<?xml version="1.0" ?>

<!-- Robot 5X -->
<machine xmlns="x-schema:PowermillMachineTool" POST="SimPost.">

  <!-- Where things are attached to the machine -->
  <head_attach_point PART="head" X="1065" Y="70" Z="850" I="-1" J="0" K="0" U="0" V="0" W="-1" />
  <table_attach_point PART="table" X="1400" Y="0" Z="-38" 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 "TableMotor" and "TableTop"
         as this kind of collision is actually impossible -->
    <collision_exclusion_group>
      <collision_exclusion_part NAME="RotaryTableBase" />
      <collision_exclusion_part NAME="RotaryTable" />
    </collision_exclusion_group>
    <!-- no collision checking between "RotaryTable" and the PowerMILL model(s) -->
    <collision_exclusion_group>
      <collision_exclusion_part NAME="RotaryTable" />
      <collision_exclusion_part NAME="model" />
    </collision_exclusion_group>
  </collision_exclusion_list>

  <!-- The base is static -->
  <machine_part NAME="RotaryTableBase">
    <model_list>
      <dmt_file>
        <path FILE="RX170HSM/RotaryTableBase.dmt" />
        <rgb R="150" G="150" B="150" />
      </dmt_file>
      <dmt_file>
        <path FILE="RX170HSM/RotaryTableMotor.dmt" />
        <rgb R="255" G="200" B="0" />
      </dmt_file>
    </model_list>
  </machine_part>

  <!-- The base is static -->
  <machine_part NAME="RobotBase">
    <model_list>
      <dmt_file>
        <path FILE="RX170HSM/A.dmt" />
        <rgb R="255" G="200" B="0" />
      </dmt_file>
    </model_list>
  </machine_part>

  <!-- The arm is controlled by 5 rotary axes -->
  <machine_part NAME="RobotAxis1">
    <axis>
      <control_info ADDRESS="A" MIN="-180" MAX="180" 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="RX170HSM/AB.dmt" />
        <rgb R="255" G="200" B="0" />
      </dmt_file>
    </model_list>

    <machine_part NAME="RobotAxis2">
      <axis>
        <control_info ADDRESS="B" MIN="-120" MAX="120" PRIORITY="AUTO" HOME="0"/>
        <simple_rotary X="100.0" Y="0.0" Z="0.0" I="0" J="1" K="0" />
      </axis>
      <model_list>
        <dmt_file>
          <path FILE="RX170HSM/BC.dmt" />
          <rgb R="255" G="200" B="0" />
        </dmt_file>
      </model_list>

      <machine_part NAME="RobotAxis3">
        <axis>
          <control_info ADDRESS="C" MIN="-145" MAX="145" PRIORITY="AUTO" HOME="90" VALUE="90"/>
          <simple_rotary X="100.0" Y="0.0" Z="850.0" I="0" J="1" K="0" />
        </axis>
        <model_list>
          <dmt_file>
            <path FILE="RX170HSM/CD.dmt" />
            <rgb R="255" G="200" B="0" />
          </dmt_file>
        </model_list>

        <machine_part NAME="RobotAxis4">
          <axis>
            <control_info ADDRESS="D" MIN="-270" MAX="270" PRIORITY="AUTO" HOME="0"/>
            <simple_rotary X="0.0" Y="69.85" Z="850.0" I="1" J="0" K="0" />
          </axis>
          <model_list>
            <dmt_file>
              <path FILE="RX170HSM/DE.dmt" />
              <rgb R="255" G="200" B="0" />
            </dmt_file>
          </model_list>

          <machine_part NAME="RobotAxis5">
            <axis>
              <control_info ADDRESS="E" MIN="-130" MAX="110" PRIORITY="AUTO" HOME="20"/>
              <simple_rotary X="870.0" Y="0.0" Z="850.0" I="0" J="1" K="0" />
            </axis>
            <model_list>
              <dmt_file>
                <path FILE="RX170HSM/Spindle.dmt" />
                <rgb R="190" G="190" B="190" />
              </dmt_file>
            </model_list>

            <machine_part NAME="head" />

          </machine_part>
        </machine_part>
      </machine_part>
    </machine_part>
  </machine_part>

  <!-- Rotary axis controlled by auxiliary axis -->
  <machine_part NAME="RotaryTable">
    <axis>
      <control_info ADDRESS="T" PRIORITY="STATIC" MIN="-3600" MAX="3600" HOME="0" VALUE="0"/>
      <simple_rotary X="1400" Y="0" Z="0" I="0" J="0" K="1" />
    </axis>
    <model_list>
      <dmt_file>
        <path FILE="RX170HSM/RotaryTableTop.dmt" />
        <rgb R="200" G="200" B="200" />
      </dmt_file>
    </model_list>

    <machine_part NAME="table" />

  </machine_part>

</machine>
