<?xml version="1.0" ?>

<!-- -->
<machine xmlns="x-schema:PowermillMachineTool" POST="SimPost.">

  <!-- Where things are attached to the machine -->
  <head_attach_point PART="head" X="1865" Y="0" Z="1126" I="0" J="0" K="1" U="1" V="0" W="0" />
  <table_attach_point PART="table" X="2000" Y="0" Z="-221" 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 "RotaryTableBase" and "RotaryTable"
         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="RobotBase">
    <model_list>
      <dmt_file>
        <path FILE="ES165D/A.dmt" />
        <rgb R="0" G="73" B="219" />
      </dmt_file>
    </model_list>
  </machine_part>

  <!-- The rotary table base is static -->
  <machine_part NAME="RotaryTableBase">
    <model_list>
      <dmt_file>
        <path FILE="ES165D/TableStatic.dmt" />
        <rgb R="0" G="73" B="219" />
      </dmt_file>
    </model_list>
  </machine_part>

  <machine_part NAME="RobotAxis1">
    <axis>
      <control_info ADDRESS="A" MIN="-180" MAX="180" PRIORITY="AUTO" HOME="0"/>
      <simple_rotary X="0" Y="0" Z="0" I="0" J="0" K="1" />
    </axis>
    <fixed_point NAME="CylinderAttachPoint" X="-314.92" Y="0.0" Z="-10.52"/>
    <model_list>
      <dmt_file>
        <path FILE="ES165D/AB.dmt" />
        <rgb R="0" G="73" B="219" />
      </dmt_file>
      <dmt_file>
        <path FILE="ES165D/ABMotor.dmt" />
        <rgb R="40" G="40" B="40" />
      </dmt_file>
      <dmt_file>
        <path FILE="ES165D/ABCable.dmt" />
        <rgb R="50" G="50" B="50" />
      </dmt_file>
    </model_list>

    <machine_part NAME="RobotAxis2">
      <axis>
        <control_info ADDRESS="B" MIN="-60" MAX="76" PRIORITY="AUTO" HOME="0"/>
        <simple_rotary X="285" Y="0" Z="0" I="0" J="1" K="0" />
      </axis>
      <model_list>
        <dmt_file>
          <path FILE="ES165D/BC.dmt" />
          <rgb R="0" G="73" B="219" />
        </dmt_file>
        <dmt_file>
          <path FILE="ES165D/BCCable.dmt" />
          <rgb R="50" G="50" B="50" />
        </dmt_file>
      </model_list>

      <machine_part NAME="Piston">
        <link>
          <rotary X="65" Y="0.0" Z="-3.84" I="0" J="1" K="0" />
        </link>
        <model_list>
          <dmt_file>
            <path FILE="ES165D/ABPiston.dmt" />
            <rgb R="50" G="50" B="50" />
          </dmt_file>
        </model_list>

        <machine_part NAME="Cylinder">
          <link>
            <linear I="-0.999848" J="0" K="-0.017452" />
            <fixed_point NAME="CylinderAttachPoint" />
          </link>
          <model_list>
            <dmt_file>
              <path FILE="ES165D/ABCylinder.dmt" />
              <rgb R="0" G="73" B="219" />
            </dmt_file>
          </model_list>

        </machine_part>
      </machine_part>

      <machine_part NAME="RobotAxis3">
        <axis>
          <control_info ADDRESS="C" MIN="-80.5" MAX="196.5" PRIORITY="AUTO" HOME="0"/>
          <simple_rotary X="285" Y="0" Z="1150" I="0" J="-1" K="0" />
        </axis>
        <model_list>
          <dmt_file>
            <path FILE="ES165D/CD.dmt" />
            <rgb R="0" G="73" B="219" />
          </dmt_file>
          <dmt_file>
            <path FILE="ES165D/CDMotor.dmt" />
            <rgb R="40" G="40" B="40" />
          </dmt_file>
          <dmt_file>
            <path FILE="ES165D/CDCable.dmt" />
            <rgb R="50" G="50" B="50" />
          </dmt_file>
          <dmt_file>
            <path FILE="ES165D/CDLogo.dmt" />
            <rgb R="250" G="250" B="250" />
          </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" Y="0" Z="1400" I="-1" J="0" K="0" />
          </axis>
          <model_list>
            <dmt_file>
              <path FILE="ES165D/DE.dmt" />
              <rgb R="0" G="73" B="219" />
            </dmt_file>
          </model_list>

          <machine_part NAME="RobotAxis5">
            <axis>
              <control_info ADDRESS="E" MIN="-130" MAX="130" PRIORITY="AUTO" HOME="20"/>
              <simple_rotary X="1510" Y="0" Z="1400" I="0" J="-1" K="0" />
            </axis>
            <model_list>
              <dmt_file>
                <path FILE="ES165D/EF.dmt" />
                <rgb R="0" G="73" B="219" />
              </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="1400" I="-1" J="0" K="0" />
              </axis>
              <model_list>
                <dmt_file>
                  <path FILE="ES165D/F.dmt" />
                  <rgb R="204" G="235" B="0" />
                </dmt_file>
                <dmt_file>
                  <path FILE="ES165D/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 NAME="RotaryTable">
    <axis>
      <control_info ADDRESS="T" MIN="-3600" MAX="3600" PRIORITY="STATIC" HOME="0" VALUE="0"/>
      <simple_rotary X="2000" Y="0" Z="0" I="0" J="0" K="-1" />
    </axis>
    <model_list>
      <dmt_file>
        <path FILE="ES165D/TableDynamic.dmt" />
        <rgb R="160" G="160" B="160" />
      </dmt_file>
    </model_list>

    <machine_part NAME="table" />

  </machine_part>
</machine>