##040003126389417200000
*
* Compile mechanism for nj_165_30_c5g
*
begin COMPONENT nj_165_30_c5g
	no_of_joints		9
	no_of_loops		1
	TCP_link_name		lnk6
	user_TCP :
0	0	1	2074	
0	1	0	0	
-1	0	0	2255	
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 830 , 400 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		-228.740005	95 ;
		extreme		-221.759989	60.759998
		max_speed	90
		max_acceleration	90
	end;

	begin LINK lnk3
		joint_from	lnk2
		transformation_to_father :
0	0	-1	2405	
0	1	0	0	
1	0	0	1605.001465	
0	0	0	1	
		joint_name	j3
		axis_points	400 1000 2005 , 400 -1000 2005
		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	-228.740005 ;
		extreme		60.759998	-221.759989
		max_speed	90
		max_acceleration	90
	end;

	begin LINK lnk4
		joint_from	lnk3
		transformation_to_father :
1	0	0	0.000366	
0	1	0	0	
0	0	1	-0.000244	
0	0	0	1	
		joint_name	j4
		axis_points	0 0 2255 , -2000 0 2255
		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	1844 -1000 2255 , 1844 1000 2255
		param_index	4
		joint_type	rot
		user_value	0
		range		-125 125
		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	5000 0 2255 , 1844 0 2255
		param_index	5
		joint_type	rot
		user_value	0
		range		-2700 2700
		max_speed	90
		max_acceleration	90
	end;

	begin LINK lev0
		joint_from	lnk3
		transformation_to_father :
0	0	1	-1923.219971	
0	1	0	0	
-1	0	0	2025.769531	
0	0	0	1	
		joint_name	j7
		axis_points	51.276123 398.51001 1974.494629 , 51.276123 -101.48999 1974.494629
		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	850.770813	
0	1	0	0	
1	0	0	748.222534	
0	0	0	1	
		joint_name	j8
		axis_points	51.274166 361.01001 799.496765 , 51.274166 -138.98999 799.496765
		param_index	7
		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	-430.003876	
0	1	0	0	
-1	0	0	1230.001343	
0	0	0	1	
		joint_name	j9
		axis_points	400 -1000 830 , 400 1000 830
		param_index	8
		joint_type	rot
		user_value	0
		range		no limits
		max_speed	90
		max_acceleration	90
	end

end
