<?xml version="1.0" ?>

<!-- Robot 6X -->
<machine xmlns="x-schema:PowermillMachineTool" POST="SimPost.">

  <!-- Spindle attach point & direction of Tool workplane : -->
  <head_attach_point PART="head" X="2042.5" Y="0" Z="1781" I="0" J="0" K="1" U="1" V="0" W="0" />
  <!--  -->
  <table_attach_point PART="table" X="0" Y="0" Z="0" I="0" J="0" K="1" U="1" V="0" W="0" />

  <!-- List containing the entity groups to exclude from collision checking-->
  <collision_exclusion_list>
    <!-- no collision checking between "RobotBase" and "RobotAxis1"
         as this kind of collision is actually impossible -->
    <collision_exclusion_group>
      <collision_exclusion_part NAME="RobotBase" />
      <collision_exclusion_part NAME="RobotAxis1" />
    </collision_exclusion_group>
  </collision_exclusion_list>

  <machine_part NAME="table" />

  <!-- The base is static -->
  <machine_part NAME="RobotBase">
    <model_list>
      <dmt_file>
        <path FILE="ABB-IRB6640/Base.dmt" />
        <rgb R="240" G="240" B="240" />
      </dmt_file>
    </model_list>
  </machine_part>

  <!-- The arm is controlled by 6 rotary axes -->
  <machine_part NAME="RobotAxis1">
    <axis>
      <control_info ADDRESS="A" MIN="-170" MAX="170" PRIORITY="AUTO" HOME="0" VALUE="0" />
      <simple_rotary X="0.0" Y="0.0" Z="0.0" I="0" J="0" K="1" />
    </axis>
    <fixed_point NAME="CylinderAttachPoint" X="-364.7" Y="0.0" Z="634.5"/>
    <model_list>
      <dmt_file>
        <path FILE="ABB-IRB6640/AB.dmt" />
        <rgb R="240" G="240" B="240" />
      </dmt_file>
    </model_list>

    <machine_part NAME="RobotAxis2">
      <axis>
        <control_info ADDRESS="B" MIN="-65" MAX="85" PRIORITY="AUTO" HOME="0" VALUE="0" />
        <simple_rotary X="320.0" Y="0.0" Z="780.0" I="0" J="1" K="0" />
      </axis>
      <model_list>
        <dmt_file>
          <path FILE="ABB-IRB6640/BC.dmt" />
          <rgb R="240" G="240" B="240" />
        </dmt_file>
      </model_list>

      <machine_part NAME="Piston">
        <link>
          <rotary X="100.05" Y="0.0" Z="712.755" I="0" J="1" K="0" />
        </link>
        <model_list>
          <dmt_file>
            <path FILE="ABB-IRB6640/ABPiston.dmt" />
            <rgb R="180" G="180" B="180" />
          </dmt_file>
        </model_list>

        <machine_part NAME="Cylinder">
          <link>
            <linear I="-0.986119" J="0" K="-0.166042" />
            <fixed_point NAME="CylinderAttachPoint" />
          </link>
          <model_list>
            <dmt_file>
              <path FILE="ABB-IRB6640/ABCylinder.dmt" />
              <rgb R="240" G="240" B="240" />
            </dmt_file>
          </model_list>

        </machine_part>
      </machine_part>

      <machine_part NAME="RobotAxis3">
        <axis>
          <control_info ADDRESS="C" MIN="-180" MAX="70" PRIORITY="AUTO" HOME="0" VALUE="0"/>
          <simple_rotary X="320.0" Y="0.0" Z="1855.0" I="0" J="1" K="0" />
        </axis>
        <model_list>
          <dmt_file>
            <path FILE="ABB-IRB6640/CD.dmt" />
            <rgb R="240" G="240" B="240" />
          </dmt_file>
        </model_list>

        <machine_part NAME="RobotAxis4">
          <axis>
            <control_info ADDRESS="D" MIN="-300" MAX="300" PRIORITY="AUTO" HOME="0" VALUE="0"/>
            <simple_rotary X="0.0" Y="0.0" Z="2055.0" I="1" J="0" K="0" />
          </axis>
          <model_list>
            <dmt_file>
              <path FILE="ABB-IRB6640/DE.dmt" />
              <rgb R="240" G="240" B="240" />
            </dmt_file>
            <dmt_file>
              <path FILE="ABB-IRB6640/DELogo.dmt" />
              <rgb R="255" G="0" B="0" />
            </dmt_file>
          </model_list>

          <machine_part NAME="RobotAxis5">
            <axis>
              <control_info ADDRESS="E" MIN="-120" MAX="120" PRIORITY="AUTO" HOME="-20" VALUE="0"/>
              <simple_rotary X="1712.5" Y="0.0" Z="2055.0" I="0" J="1" K="0" />
            </axis>
            <model_list>
              <dmt_file>
                <path FILE="ABB-IRB6640/EF.dmt" />
                <rgb R="240" G="240" B="240" />
              </dmt_file>
            </model_list>

            <machine_part NAME="RobotAxis6">
              <axis>
                <control_info ADDRESS="F" MIN="-360" MAX="360" PRIORITY="AUTO" HOME="0" VALUE="0"/>
                <simple_rotary X="0.0" Y="0.0" Z="2055.0" I="1" J="0" K="0" />
              </axis>
              <model_list>
                <dmt_file>
                  <path FILE="ABB-IRB6640/F.dmt" />
                  <rgb R="180" G="180" B="180" />
                </dmt_file>
                <dmt_file>
                  <path FILE="ABB-IRB6640/SpindleOnHead.dmt" />
                  <rgb R="100" G="100" B="100" />
                </dmt_file>
              </model_list>

              <machine_part NAME="head" />

            </machine_part>
          </machine_part>
        </machine_part>
      </machine_part>
    </machine_part>
  </machine_part>

</machine>
