##040003127987628900006
*
* Compile mechanism for sm5_nj_110_30wp
*
begin COMPONENT sm5_nj_110_30wp
	no_of_joints		9
	no_of_loops		1
	TCP_link_name		lnk6
	user_TCP :
0	0	1	2052.180176	
0	1	0	0	
-1	0	0	2240.002441	
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	
0	1	0	0	
0	0	1	0	
0	0	0	1	
		joint_name	j2
		axis_points	350 -1000 830 , 350 1000 830
		param_index	1
		joint_type	rot
		user_value	0
		dependent range on joint	j3
		extreme		-86	-75 ;
		extreme		-10	-75 ;
		extreme		-10	-20 ;
		extreme		-125	95 ;
		extreme		-223.949994	95 ;
		extreme		-213.94001	52.939998
		max_speed	90
		max_acceleration	90
	end;

	begin LINK lnk3
		joint_from	lnk2
		transformation_to_father :
0	0	-1	2340.002441	
0	1	0	0	
1	0	0	1640	
0	0	0	1	
		joint_name	j3
		axis_points	350 1000 1990.002441 , 350 -1000 1990.002441
		param_index	2
		follows j2 by 1
		joint_type	rot
		user_value	0
		dependent range on joint	j2
		extreme		-75	-86 ;
		extreme		-75	-10 ;
		extreme		-20	-10 ;
		extreme		95	-125 ;
		extreme		95	-223.949994 ;
		extreme		52.939998	-213.94001
		max_speed	90
		max_acceleration	90
	end;

	begin LINK lnk4
		joint_from	lnk3
		transformation_to_father :
1	0	0	-0.000122	
0	1	0	0	
0	0	1	0	
0	0	0	1	
		joint_name	j4
		axis_points	350 0 2240.002441 , -350 0 2240.002441
		param_index	3
		joint_type	rot
		user_value	0
		range		-280 280
		max_speed	90
		max_acceleration	90
	end;

	begin LINK lnk5
		joint_from	lnk4
		transformation_to_father :
1	0	0	0	
0	1	0	0	
0	0	1	0	
0	0	0	1	
		joint_name	j5
		axis_points	1842.180298 -1000 2240.002441 , 1842.180298 1000 2240.002441
		param_index	4
		joint_type	rot
		user_value	0
		range		-120 120
		max_speed	90
		max_acceleration	90
	end;

	begin LINK lnk6
		joint_from	lnk5
		transformation_to_father :
1	0	0	0	
0	1	0	0	
0	0	1	0	
0	0	0	1	
		joint_name	j6
		axis_points	2050.180176 0 2240.002441 , 1500 0 2240.002441
		param_index	5
		joint_type	rot
		user_value	0
		range		-2700 2700
		max_speed	90
		max_acceleration	90
	end;

	begin LINK lev1
		joint_from	lnk3
		transformation_to_father :
0	0	1	-1930.893677	
0	1	0	0	
-1	0	0	1993.327393	
0	0	0	1	
		joint_name	j7
		axis_points	31.214809 -1000 1962.111694 , 31.214809 1000 1962.111694
		param_index	6
		joint_type	rot
		user_value	0
		range		no limits
		max_speed	90
		max_acceleration	90
	end;

	begin LINK lev2
		joint_from	lev1
		transformation_to_father :
0	0	-1	833.32605	
0	1	0	0	
1	0	0	770.89679	
0	0	0	1	
		joint_name	j8
		axis_points	31.215191 -1000 802.111267 , 31.215191 1000 802.111267
		param_index	7
		joint_type	rot
		user_value	0
		range		no limits
		max_speed	90
		max_acceleration	90
	end;

	begin CLOSE_LOOP lnk2
		joint_from	lev2
		transformation_to_father :
0	0	1	-480.002777	
0	1	0	0	
-1	0	0	1180.001221	
0	0	0	1	
		joint_name	j9
		axis_points	350 -1000 830 , 350 1000 830
		param_index	8
		joint_type	rot
		user_value	0
		range		no limits
		max_speed	90
		max_acceleration	90
	end

end
