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bartlett.xml
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<RobotSystems>
<RobotCell name="Bartlett-IRB120" manufacturer="ABB">
<Mechanisms>
<RobotArm model="IRB120" manufacturer="ABB" payload="3">
<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 ="0" d ="290" minrange = "-165" maxrange ="165" maxspeed ="250"/>
<Revolute number="2" a ="270" d ="0" minrange = "-110" maxrange ="110" maxspeed ="250"/>
<Revolute number="3" a ="70" d ="0" minrange = "-110" maxrange ="70" maxspeed ="250"/>
<Revolute number="4" a ="0" d ="302" minrange = "-160" maxrange ="160" maxspeed ="320"/>
<Revolute number="5" a ="0" d ="0" minrange = "-120" maxrange ="120" maxspeed ="320"/>
<Revolute number="6" a ="0" d ="72" minrange = "-400" maxrange ="400" maxspeed ="420"/>
</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="Bartlett-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"/>
<AO names="AO10_1,AO10_2"/>
<AI names="AI10_1,AI10_2"/>
</IO>
</RobotCell>
<RobotCell name="Bartlett-KR6" manufacturer="KUKA">
<Mechanisms>
<RobotArm model="KR6-R900" 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 ="455" 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 ="420" 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="11,12,13,14,15,16,17,18,19,20,21,22,23,24,25,26,27"/>
<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="Bartlett-KR60-A" manufacturer="KUKA">
<Mechanisms group="0">
<RobotArm model="KR60-HA" manufacturer="KUKA" payload="60">
<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 ="350" d ="815" minrange = "-185" maxrange ="185" maxspeed ="128"/>
<Revolute number="2" a ="850" d ="0" minrange = "-135" maxrange ="35" maxspeed ="120"/>
<Revolute number="3" a ="145" d ="0" minrange = "-120" maxrange ="158" maxspeed ="128"/>
<Revolute number="4" a ="0" d ="820" minrange = "-350" maxrange ="350" maxspeed ="260"/>
<Revolute number="5" a ="0" d ="0" minrange = "-119" maxrange ="119" maxspeed ="245"/>
<Revolute number="6" a ="0" d ="170" minrange = "-350" maxrange ="350" maxspeed ="322"/>
</Joints>
</RobotArm>
<!--
<Track model="KL1000-2" manufacturer="KUKA" payload="1000" movesRobot="true">
<Base x="0.000" y="0.000" z="0.000" q1="1.000" q2="0.000" q3="0.000" q4="0.000"/>
<Joints>
<Prismatic number="9" a ="881.6" d ="480" minrange = "0" maxrange ="10000" maxspeed ="1890"/>
</Joints>
</Track>
-->
<Positioner model="DKP-400" manufacturer="KUKA" payload="400">
<Base x="789.188" y="1456.846" z="-41.69" q1="0.856803" q2="-0.003908" q3="0.002313" q4="0.515623"/>
<Joints>
<Revolute number="7" a ="0" d ="510" minrange = "-90" maxrange ="90" maxspeed ="94.5"/>
<Revolute number="8" a ="0" d ="347" minrange = "-INF" maxrange ="INF" maxspeed ="126"/>
</Joints>
</Positioner>
</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="1,2,3,4"/>
<AI names="1,2,3,4"/>
</IO>
</RobotCell>
<RobotCell name="Bartlett-KR60-B" manufacturer="KUKA">
<Mechanisms group="0">
<RobotArm model="KR60-HA" manufacturer="KUKA" payload="60">
<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 ="350" d ="815" minrange = "-185" maxrange ="185" maxspeed ="128"/>
<Revolute number="2" a ="850" d ="0" minrange = "-135" maxrange ="35" maxspeed ="120"/>
<Revolute number="3" a ="145" d ="0" minrange = "-120" maxrange ="158" maxspeed ="128"/>
<Revolute number="4" a ="0" d ="820" minrange = "-350" maxrange ="350" maxspeed ="260"/>
<Revolute number="5" a ="0" d ="0" minrange = "-119" maxrange ="119" maxspeed ="245"/>
<Revolute number="6" a ="0" d ="170" minrange = "-350" maxrange ="350" maxspeed ="322"/>
</Joints>
</RobotArm>
<!--
<Track model="KL1000-2" manufacturer="KUKA" payload="1000" movesRobot="true">
<Base x="0.000" y="0.000" z="0.000" q1="1.000" q2="0.000" q3="0.000" q4="0.000"/>
<Joints>
<Prismatic number="9" a ="881.6" d ="480" minrange = "0" maxrange ="10000" maxspeed ="1890"/>
</Joints>
</Track>
-->
<Positioner model="DKP-400" manufacturer="KUKA" payload="400">
