Taiwan.xml

<RobotSystems>

  <RobotCell name="Taiwan-IRB1600" manufacturer="ABB">
    <Mechanisms>
      <RobotArm model="IRB1600-145" manufacturer="ABB" payload="10">
        <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 ="150" d ="486.5" minrange = "-180" maxrange ="180" maxspeed ="180"/>
          <Revolute number="2" a ="700" d ="0" minrange = "-90" maxrange ="150" maxspeed ="180"/>
          <Revolute number="3" a ="0" d ="0" minrange = "-245" maxrange ="65" maxspeed ="185"/>
          <Revolute number="4" a ="0" d ="600" minrange = "-200" maxrange ="200" maxspeed ="385"/>
          <Revolute number="5" a ="0" d ="0" minrange = "-115" maxrange ="115" maxspeed ="400"/>
          <Revolute number="6" a ="0" d ="65" minrange = "-400" maxrange ="400" maxspeed ="460"/>
        </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"/>
    </IO>
  </RobotCell>

  <RobotCell name="Taiwan-KR6" manufacturer="KUKA">
    <Mechanisms>
      <RobotArm model="KR6-R700" manufacturer="KUKA" payload="6">
        <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 ="25" d ="400" minrange = "-170" maxrange ="170" maxspeed ="360"/>
          <Revolute number="2" a ="315" d ="0" minrange = "-190" maxrange ="45" maxspeed ="300"/>
          <Revolute number="3" a ="35" d ="0" minrange = "-120" maxrange ="156" maxspeed ="360"/>
          <Revolute number="4" a ="0" d ="365" minrange = "-185" maxrange ="185" maxspeed ="381"/>
          <Revolute number="5" a ="0" d ="0" minrange = "-120" maxrange ="120" maxspeed ="388"/>
          <Revolute number="6" a ="0" d ="80" minrange = "-350" maxrange ="350" maxspeed ="615"/>
        </Joints>
      </RobotArm>
    </Mechanisms>
    <IO>
      <DO names="1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16"/>
      <DI names="1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16"/>
      <AO names="1,2"/>
      <AI names="1,2"/>
    </IO>
  </RobotCell>

    <RobotCell name="Taiwan-KR10" manufacturer="KUKA">
    <Mechanisms>
      <RobotArm model="KR10-R1100" manufacturer="KUKA" payload="10">
        <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 ="25" d ="400" minrange = "-170" maxrange ="170" maxspeed ="360"/>
          <Revolute number="2" a ="560" d ="0" minrange = "-190" maxrange ="45" maxspeed ="300"/>
          <Revolute number="3" a ="35" d ="0" minrange = "-120" maxrange ="156" maxspeed ="360"/>
          <Revolute number="4" a ="0" d ="515" minrange = "-185" maxrange ="185" maxspeed ="381"/>
          <Revolute number="5" a ="0" d ="0" minrange = "-120" maxrange ="120" maxspeed ="388"/>
          <Revolute number="6" a ="0" d ="80" minrange = "-350" maxrange ="350" maxspeed ="615"/>
        </Joints>
      </RobotArm>
    </Mechanisms>
    <IO>
      <DO names="1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16"/>
      <DI names="1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16"/>
      <AO names="1,2"/>
      <AI names="1,2"/>
    </IO>
  </RobotCell>

</RobotSystems>