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Check if variable and program names are valid; xml formatting
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@visose
visose committed Jan 16, 2022
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104 changes: 52 additions & 52 deletions libraries/AA.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -3,96 +3,96 @@
<RobotCell name="AA-KR60" manufacturer="KUKA">
<Mechanisms group="0">
<RobotArm model="KR60-3" manufacturer="KUKA" payload="60">
<Base x="0.000" y="0.000" z="0.000" q1="1.000" q2="0.000" q3="0.000" q4="0.000"/>
<Base x="0.000" y="0.000" z="0.000" q1="1.000" q2="0.000" q3="0.000" q4="0.000" />
<Joints>
<Revolute number="1" a ="350" d ="815" minrange = "-185" maxrange ="185" maxspeed ="128"/>
<Revolute number="2" a ="850" d ="0" minrange = "-135" maxrange ="35" maxspeed ="102"/>
<Revolute number="3" a ="145" d ="0" minrange = "-120" maxrange ="158" maxspeed ="128"/>
<Revolute number="4" a ="0" d ="820" minrange = "-350" maxrange ="350" maxspeed ="260"/>
<Revolute number="5" a ="0" d ="0" minrange = "-119" maxrange ="119" maxspeed ="245"/>
<Revolute number="6" a ="0" d ="170" minrange = "-350" maxrange ="350" maxspeed ="322"/>
<Revolute number="1" a="350" d="815" minrange="-185" maxrange="185" maxspeed="128" />
<Revolute number="2" a="850" d="0" minrange="-135" maxrange="35" maxspeed="102" />
<Revolute number="3" a="145" d="0" minrange="-120" maxrange="158" maxspeed="128" />
<Revolute number="4" a="0" d="820" minrange="-350" maxrange="350" maxspeed="260" />
<Revolute number="5" a="0" d="0" minrange="-119" maxrange="119" maxspeed="245" />
<Revolute number="6" a="0" d="170" minrange="-350" maxrange="350" maxspeed="322" />
</Joints>
</RobotArm>
<Positioner model="KP1-V500" manufacturer="KUKA" payload="500">
<Base x="1382.72" y="665.46" z="0.00" q1="0.992071" q2="-0.000807" q3="-0.000174" q4="0.125679"/>
<!-- 2016 values <Base x="371" y="1410" z="21.8" q1="0.992071" q2="-0.000807" q3="-0.000174" q4="0.125679"/> -->
<!-- <Base x="371" y="1410" z="700" q1="1" q2="0" q3="0" q4="0"/> -->
<!-- <Base x="371.1171" y="1410.435" z="-33.1927" q1="-0.99995" q2="-0.004848" q3="0.00041" q4="0.008704"/> -->
<Base x="1382.72" y="665.46" z="0.00" q1="0.992071" q2="-0.000807" q3="-0.000174" q4="0.125679" />
<!-- 2016 values <Base x="371" y="1410" z="21.8" q1="0.992071" q2="-0.000807" q3="-0.000174" q4="0.125679"/> -->
<!-- <Base x="371" y="1410" z="700" q1="1" q2="0" q3="0" q4="0"/> -->
<!-- <Base x="371.1171" y="1410.435" z="-33.1927" q1="-0.99995" q2="-0.004848" q3="0.00041" q4="0.008704"/> -->
<Joints>
<Revolute number="7" a ="0" d ="705" minrange = "-INF" maxrange ="INF" maxspeed ="126"/>
<Revolute number="7" a="0" d="705" minrange="-INF" maxrange="INF" maxspeed="126" />
</Joints>
</Positioner>
</Mechanisms>
<IO>
<DO names="1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16"/>
<DI names="1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16"/>
<AO names="1,2,3,4"/>
<AI names="1,2,3,4"/>
<DO names="1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16" />
<DI names="1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16" />
<AO names="1,2,3,4" />
<AI names="1,2,3,4" />
</IO>
</RobotCell>

<RobotCell name="AA-KR30" manufacturer="KUKA">
<RobotCell name="AA-KR30" manufacturer="KUKA">
<Mechanisms group="0">
<RobotArm model="KR30-3" manufacturer="KUKA" payload="30">
<Base x="0.000" y="0.000" z="0.000" q1="1.000" q2="0.000" q3="0.000" q4="0.000"/>