<Base x="1352.107" y="1245.797" z="-30.673" q1="0.922504" q2="-0.001842" q3="0.001802" q4="0.385979"/>
<Joints>
<Revolute number="7" a ="0" d ="510" minrange = "-90" maxrange ="90" maxspeed ="94.5"/>
<Revolute number="8" a ="0" d ="347" minrange = "-INF" maxrange ="INF" maxspeed ="126"/>
</Joints>
</Positioner>
</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="1,2,3,4"/>
<AI names="1,2,3,4"/>
</IO>
</RobotCell>
<RobotCell name="Bartlett-KR500" manufacturer="KUKA">
<Mechanisms group="0">
<RobotArm model="KR500-2" manufacturer="KUKA" payload="500">
<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 ="500" d ="1045" minrange = "-185" maxrange ="185" maxspeed ="69"/>
<Revolute number="2" a ="1300" d ="0" minrange = "-130" maxrange ="20" maxspeed ="69"/>
<Revolute number="3" a ="55" d ="0" minrange = "-94" maxrange ="150" maxspeed ="69"/>
<Revolute number="4" a ="0" d ="1025" minrange = "-350" maxrange ="350" maxspeed ="77"/>
<Revolute number="5" a ="0" d ="0" minrange = "-118" maxrange ="118" maxspeed ="76"/>
<Revolute number="6" a ="0" d ="250" minrange = "-350" maxrange ="350" maxspeed ="120"/>
</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="1,2,3,4"/>
<AI names="1,2,3,4"/>
</IO>
</RobotCell>
<RobotCell name="Bartlett-KR60 on track" manufacturer="KUKA">
<Mechanisms group="0">
<RobotArm model="KR60-HA" manufacturer="KUKA" payload="60">
<Base x="0.000" y="0.000" z="0.000" q1="-0.707107" q2="0.000" q3="0.000" q4="0.707107"/>
<Joints>
<Revolute number="1" a ="350" d ="815" minrange = "-185" maxrange ="185" maxspeed ="128"/>
<Revolute number="2" a ="850" d ="0" minrange = "-135" maxrange ="35" maxspeed ="120"/>
<Revolute number="3" a ="145" d ="0" minrange = "-120" maxrange ="158" maxspeed ="128"/>
<Revolute number="4" a ="0" d ="820" minrange = "-350" maxrange ="350" maxspeed ="260"/>
<Revolute number="5" a ="0" d ="0" minrange = "-119" maxrange ="119" maxspeed ="245"/>
<Revolute number="6" a ="0" d ="170" minrange = "-350" maxrange ="350" maxspeed ="322"/>
</Joints>
</RobotArm>
<Track model="KL1000-2" manufacturer="KUKA" payload="1000" movesRobot="true">
<Base x="0.000" y="0.000" z="0.000" q1="1.000" q2="0.000" q3="0.000" q4="0.000"/>
<Joints>
<Prismatic number="7" a ="881.6" d ="480" minrange = "0" maxrange ="10000" maxspeed ="1890"/>
</Joints>
</Track>
</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="1,2,3,4"/>
<AI names="1,2,3,4"/>
</IO>
</RobotCell>
<RobotCell name="Bartlett-UR10" manufacturer="UR">
<Mechanisms>
<RobotArm model="UR10" manufacturer="UR" 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 ="0" d ="127.3" minrange = "-360" maxrange ="360" maxspeed ="120"/>
<Revolute number="2" a ="-612" d ="0" minrange = "-360" maxrange ="360" maxspeed ="120"/>
<Revolute number="3" a ="-572.3" d ="0" minrange = "-360" maxrange ="360" maxspeed ="180"/>
<Revolute number="4" a ="0" d ="163.941" minrange = "-360" maxrange ="360" maxspeed ="180"/>
<Revolute number="5" a ="0" d ="115.7" minrange = "-360" maxrange ="360" maxspeed ="180"/>
<Revolute number="6" a ="0" d ="92.2" minrange = "-360" maxrange ="360" maxspeed ="180"/>
</Joints>
</RobotArm>
</Mechanisms>
<IO>
<DO names="0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16"/>
<DI names="0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16"/>
<AO names="0,1"/>
<AI names="0,1"/>
</IO>
</RobotCell>
<RobotCell name="Bartlett-KR60" manufacturer="KUKA">
<Mechanisms group="0">
<RobotArm model="KR60-HA" manufacturer="KUKA" payload="60">
<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 ="350" d ="815" minrange = "-185" maxrange ="185" maxspeed ="128"/>
<Revolute number="2" a ="850" d ="0" minrange = "-135" maxrange ="35" maxspeed ="120"/>
<Revolute number="3" a ="145" d ="0" minrange = "-120" maxrange ="158" maxspeed ="128"/>
<Revolute number="4" a ="0" d ="820" minrange = "-350" maxrange ="350" maxspeed ="260"/>
<Revolute number="5" a ="0" d ="0" minrange = "-119" maxrange ="119" maxspeed ="245"/>
<Revolute number="6" a ="0" d ="170" minrange = "-350" maxrange ="350" maxspeed ="322"/>
