##040003137537037700000
*
* Compile mechanism for sm5_nj_40_25
*
begin COMPONENT sm5_nj_40_25
	no_of_joints		6
	no_of_loops		0
	TCP_link_name		lnk6
	user_TCP :
0	0	1	1800.5	
0	1	0	0	
-1	0	0	1620	
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	400 -1000 550 , 400 1000 550
		param_index	1
		joint_type	rot
		user_value	0
		dependent range on joint	j3
		extreme		-165	65 ;
		extreme		-140	125 ;
		extreme		-9.72	125 ;
		extreme		-9.72	-20 ;
		extreme		-52.150001	-60 ;
		extreme		-165	-60
		max_speed	90
		max_acceleration	90
	end;

	begin LINK lnk3
		joint_from	lnk2
		transformation_to_father :
0	0	-1	1810	
0	1	0	0	
1	0	0	1010	
0	0	0	1	
		joint_name	j3
		axis_points	400 1000 1410 , 400 -1000 1410
		param_index	2
		joint_type	rot
		user_value	0
		dependent range on joint	j2
		extreme		65	-165 ;
		extreme		125	-140 ;
		extreme		125	-9.72 ;
		extreme		-20	-9.72 ;
		extreme		-60	-52.150001 ;
		extreme		-60	-165
		max_speed	90
		max_acceleration	90
	end;

	begin LINK lnk4
		joint_from	lnk3
		transformation_to_father :
1	0	0	0	
0	1	0	0	
0	0	1	0	
0	0	0	1	
		joint_name	j4
		axis_points	1000 0 1620 , -1000 0 1620
		param_index	3
		joint_type	rot
		user_value	0
		range		-2700 2700
		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	1625.5 -1000 1620 , 1625.5 1000 1620
		param_index	4
		joint_type	rot
		user_value	0
		range		-123 123
		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	3000 0 1620 , 1625.5 0 1620
		param_index	5
		joint_type	rot
		user_value	0
		range		-2700 2700
		max_speed	90
		max_acceleration	90
	end

end
