<?xml version="1.0" ?>

<!-- Robot 6X -->
<machine xmlns="x-schema:PowermillMachineTool" POST="SimPost.">

  <!-- Where things are attached to the machine -->
  <head_attach_point PART="head" X="1518.790407" Y="-1.99" Z="1634.684614" 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>
    <!-- no collision checking between "ExternalTable" and the PowerMILL model(s) -->
    <collision_exclusion_group>
      <collision_exclusion_part NAME="ExternalTable" />
      <collision_exclusion_part NAME="model" />
    </collision_exclusion_group>
  </collision_exclusion_list>

  <machine_part NAME="table" />

  <machine_part NAME="RobotBase">
    <model_list>
      <dmt_file>
        <path FILE="Robot/A.dmt" />
        <rgb R="80" G="80" B="80" />
      </dmt_file>
    </model_list>
  </machine_part>

  <machine_part NAME="ExternalTable">
    <model_list>
      <dmt_file>
        <path FILE="Robot/TableStatic1000x2000.dmt" />
        <rgb R="140" G="140" B="140" />
      </dmt_file>
    </model_list>
  </machine_part>

  <!-- The arm is controlled by 6 rotary axes -->
  <machine_part NAME="RobotAxis1">
    <axis>
      <control_info ADDRESS="A" MIN="-185" MAX="185" PRIORITY="AUTO" HOME="0"/>
      <simple_rotary X="0.0" Y="0.0" Z="0.0" I="0" J="0" K="-1" />
    </axis>
    <model_list>
      <dmt_file>
        <path FILE="Robot/AB.dmt" />
        <rgb R="0" G="130" B="255" />
      </dmt_file>
      <dmt_file>
        <path FILE="Robot/ABEngine.dmt" />
        <rgb R="80" G="80" B="80" />
      </dmt_file>
      <dmt_file>
        <path FILE="Robot/ABNames.dmt" />
        <rgb R="255" G="0" B="0" />
      </dmt_file>
      <dmt_file>
        <path FILE="Robot/ABNumbers.dmt" />
        <rgb R="255" G="255" B="0" />
      </dmt_file>
    </model_list>

    <machine_part NAME="RobotAxis2">
      <axis>
        <control_info ADDRESS="B" MIN="-50" MAX="100" PRIORITY="AUTO" HOME="-30" />
        <simple_rotary X="327.145" Y="0.0" Z="916.1" I="0" J="1" K="0" />
      </axis>
      <model_list>
        <dmt_file>
          <path FILE="Robot/BC.dmt" />
          <rgb R="0" G="130" B="255" />
        </dmt_file>
        <dmt_file>
          <path FILE="Robot/BCNames.dmt" />
          <rgb R="255" G="0" B="0" />
        </dmt_file>
        <dmt_file>
          <path FILE="Robot/BCNumbers.dmt" />
          <rgb R="255" G="255" B="0" />
        </dmt_file>
        <dmt_file>
          <path FILE="Robot/BCLogo.dmt" />
          <rgb R="20" G="20" B="20" />
        </dmt_file>
      </model_list>

      <machine_part NAME="RobotAxis3">
        <axis>
          <control_info ADDRESS="C" MIN="-215" MAX="70" PRIORITY="AUTO" HOME="30"/>
          <simple_rotary X="327.145" Y="0.0" Z="1829.79" I="0" J="1" K="0" />
        </axis>
        <model_list>
          <dmt_file>
            <path FILE="Robot/CD.dmt" />
            <rgb R="0" G="130" B="255" />
          </dmt_file>
          <dmt_file>
            <path FILE="Robot/CDEngine.dmt" />
            <rgb R="80" G="80" B="80" />
          </dmt_file>
          <dmt_file>
            <path FILE="Robot/CDNames.dmt" />
            <rgb R="255" G="0" B="0" />
          </dmt_file>
          <dmt_file>
            <path FILE="Robot/CDNumbers.dmt" />
            <rgb R="255" G="255" B="0" />
          </dmt_file>
        </model_list>

        <machine_part NAME="RobotAxis4">
          <axis>
            <control_info ADDRESS="D" MIN="-360" MAX="360" PRIORITY="AUTO" HOME="0"/>
            <simple_rotary X="0.0" Y="0.0" Z="1850" I="-1" J="0" K="0" />
          </axis>
          <model_list>
            <dmt_file>
              <path FILE="Robot/DE.dmt" />
              <rgb R="0" G="130" B="255" />
            </dmt_file>
            <dmt_file>
              <path FILE="Robot/DENames.dmt" />
              <rgb R="255" G="0" B="0" />
            </dmt_file>
            <dmt_file>
              <path FILE="Robot/DENumbers.dmt" />
              <rgb R="255" G="255" B="0" />
            </dmt_file>
          </model_list>

          <machine_part NAME="RobotAxis5">
            <axis>
              <control_info ADDRESS="E" MIN="-130" MAX="130" PRIORITY="AUTO" HOME="-20"/>
              <simple_rotary X="1229.5" Y="0.0" Z="1850" I="0" J="1" K="0" />
            </axis>
            <model_list>
              <dmt_file>
                <path FILE="Robot/EF.dmt" />
                <rgb R="0" G="130" B="255" />
              </dmt_file>
              <dmt_file>
                <path FILE="Robot/EFNames.dmt" />
                <rgb R="255" G="0" B="0" />
              </dmt_file>
              <dmt_file>
                <path FILE="Robot/EFNumbers.dmt" />
                <rgb R="255" G="255" B="0" />
              </dmt_file>
              <dmt_file>
                <path FILE="Robot/EFEngine.dmt" />
                <rgb R="80" G="80" B="80" />
              </dmt_file>
            </model_list>

            <machine_part NAME="RobotAxis6">
              <axis>
                <control_info ADDRESS="F" MIN="-360" MAX="360" PRIORITY="AUTO" HOME="0"/>
                <simple_rotary X="0" Y="0" Z="1850" I="-1" J="0" K="0" />
              </axis>
              <model_list>
                <dmt_file>
                  <path FILE="Robot/F.dmt" />
                  <rgb R="140" G="140" B="140" />
                </dmt_file>
                <dmt_file>
                  <path FILE="Robot/SpindleR2.dmt" />
                  <rgb R="80" G="80" B="80" />
                </dmt_file>
              </model_list>

              <machine_part NAME="head" />

            </machine_part>
          </machine_part>
        </machine_part>
      </machine_part>
    </machine_part>
  </machine_part>

</machine>