</Joints>
</RobotArm>
<Positioner model="DKP-400" manufacturer="KUKA" payload="400">
<Base x="1600" y="0" z="0" q1="1.000" q2="0.000" q3="0.000" q4="0.000"/>
<Joints>
<Revolute number="7" a ="0" d ="510" minrange = "-90" maxrange ="90" maxspeed ="94.5"/>
<Revolute number="8" a ="0" d ="347" minrange = "-INF" maxrange ="INF" maxspeed ="126"/>
</Joints>
</Positioner>
</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="1,2,3,4"/>
<AI names="1,2,3,4"/>
</IO>
</RobotCell>
<RobotCell name="Bartlett-TX200" manufacturer="Staubli">
<Mechanisms group="0">
<RobotArm model="TX200" manufacturer="Staubli" payload="100">
<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 ="250" d ="0" minrange = "-180" maxrange ="180" maxspeed ="160"/>
<Revolute number="2" a ="950" d ="0" minrange = "-115" maxrange ="120" maxspeed ="160"/>
<Revolute number="3" a ="0" d ="0" minrange = "-140" maxrange ="145" maxspeed ="160"/>
<Revolute number="4" a ="0" d ="800" minrange = "-270" maxrange ="270" maxspeed ="260"/>
<Revolute number="5" a ="0" d ="0" minrange = "-120" maxrange ="120" maxspeed ="260"/>
<Revolute number="6" a ="0" d ="194" minrange = "-270" maxrange ="270" maxspeed ="400"/>
</Joints>
</RobotArm>
</Mechanisms>
<IO>
<DO names="BasicIO-1\%Q0,BasicIO-1\%Q1,BasicIO-1\%Q2"/>
<DI names="BasicIO-1\%I0,BasicIO-1\%I1,BasicIO-1\%I2"/>
</IO>
</RobotCell>
<RobotCell name="Bartlett-TX200L" manufacturer="Staubli">
<Mechanisms group="0">
<RobotArm model="TX200L" manufacturer="Staubli" payload="100">
<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 ="250" d ="0" minrange = "-180" maxrange ="180" maxspeed ="160"/>
<Revolute number="2" a ="950" d ="0" minrange = "-115" maxrange ="120" maxspeed ="160"/>
<Revolute number="3" a ="0" d ="0" minrange = "-140" maxrange ="145" maxspeed ="160"/>
<Revolute number="4" a ="0" d ="1200" minrange = "-270" maxrange ="270" maxspeed ="260"/>
<Revolute number="5" a ="0" d ="0" minrange = "-120" maxrange ="120" maxspeed ="260"/>
<Revolute number="6" a ="0" d ="194" minrange = "-270" maxrange ="270" maxspeed ="400"/>
</Joints>
</RobotArm>
</Mechanisms>
<IO>
<DO names="BasicIO-1\%Q0,BasicIO-1\%Q1,BasicIO-1\%Q2"/>
<DI names="BasicIO-1\%I0,BasicIO-1\%I1,BasicIO-1\%I2"/>
</IO>
</RobotCell>
<RobotCell name="Bartlett-RX160" manufacturer="Staubli">
<Mechanisms group="0">
<RobotArm model="RX160" manufacturer="Staubli" payload="30">
<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 ="0" minrange = "-160" maxrange ="160" maxspeed ="200"/>
<Revolute number="2" a ="825" d ="0" minrange = "-137.5" maxrange ="137.5" maxspeed ="200"/>
<Revolute number="3" a ="0" d ="0" minrange = "-150" maxrange ="150" maxspeed ="255"/>
<Revolute number="4" a ="0" d ="625" minrange = "-270" maxrange ="270" maxspeed ="315"/>
<Revolute number="5" a ="0" d ="0" minrange = "-105" maxrange ="120" maxspeed ="360"/>
<Revolute number="6" a ="0" d ="110" minrange = "-270" maxrange ="270" maxspeed ="870"/>
</Joints>
</RobotArm>
</Mechanisms>
<IO>
<DO names="BasicIO-1\%Q0,BasicIO-1\%Q1,BasicIO-1\%Q2"/>
<DI names="BasicIO-1\%I0,BasicIO-1\%I1,BasicIO-1\%I2"/>
</IO>
</RobotCell>
<RobotCell name="Bartlett-RX160L" manufacturer="Staubli">
<Mechanisms group="0">
<RobotArm model="RX160L" manufacturer="Staubli" payload="28">
<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 ="0" minrange = "-160" maxrange ="160" maxspeed ="200"/>
<Revolute number="2" a ="825" d ="0" minrange = "-137.5" maxrange ="137.5" maxspeed ="200"/>
<Revolute number="3" a ="0" d ="0" minrange = "-150" maxrange ="150" maxspeed ="255"/>
<Revolute number="4" a ="0" d ="925" minrange = "-270" maxrange ="270" maxspeed ="315"/>
<Revolute number="5" a ="0" d ="0" minrange = "-105" maxrange ="120" maxspeed ="360"/>
<Revolute number="6" a ="0" d ="110" minrange = "-270" maxrange ="270" maxspeed ="870"/>
</Joints>
</RobotArm>
</Mechanisms>
<IO>
<DO names="BasicIO-1\%Q0,BasicIO-1\%Q1,BasicIO-1\%Q2"/>
<DI names="BasicIO-1\%I0,BasicIO-1\%I1,BasicIO-1\%I2"/>
</IO>
</RobotCell>
</RobotSystems>