<Base x="0.000" y="0.000" z="0.000" q1="1.000" q2="0.000" q3="0.000" q4="0.000" />
<Joints>
<Revolute number="1" a ="350" d ="815" minrange ="-185" maxrange ="185" maxspeed ="140"/>
<Revolute number="2" a ="850" d ="0" minrange ="-135" maxrange ="35" maxspeed ="126"/>
<Revolute number="3" a ="145" d ="0" minrange ="-120" maxrange ="158" maxspeed ="140"/>
<Revolute number="4" a ="0" d ="820" minrange ="-350" maxrange ="350" maxspeed ="260"/>
<Revolute number="5" a ="0" d ="0" minrange ="-119" maxrange ="119" maxspeed ="245"/>
<Revolute number="6" a ="0" d ="170" minrange ="-350" maxrange ="350" maxspeed ="322"/>
<Revolute number="1" a="350" d="815" minrange="-185" maxrange="185" maxspeed="140" />
<Revolute number="2" a="850" d="0" minrange="-135" maxrange="35" maxspeed="126" />
<Revolute number="3" a="145" d="0" minrange="-120" maxrange="158" maxspeed="140" />
<Revolute number="4" a="0" d="820" minrange="-350" maxrange="350" maxspeed="260" />
<Revolute number="5" a="0" d="0" minrange="-119" maxrange="119" maxspeed="245" />
<Revolute number="6" a="0" d="170" minrange="-350" maxrange="350" maxspeed="322" />
</Joints>
</RobotArm>
</Mechanisms>
<IO>
<DO names="1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16"/>
<DI names="1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16"/>
<AO names="1,2,3,4"/>
<AI names="1,2,3,4"/>
<DO names="1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16" />
<DI names="1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16" />
<AO names="1,2,3,4" />
<AI names="1,2,3,4" />
</IO>
</RobotCell>


<RobotCell name="AA-KR60_KR30" manufacturer="KUKA">

<RobotCell name="AA-KR60_KR30" manufacturer="KUKA">
<Mechanisms group="0">
<RobotArm model="KR60-3" manufacturer="KUKA" payload="60">
<Base x="0.000" y="0.000" z="0.000" q1="1.000" q2="0.000" q3="0.000" q4="0.000"/>
<Base x="0.000" y="0.000" z="0.000" q1="1.000" q2="0.000" q3="0.000" q4="0.000" />
<Joints>
<Revolute number="1" a ="350" d ="815" minrange = "-185" maxrange ="185" maxspeed ="128"/>
<Revolute number="2" a ="850" d ="0" minrange = "-135" maxrange ="35" maxspeed ="102"/>
<Revolute number="3" a ="145" d ="0" minrange = "-120" maxrange ="158" maxspeed ="128"/>
<Revolute number="4" a ="0" d ="820" minrange = "-350" maxrange ="350" maxspeed ="260"/>
<Revolute number="5" a ="0" d ="0" minrange = "-119" maxrange ="119" maxspeed ="245"/>
<Revolute number="6" a ="0" d ="170" minrange = "-350" maxrange ="350" maxspeed ="322"/>
<Revolute number="1" a="350" d="815" minrange="-185" maxrange="185" maxspeed="128" />
<Revolute number="2" a="850" d="0" minrange="-135" maxrange="35" maxspeed="102" />
<Revolute number="3" a="145" d="0" minrange="-120" maxrange="158" maxspeed="128" />
<Revolute number="4" a="0" d="820" minrange="-350" maxrange="350" maxspeed="260" />
<Revolute number="5" a="0" d="0" minrange="-119" maxrange="119" maxspeed="245" />
<Revolute number="6" a="0" d="170" minrange="-350" maxrange="350" maxspeed="322" />
</Joints>
</RobotArm>
<Positioner model="KP1-V500" manufacturer="KUKA" payload="500">
<Base x="1382.72" y="665.46" z="0.00" q1="0.992071" q2="-0.000807" q3="-0.000174" q4="0.125679"/>
<Base x="1382.72" y="665.46" z="0.00" q1="0.992071" q2="-0.000807" q3="-0.000174" q4="0.125679" />
<Joints>
<Revolute number="7" a ="0" d ="705" minrange = "-INF" maxrange ="INF" maxspeed ="126"/>
<Revolute number="7" a="0" d="705" minrange="-INF" maxrange="INF" maxspeed="126" />
</Joints>
</Positioner>
</Mechanisms>
<Mechanisms group="1">
<Mechanisms group="1">
<RobotArm model="KR30-3" manufacturer="KUKA" payload="30">
