PennState.xml

<RobotSystems>

  <RobotCell name="Penn State IRB2400-16" manufacturer="ABB">
    <Mechanisms>
      <RobotArm model="IRB2400-16" manufacturer="ABB" payload="20">
       <Base x="0.000" y="0.000" z="0.000" q1="1.000" q2="0.000" q3="0.000" q4="0.000"/>
       <Joints>
        <Revolute number="1" a ="100" d ="615" minrange = "-180" maxrange ="180" maxspeed ="150"/>
        <Revolute number="2" a ="705" d ="0" minrange = "-100" maxrange ="110" maxspeed ="150"/>
        <Revolute number="3" a ="135" d ="0" minrange = "-60" maxrange ="65" maxspeed ="150"/>
        <Revolute number="4" a ="0" d ="755" minrange = "-200" maxrange ="200" maxspeed ="360"/>
        <Revolute number="5" a ="0" d ="0" minrange = "-120" maxrange ="120" maxspeed ="360"/>
        <Revolute number="6" a ="0" d ="85" minrange = "-400" maxrange ="400" maxspeed ="450"/>
       </Joints>
      </RobotArm>
    </Mechanisms>
    <IO>
      <DO names="DO10_1,DO10_2,DO10_3,DO10_4,DO10_5,DO10_6,DO10_7,DO10_8,DO10_9,DO10_10,DO10_11,DO10_12,DO10_13,DO10_14,DO10_15,DO10_16"/>
      <DI names="DI10_1,DI10_2,DI10_3,DI10_4,DI10_5,DI10_6,DI10_7,DI10_8,DI10_9,DI10_10,DI10_11,DI10_12,DI10_13,DI10_14,DI10_15,DO10_16"/>
      <AO names="AO10_1,AO10_2"/>
      <AI names="AI10_1,AI10_2"/>
    </IO>
  </RobotCell>

</RobotSystems>