0,0,0,0,0

ADD %RBNAME%_link4 %RBNAME%_LK4_DUMMY dummy
AXIS6 %RBNAME%_LK4_DUMMY=-1264,0,-795,180,-90,0
HID %RBNAME%_LK4_DUMMY
ADD %RBNAME%_LK4_DUMMY %RBNAME%_LK4 "%RBPATH%\1-06VXH12-A00_LK4.hsf"
AXIS6 %RBNAME%_LK4=0,0,0,0,0,0

ADD %RBNAME%_link5 %RBNAME%_LK5_DUMMY dummy
AXIS6 %RBNAME%_LK5_DUMMY=-1264,795,0,-90,0,-90
HID %RBNAME%_LK5_DUMMY
ADD %RBNAME%_LK5_DUMMY %RBNAME%_LK5 "%RBPATH%\1-06VXH12-A00_LK5.hsf"
AXIS6 %RBNAME%_LK5=0,0,0,0,0,0

ADD %RBNAME%_link6 %RBNAME%_LK6_DUMMY dummy
AXIS6 %RBNAME%_LK6_DUMMY=-1264,0,-795,180,-90,0
HID %RBNAME%_LK6_DUMMY
ADD %RBNAME%_LK6_DUMMY %RBNAME%_LK6 "%RBPATH%\1-06VXH12-A00_LK6.hsf"
AXIS6 %RBNAME%_LK6=0,0,0,0,0,0

ADD %RBNAME%_LK4 %RBNAME%_LABEL dummy
AXIS6 %RBNAME%_LABEL=600,0,1280,90,-84,0
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=2.055E-04
FR_B2=4.640E-04
FR_B3=1.589E-04
FR_B4=6.283E-05
FR_B5=4.042E-05
FR_B6=1.634E-05
FR_C1=3.860E-01
FR_C2=2.550E-01
FR_C3=1.210E-01
FR_C4=1.050E-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=412
RatedServiceSpeed=15
TemperatureCoefficient=0.7
RatingLife=6000
GearCoefficient=10/3
SR=1.0

[SPEED_REDUCER_AXIS_L]
RatedTorque=412
RatedServiceSpeed=15
TemperatureCoefficient=0.7
RatingLife=6000
GearCoefficient=10/3
SR=1.0

[SPEED_REDUCER_AXIS_U]
RatedTorque=245
RatedServiceSpeed=15
TemperatureCoefficient=0.7
RatingLife=6000
GearCoefficient=10/3
SR=1.0

[SPEED_REDUCER_AXIS_R]
RatedTorque=54
RatedServiceSpeed=65
TemperatureCoefficient=0.7
RatingLife=7000
GearCoefficient=3
SR=1.0

[SPEED_REDUCER_AXIS_B]
RatedTorque=34
RatedServiceSpeed=25
TemperatureCoefficient=0.7
RatingLife=7000
GearCoefficient=3
SR=1.0

VER=c186e771