<?xml version="1.0" ?>

<machine xmlns="x-schema:PowermillMachineTool" POST="SimPost.">

  <!-- Where tool is attached -->
  <head_attach_point PART="head" X="1720" Y="0" Z="1510" I="0" J="0" K="1" U="1" V="0" W="0" />
  <!-- Offset of the world workplane -->
  <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 groups to exclude from collision checking-->
  <collision_exclusion_list>
    <!-- no collision checking between "LinearTrackBase" and "LinearTrack"
         as this kind of collision is actually impossible -->
    <collision_exclusion_group>
      <collision_exclusion_part NAME="LinearTrackBase" />
      <collision_exclusion_part NAME="LinearTrack" />
    </collision_exclusion_group>
  </collision_exclusion_list>

  <machine_part NAME="table" />

  <!-- The base is static -->
  <machine_part NAME="LinearTrackBase">
    <model_list>
      <dmt_file>
        <path FILE="KR300-R2500/TrackStatic.dmt" />
        <rgb R="50" G="50" B="50" />
      </dmt_file>
    </model_list>
  </machine_part>

  <!-- The robot is on a Track -->
  <machine_part NAME="LinearTrack">
    <axis>
      <control_info ADDRESS="X" MIN="-300" MAX="3200" PRIORITY="STATIC" HOME="0" VALUE="0" />
      <simple_linear I="1" J="0" K="0" />
    </axis>
    <model_list>
      <dmt_file>
        <path FILE="KR300-R2500/TrackDynamic.dmt" />
        <rgb R="255" G="110" B="0" />
      </dmt_file>
      <dmt_file>
        <path FILE="KR300-R2500/A.dmt" />
        <rgb R="50" G="50" B="50" />
      </dmt_file>
    </model_list>

    <!-- 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>
      <fixed_point NAME="CylinderAttachPoint" X="-446.956" Y="0.0" Z="605.275"/>
      <model_list>
        <dmt_file>
          <path FILE="KR300-R2500/AB.dmt" />
          <rgb R="255" G="110" B="0" />
        </dmt_file>
        <dmt_file>
          <path FILE="KR300-R2500/ABMotor.dmt" />
          <rgb R="50" G="50" B="50" />
        </dmt_file>
      </model_list>

      <machine_part NAME="RobotAxis2">
        <axis>
          <control_info ADDRESS="B" MIN="-140" MAX="-5" PRIORITY="AUTO" HOME="-90" VALUE="-90" />
          <simple_rotary X="350.0" Y="0.0" Z="675.0" I="0" J="1" K="0" />
        </axis>
        <model_list>
          <dmt_file>
            <path FILE="KR300-R2500/BC.dmt" />
            <rgb R="255" G="110" B="0" />
          </dmt_file>
          <dmt_file>
            <path FILE="KR300-R2500/BCMotor.dmt" />
            <rgb R="50" G="50" B="50" />
          </dmt_file>
        </model_list>

        <machine_part NAME="Piston">
          <link>
            <rotary X="150" Y="0.0" Z="675" I="0" J="1" K="0" />
          </link>
          <model_list>
            <dmt_file>
              <path FILE="KR300-R2500/ABPiston.dmt" />
              <rgb R="50" G="50" B="50" />
            </dmt_file>
          </model_list>

          <machine_part NAME="Cylinder">
            <link>
              <linear I="-0.993248" J="0" K="-0.116012" />
              <fixed_point NAME="CylinderAttachPoint" />
            </link>
            <model_list>
              <dmt_file>
                <path FILE="KR300-R2500/ABCylinder.dmt" />
                <rgb R="50" G="50" B="50" />
              </dmt_file>
            </model_list>

          </machine_part>
        </machine_part>

        <machine_part NAME="RobotAxis3">
          <axis>
            <control_info ADDRESS="C" MIN="-120" MAX="155" PRIORITY="AUTO" HOME="90" VALUE="90"/>
            <simple_rotary X="350.0" Y="0.0" Z="1825.0" I="0" J="1" K="0" />
          </axis>
          <model_list>
            <dmt_file>
              <path FILE="KR300-R2500/CD.dmt" />
              <rgb R="255" G="110" B="0" />
            </dmt_file>
            <dmt_file>
              <path FILE="KR300-R2500/CDMotor.dmt" />
              <rgb R="50" G="50" B="50" />
            </dmt_file>
            <dmt_file>
              <path FILE="KR300-R2500/CDName1.dmt" />
              <rgb R="255" G="110" B="0" />
            </dmt_file>
            <dmt_file>
              <path FILE="KR300-R2500/CDName2.dmt" />
              <rgb R="255" G="110" B="0" />
            </dmt_file>
          </model_list>

          <machine_part NAME="RobotAxis4">
            <axis>
              <control_info ADDRESS="D" MIN="-350" MAX="350" PRIORITY="AUTO" HOME="0" />
              <simple_rotary X="0.0" Y="0.0" Z="1784.0" I="-1" J="0" K="0" />
            </axis>
            <model_list>
              <dmt_file>
                <path FILE="KR300-R2500/DE.dmt" />
                <rgb R="255" G="110" B="0" />
              </dmt_file>
            </model_list>

            <machine_part NAME="RobotAxis5">
              <axis>
                <control_info ADDRESS="E" MIN="-122" MAX="122" PRIORITY="AUTO" HOME="-20"/>
                <simple_rotary X="1350.0" Y="0.0" Z="1784.0" I="0" J="1" K="0" />
              </axis>
              <model_list>
                <dmt_file>
                  <path FILE="KR300-R2500/EF.dmt" />
                  <rgb R="255" G="110" B="0" />
                </dmt_file>
              </model_list>

              <machine_part NAME="RobotAxis6">
                <axis>
                  <control_info ADDRESS="F" MIN="-350" MAX="350" PRIORITY="AUTO" HOME="0"/>
                  <simple_rotary X="0.0" Y="0.0" Z="1784.0" I="-1" J="0" K="0" />
                </axis>
                <model_list>
                  <dmt_file>
                    <path FILE="KR300-R2500/F.dmt" />
                    <rgb R="50" G="50" B="50" />
                  </dmt_file>
                  <dmt_file>
                    <path FILE="KR300-R2500/Spindle.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_part>
</machine>
