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nagami.xml
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<?xml version="1.0"?>
<RobotSystems>
<RobotCell name="Nagami Multimove" manufacturer="ABB">
<Mechanisms group="0">
<RobotArm model="IRB6700-150" manufacturer="ABB" payload="150">
<Base x="-1185.68" y="3199.02" z="-365.551" q1="0.999958" q2="-0.00154193" q3="-0.00822331" q4="-0.00367481"/>
<Joints>
<Revolute number="1" a ="320" d ="780" minrange = "-170" maxrange ="170" maxspeed ="100"/>
<Revolute number="2" a ="1280" d ="0" minrange = "-65" maxrange ="85" maxspeed ="90"/>
<Revolute number="3" a ="200" d ="0" minrange = "-180" maxrange ="70" maxspeed ="90"/>
<Revolute number="4" a ="0" d ="1592.5" minrange = "-300" maxrange ="300" maxspeed ="170"/>
<Revolute number="5" a ="0" d ="0" minrange = "-130" maxrange ="130" maxspeed ="120"/>
<Revolute number="6" a ="0" d ="200" minrange = "-360" maxrange ="360" maxspeed ="190"/>
</Joints>
</RobotArm>
<Custom model="MU100" manufacturer="ABB" 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="7" a ="0.000" d ="0.000" minrange = "-INF" maxrange ="INF" maxspeed ="19800"/>
</Joints>
</Custom>
</Mechanisms>
<Mechanisms group="1">
<RobotArm model="IRB4600-205N" manufacturer="ABB" payload="45">
<Base x="0.000" y="0.000" z="0.000" q1="1.000" q2="0.000" q3="0.000" q4="0.000"/>
<!-- <Base x="1183.58" y="-3184.46" z="365.00" q1="1.000" q2="0.000" q3="0.000" q4="0.000"/> -->
<Joints>
<Revolute number="1" a ="175" d ="495" minrange = "-180" maxrange ="180" maxspeed ="175"/>
<Revolute number="2" a ="900" d ="0" minrange = "-90" maxrange ="150" maxspeed ="175"/>
<Revolute number="3" a ="175" d ="0" minrange = "-180" maxrange ="75" maxspeed ="175"/>
<Revolute number="4" a ="0" d ="960" minrange = "-400" maxrange ="400" maxspeed ="250"/>
<Revolute number="5" a ="0" d ="0" minrange = "-125" maxrange ="120" maxspeed ="250"/>
<Revolute number="6" a ="0" d ="135" minrange = "-400" maxrange ="400" maxspeed ="360"/>
</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="Nagami IRB6700" manufacturer="ABB">
<Mechanisms>
<RobotArm model="IRB6700-150" manufacturer="ABB" payload="150">
<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 ="320" d ="780" minrange = "-170" maxrange ="170" maxspeed ="100"/>
<Revolute number="2" a ="1280" d ="0" minrange = "-65" maxrange ="85" maxspeed ="90"/>
<Revolute number="3" a ="200" d ="0" minrange = "-180" maxrange ="70" maxspeed ="90"/>
<Revolute number="4" a ="0" d ="1592.5" minrange = "-300" maxrange ="300" maxspeed ="170"/>
<Revolute number="5" a ="0" d ="0" minrange = "-130" maxrange ="130" maxspeed ="120"/>
<Revolute number="6" a ="0" d ="200" minrange = "-360" maxrange ="360" maxspeed ="190"/>
</Joints>
</RobotArm>
<Custom model="MU100" manufacturer="ABB" 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="7" a ="0.000" d ="0.000" minrange = "-INF" maxrange ="INF" maxspeed ="19800"/>
</Joints>
</Custom>
</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="Nagami IRB4600" manufacturer="ABB">
<Mechanisms>
<RobotArm model="IRB4600-205N" manufacturer="ABB" payload="45">
<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 ="175" d ="495" minrange = "-180" maxrange ="180" maxspeed ="175"/>
<Revolute number="2" a ="900" d ="0" minrange = "-90" maxrange ="150" maxspeed ="175"/>
<Revolute number="3" a ="175" d ="0" minrange = "-180" maxrange ="75" maxspeed ="175"/>
<Revolute number="4" a ="0" d ="960" minrange = "-400" maxrange ="400" maxspeed ="250"/>
<Revolute number="5" a ="0" d ="0" minrange = "-125" maxrange ="120" maxspeed ="250"/>
<Revolute number="6" a ="0" d ="135" minrange = "-400" maxrange ="400" maxspeed ="360"/>
</Joints>
</RobotArm>
<Custom model="MU100" manufacturer="ABB" 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="7" a ="0.000" d ="0.000" minrange = "-INF" maxrange ="INF" maxspeed ="19800"/>
</Joints>
</Custom>
</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="Nagami IRB6640" manufacturer="ABB">
<Mechanisms>
<RobotArm model="IRB6640-235" manufacturer="ABB" payload="235">
<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 ="175" d ="495" minrange = "-170" maxrange ="170" maxspeed ="100"/>
<Revolute number="2" a ="1075" d ="0" minrange = "-65" maxrange ="85" maxspeed ="90"/>
<Revolute number="3" a ="200" d ="0" minrange = "-180" maxrange ="70" maxspeed ="90"/>
<Revolute number="4" a ="0" d ="1142" minrange = "-300" maxrange ="300" maxspeed ="170"/>
<Revolute number="5" a ="0" d ="0" minrange = "-120" maxrange ="120" maxspeed ="120"/>
<Revolute number="6" a ="0" d ="200" minrange = "-360" maxrange ="360" maxspeed ="190"/>
</Joints>
</RobotArm>
<Custom model="MU100" manufacturer="ABB" 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="7" a ="0.000" d ="0.000" minrange = "-INF" maxrange ="INF" maxspeed ="19800"/>
</Joints>
</Custom>
</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>