##040003117076558100008
*
* Compile mechanism for r2000ib210f
*
begin COMPONENT r2000ib210f
	no_of_joints		9
	no_of_loops		1
	TCP_link_name		k7
	user_TCP :
0	0	1	1827	
0	-1	0	0	
1	0	0	1970	
0	0	0	1	
	inverse_family	-1
	base_name		k1

	begin LINK k2
		joint_from	k1
		transformation_to_father :
1	0	0	0	
0	1	0	0	
0	0	1	0	
0	0	0	1	
		joint_name	j1
		axis_points	0 0 0 , 0 0 1000
		param_index	0
		joint_type	rot
		user_value	0
		range		-180 180
		max_speed	95
		max_acceleration	95
	end;

	begin LINK k3
		joint_from	k2
		transformation_to_father :
1	0	0	0.000385	
0	1	0	0	
0	0	1	-0.000325	
0	0	0	1	
		joint_name	j2
		axis_points	312 -776.5 670 , 312 223.5 670
		param_index	1
		joint_type	rot
		user_value	0
		range		no limits
		max_speed	90
		max_acceleration	90
	end;

	begin LINK k4
		joint_from	k3
		transformation_to_father :
1	0	0	-0.002375	
0	1	0	0	
0	0	1	0.001063	
0	0	0	1	
		joint_name	j3
		axis_points	312 287.5 1745 , 312 -712.5 1745
		param_index	2
		follows j2 by 1
		joint_type	rot
		user_value	0
		dependent range on joint	j2
		extreme		-60	-19 ;
		extreme		76	105 ;
		extreme		67.699996	-129.500006 ;
		extreme		58.699999	-125.80001 ;
		extreme		48.099999	-120.099999 ;
		extreme		35	-112 ;
		extreme		5.1	-84.099997 ;
		extreme		-24.1	-54.900003 ;
		extreme		-60	215 ;
		extreme		-45	230 ;
		extreme		-35	230 ;
		extreme		76	-132.039989
		max_speed	95
		max_acceleration	95
	end;

	begin LINK k5
		joint_from	k4
		transformation_to_father :
1	0	0	0	
0	1	0	0.001964	
0	0	1	-0.000708	
0	0	0	1	
		joint_name	j4
		axis_points	2827 0 1970 , 1827 0 1970
		param_index	3
		joint_type	rot
		user_value	0
		range		-360 360
		max_speed	120
		max_acceleration	120
	end;

	begin LINK k6
		joint_from	k5
		transformation_to_father :
1	0	0	-0.00544	
0	1	0	0	
0	0	1	0.004398	
0	0	0	1	
		joint_name	j5
		axis_points	1592 53 1970 , 1592 -947 1970
		param_index	4
		joint_type	rot
		user_value	0
		range		-125 125
		max_speed	120
		max_acceleration	120
	end;

	begin LINK k7
		joint_from	k6
		transformation_to_father :
1	0	0	0	
0	1	0	-0.000977	
0	0	1	0	
0	0	0	1	
		joint_name	j6
		axis_points	2827 0 1970 , 1827 0 1970
		param_index	5
		joint_type	rot
		user_value	0
		range		-360 360
		max_speed	190
		max_acceleration	190
	end;

	begin LINK k8
		joint_from	k3
		transformation_to_father :
1	0	0	-0.005662	
0	1	0	0	
0	0	1	0.000888	
0	0	0	1	
		joint_name	j7
		axis_points	97.032745 151 666.247681 , 97.032745 -849 666.247681
		param_index	6
		joint_type	rot
		user_value	0
		range		no limits
		max_speed	90
		max_acceleration	90
	end;

	begin LINK k9
		joint_from	k8
		transformation_to_father :
1	0	0	0	
0	1	0	0	
0	0	1	0	
0	0	0	1	
		joint_name	j8
		axis_points	-450.443787 189 671.319641 , -1450.400879 189 680.583557
		param_index	7
		joint_type	prism
		user_value	0
		range		no limits
		max_speed	1000
		max_acceleration	1000
		function "curr = atan2(222S2, (618-222C2))" 
	end;

	begin CLOSE_LOOP k2
		joint_from	k9
		transformation_to_father :
1	0	0	0.005239	
0	1	0	0	
0	0	1	-0.000563	
0	0	0	1	
		joint_name	j9
		axis_points	-308 358 670 , -308 -642 670
		param_index	8
		joint_type	rot
		user_value	0
		range		no limits
		max_speed	90
		max_acceleration	90
	end

end