<Base x="0.0" y="-2200.00" z="0.000" q1="1.0" q2="0.000" q3="0.000" q4="0.0"/>
<Base x="0.0" y="-2200.00" z="0.000" q1="1.0" q2="0.000" q3="0.000" q4="0.0" />
<Joints>
<Revolute number="1" a ="350" d ="815" minrange ="-185" maxrange ="185" maxspeed ="140"/>
<Revolute number="2" a ="850" d ="0" minrange ="-135" maxrange ="35" maxspeed ="126"/>
<Revolute number="3" a ="145" d ="0" minrange ="-120" maxrange ="158" maxspeed ="140"/>
<Revolute number="4" a ="0" d ="820" minrange ="-350" maxrange ="350" maxspeed ="260"/>
<Revolute number="5" a ="0" d ="0" minrange ="-119" maxrange ="119" maxspeed ="245"/>
<Revolute number="6" a ="0" d ="170" minrange ="-350" maxrange ="350" maxspeed ="322"/>
<Revolute number="1" a="350" d="815" minrange="-185" maxrange="185" maxspeed="140" />
<Revolute number="2" a="850" d="0" minrange="-135" maxrange="35" maxspeed="126" />
<Revolute number="3" a="145" d="0" minrange="-120" maxrange="158" maxspeed="140" />
<Revolute number="4" a="0" d="820" minrange="-350" maxrange="350" maxspeed="260" />
<Revolute number="5" a="0" d="0" minrange="-119" maxrange="119" maxspeed="245" />
<Revolute number="6" a="0" d="170" minrange="-350" maxrange="350" maxspeed="322" />
</Joints>
</RobotArm>
</Mechanisms>
<IO>
<DO names="1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16"/>
<DI names="1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16"/>
<AO names="1,2,3,4"/>
<AI names="1,2,3,4"/>
<DO names="1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16" />
<DI names="1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16" />
<AO names="1,2,3,4" />
<AI names="1,2,3,4" />
</IO>
</RobotCell>

</RobotSystems>
</RobotSystems>
24 changes: 12 additions & 12 deletions libraries/AAU_UR10.xml
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Expand Up @@ -3,23 +3,23 @@
<RobotCell name="AAU-Utzon-UR10" manufacturer="UR">
<Mechanisms>
<RobotArm model="UR10" manufacturer="UR" payload="10">
<Base x="0.000" y="0.000" z="0.000" q1="1.000" q2="0.000" q3="0.000" q4="0.000"/>
<Base x="0.000" y="0.000" z="0.000" q1="1.000" q2="0.000" q3="0.000" q4="0.000" />
<Joints>
<Revolute number="1" a ="0" d ="127.3" minrange = "-360" maxrange ="360" maxspeed ="120"/>
<Revolute number="2" a ="-612" d ="0" minrange = "-360" maxrange ="360" maxspeed ="120"/>
<Revolute number="3" a ="-572.3" d ="0" minrange = "-360" maxrange ="360" maxspeed ="180"/>
<Revolute number="4" a ="0" d ="163.941" minrange = "-360" maxrange ="360" maxspeed ="180"/>
<Revolute number="5" a ="0" d ="115.7" minrange = "-360" maxrange ="360" maxspeed ="180"/>
<Revolute number="6" a ="0" d ="92.2" minrange = "-360" maxrange ="360" maxspeed ="180"/>
<Revolute number="1" a="0" d="127.3" minrange="-360" maxrange="360" maxspeed="120" />
<Revolute number="2" a="-612" d="0" minrange="-360" maxrange="360" maxspeed="120" />
<Revolute number="3" a="-572.3" d="0" minrange="-360" maxrange="360" maxspeed="180" />
<Revolute number="4" a="0" d="163.941" minrange="-360" maxrange="360" maxspeed="180" />
<Revolute number="5" a="0" d="115.7" minrange="-360" maxrange="360" maxspeed="180" />
<Revolute number="6" a="0" d="92.2" minrange="-360" maxrange="360" maxspeed="180" />
</Joints>
</RobotArm>
</Mechanisms>
<IO>
<DO names="0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16"/>
<DI names="0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16"/>
<AO names="0,1"/>
<AI names="0,1"/>
<DO names="0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16" />
<DI names="0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16" />
