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uem.xml
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<RobotSystems>
<RobotCell name="uem-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="DO01"/>
<DI names="DI01"/>
</IO>
</RobotCell>
<RobotCell name="uem-IRB1600" manufacturer="ABB">
<Mechanisms>
<RobotArm model="IRB1600-145" manufacturer="ABB" 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 ="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="DO01"/>
<DI names="DI01"/>
</IO>
</RobotCell>
<RobotCell name="uem-IRB2600" manufacturer="ABB">
<Mechanisms>
<RobotArm model="IRB2600-165" manufacturer="ABB" payload="12">
<Base x="2346.44" y="1376.57" z="15.5481" q1="0.501289" q2="0.00267937" q3="-0.00393171" q4="-0.865267"/>
<Joints>
<Revolute number="1" a ="150" d ="445" minrange = "-180" maxrange ="180" maxspeed ="175"/>
<Revolute number="2" a ="700" d ="0" minrange = "-95" maxrange ="155" maxspeed ="175"/>
<Revolute number="3" a ="115" d ="0" minrange = "-180" maxrange ="75" maxspeed ="175"/>
<Revolute number="4" a ="0" d ="795" minrange = "-400" maxrange ="400" 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 ="500"/>
</Joints>
</RobotArm>
</Mechanisms>
<IO>
<DO names="DO01"/>
<DI names="DI01"/>
</IO>
</RobotCell>
<RobotCell name="uem-IRB1600_IRB2600" manufacturer="ABB">
<Mechanisms group="0">
<RobotArm model="IRB1600-145" manufacturer="ABB" 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 ="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>
<Mechanisms group="1">
<RobotArm model="IRB2600-165" manufacturer="ABB" payload="12">
<Base x="2346.44" y="1376.57" z="15.5481" q1="0.501289" q2="0.00267937" q3="-0.00393171" q4="-0.865267"/>
<Joints>
<Revolute number="1" a ="150" d ="445" minrange = "-180" maxrange ="180" maxspeed ="175"/>
<Revolute number="2" a ="700" d ="0" minrange = "-95" maxrange ="155" maxspeed ="175"/>
<Revolute number="3" a ="115" d ="0" minrange = "-180" maxrange ="75" maxspeed ="175"/>
<Revolute number="4" a ="0" d ="795" minrange = "-400" maxrange ="400" 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 ="500"/>
</Joints>
</RobotArm>
</Mechanisms>
<IO>
<DO names="DO01"/>
<DI names="DI01"/>
</IO>
</RobotCell>
</RobotSystems>