##040003127979017000000
*
* Compile mechanism for sm5_nj4_220_30wp
*
begin COMPONENT sm5_nj4_220_30wp
	no_of_joints		12
	no_of_loops		2
	TCP_link_name		lnk6
	user_TCP :
0	0	1	2285.001953	
0	1	0	0.001439	
-1	0	0	2587.218262	
0	0	0	1	
	inverse_family	-1
	base_name		lnk0

	begin LINK lnk1
		joint_from	lnk0
		transformation_to_father :
1	0	0	0	
0	1	0	0	
0	0	1	0	
0	0	0	1	
		joint_name	j1
		axis_points	0 0 1000 , 0 0 0
		param_index	0
		joint_type	rot
		user_value	0
		range		-180 180
		max_speed	90
		max_acceleration	90
	end;

	begin LINK lnk2
		joint_from	lnk1
		transformation_to_father :
1	0	0	-0.001168	
0	1	0	0	
0	0	1	0.000508	
0	0	0	1	
		joint_name	j2
		axis_points	460 -1000 1140 , 460 1000 1140
		param_index	1
		joint_type	rot
		user_value	0
		dependent range on joint	j3
		extreme		-81	-75 ;
		extreme		0	-75 ;
		extreme		0	-30 ;
		extreme		-105	75 ;
		extreme		-213.360004	75 ;
		extreme		-204.179997	48.180001
		max_speed	90
		max_acceleration	90
	end;

	begin LINK lnk3
		joint_from	lnk2
		transformation_to_father :
0	0	-1	2650.001221	
0	1	0	0	
1	0	0	1730	
0	0	0	1	
		joint_name	j3
		axis_points	460 1000 2190 , 460 -1000 2190
		param_index	2
		follows j2 by 1
		joint_type	rot
		user_value	0
		dependent range on joint	j2
		extreme		-75	-81 ;
		extreme		-75	0 ;
		extreme		-30	0 ;
		extreme		75	-105 ;
		extreme		75	-213.360004 ;
		extreme		48.180001	-204.179997
		max_speed	90
		max_acceleration	90
	end;

	begin LINK lnk4
		joint_from	lnk3
		transformation_to_father :
1	0	0	0.000977	
0	1	0	-0.001925	
0	0	1	-0.000732	
0	0	0	1	
		joint_name	j4
		axis_points	0 0 2440 , -1000 0 2440
		param_index	3
		joint_type	rot
		user_value	0
		range		-200 200
		max_speed	90
		max_acceleration	90
	end;

	begin LINK lnk5
		joint_from	lnk4
		transformation_to_father :
1	0	0	-0.003174	
0	1	0	0.000414	
0	0	1	0.001953	
0	0	0	1	
		joint_name	j5
		axis_points	1975 0 2440 , 2060 0 2587.219971
		param_index	4
		joint_type	rot
		user_value	0
		range		-200 200
		max_speed	90
		max_acceleration	90
	end;

	begin LINK lnk6
		joint_from	lnk5
		transformation_to_father :
1	0	0	-0.000488	
0	1	0	0	
0	0	1	0.000488	
0	0	0	1	
		joint_name	j6
		axis_points	2285 0 2587.219971 , 2060 0 2587.219971
		param_index	5
		joint_type	rot
		user_value	0
		range		-200 200
		max_speed	90
		max_acceleration	90
	end;

	begin LINK lev0
		joint_from	lnk3
		transformation_to_father :
0	0	1	-2129.993164	
0	1	0	0	
-1	0	0	2250.008057	
0	0	0	1	
		joint_name	j7
		axis_points	60.00811 -106.025635 2190 , 60.00811 393.974365 2190
		param_index	6
		joint_type	rot
		user_value	0
		range		no limits
		max_speed	90
		max_acceleration	90
	end;

	begin LINK lev1
		joint_from	lev0
		transformation_to_father :
0	0	-1	1200	
0	1	0	0	
1	0	0	1079.998047	
0	0	0	1	
		joint_name	j8
		axis_points	60.001289 -78.025635 1139.998413 , 60.001289 421.974365 1139.998413
		param_index	7
		joint_type	rot
		user_value	0
		range		no limits
		max_speed	90
		max_acceleration	90
	end;

	begin LINK malt
		joint_from	lnk2
		transformation_to_father :
1	0	0	0.00129	
0	1	0	0	
0	0	1	-0.000264	
0	0	0	1	
		joint_name	j10
		axis_points	460 -1000 2190 , 460 -1500 2190
		param_index	8
		joint_type	rot
		user_value	0
		range		no limits
		max_speed	90
		max_acceleration	90
	end;

	begin LINK mbas
		joint_from	malt
		transformation_to_father :
1	0	0	0	
0	1	0	0	
0	0	1	0	
0	0	0	1	
		joint_name	j11
		axis_points	460 -1250 2190 , 460 -1250 1140
		param_index	9
		joint_type	prism
		user_value	0
		range		no limits
		max_speed	1000
		max_acceleration	1000
	end;

	begin CLOSE_LOOP lnk1
		joint_from	mbas
		transformation_to_father :
1	0	0	-0.000122	
0	1	0	0	
0	0	1	-0.000244	
0	0	0	1	
		joint_name	j12
		axis_points	460 -1000 1327 , 460 -1500 1327
		param_index	10
		joint_type	rot
		user_value	0
		range		no limits
		max_speed	90
		max_acceleration	90
	end;

	begin CLOSE_LOOP lnk1
		joint_from	lev1
		transformation_to_father :
0	0	1	-680.005432	
0	1	0	0	
-1	0	0	1599.991821	
0	0	0	1	
		joint_name	j9
		axis_points	460 -1000 1140 , 460 1000 1140
		param_index	11
		joint_type	rot
		user_value	0
		range		no limits
		max_speed	90
		max_acceleration	90
	end

end