<AO names="0,1" />
<AI names="0,1" />
</IO>
</RobotCell>

</RobotSystems>
</RobotSystems>
56 changes: 28 additions & 28 deletions libraries/AarhusSchoolOfArchitecture.xml
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Expand Up @@ -3,43 +3,43 @@
<RobotCell name="AARCH IRB120" manufacturer="ABB">
<Mechanisms>
<RobotArm model="IRB120" manufacturer="ABB" payload="3">
<Base x="0.000" y="0.000" z="0.000" q1="1.000" q2="0.000" q3="0.000" q4="0.000"/>
<Base x="0.000" y="0.000" z="0.000" q1="1.000" q2="0.000" q3="0.000" q4="0.000" />
<Joints>
<Revolute number="1" a ="0" d ="290" minrange = "-165" maxrange ="165" maxspeed ="250"/>
<Revolute number="2" a ="270" d ="0" minrange = "-110" maxrange ="110" maxspeed ="250"/>
<Revolute number="3" a ="70" d ="0" minrange = "-110" maxrange ="70" maxspeed ="250"/>
<Revolute number="4" a ="0" d ="302" minrange = "-160" maxrange ="160" maxspeed ="320"/>
<Revolute number="5" a ="0" d ="0" minrange = "-120" maxrange ="120" maxspeed ="320"/>
<Revolute number="6" a ="0" d ="72" minrange = "-400" maxrange ="400" maxspeed ="420"/>
<Revolute number="1" a="0" d="290" minrange="-165" maxrange="165" maxspeed="250" />
<Revolute number="2" a="270" d="0" minrange="-110" maxrange="110" maxspeed="250" />
<Revolute number="3" a="70" d="0" minrange="-110" maxrange="70" maxspeed="250" />
<Revolute number="4" a="0" d="302" minrange="-160" maxrange="160" maxspeed="320" />
<Revolute number="5" a="0" d="0" minrange="-120" maxrange="120" maxspeed="320" />
<Revolute number="6" a="0" d="72" minrange="-400" maxrange="400" maxspeed="420" />
</Joints>
</RobotArm>
</Mechanisms>
<IO>
<DO names="DO10_1,DO10_2,DO10_3,DO10_4,DO10_5,DO10_6,DO10_7,DO10_8,DO10_9,DO10_10,DO10_11,DO10_12,DO10_13,DO10_14,DO10_15,DO10_16"/>
<DI names="DI10_1,DI10_2,DI10_3,DI10_4,DI10_5,DI10_6,DI10_7,DI10_8,DI10_9,DI10_10,DI10_11,DI10_12,DI10_13,DI10_14,DI10_15,DO10_16"/>
<DO names="DO10_1,DO10_2,DO10_3,DO10_4,DO10_5,DO10_6,DO10_7,DO10_8,DO10_9,DO10_10,DO10_11,DO10_12,DO10_13,DO10_14,DO10_15,DO10_16" />
<DI names="DI10_1,DI10_2,DI10_3,DI10_4,DI10_5,DI10_6,DI10_7,DI10_8,DI10_9,DI10_10,DI10_11,DI10_12,DI10_13,DI10_14,DI10_15,DO10_16" />
</IO>
</RobotCell>

<RobotCell name="AARCH IRB6620" manufacturer="ABB">
<Mechanisms>
<RobotArm model="IRB6620-220" manufacturer="ABB" payload="150">
<Base x="0.000" y="0.000" z="0.000" q1="1.000" q2="0.000" q3="0.000" q4="0.000"/>
<Joints>
<Revolute number="1" a ="320" d ="680" minrange = "-170" maxrange ="170" maxspeed ="100"/>
<Revolute number="2" a ="975" d ="0" minrange = "-65" maxrange ="140" maxspeed ="90"/>
<Revolute number="3" a ="200" d ="0" minrange = "-180" maxrange ="70" maxspeed ="90"/>
<Revolute number="4" a ="0" d ="887" minrange = "-300" maxrange ="300" maxspeed ="150"/>
<Revolute number="5" a ="0" d ="0" minrange = "-130" maxrange ="130" maxspeed ="120"/>
<Revolute number="6" a ="0" d ="200" minrange = "-300" maxrange ="300" maxspeed ="190"/>
</Joints>
</RobotArm>
<RobotCell name="AARCH IRB6620" manufacturer="ABB">
<Mechanisms>
<RobotArm model="IRB6620-220" manufacturer="ABB" payload="150">
<Base x="0.000" y="0.000" z="0.000" q1="1.000" q2="0.000" q3="0.000" q4="0.000" />
<Joints>
<Revolute number="1" a="320" d="680" minrange="-170" maxrange="170" maxspeed="100" />
<Revolute number="2" a="975" d="0" minrange="-65" maxrange="140" maxspeed="90" />
<Revolute number="3" a="200" d="0" minrange="-180" maxrange="70" maxspeed="90" />
<Revolute number="4" a="0" d="887" minrange="-300" maxrange="300" maxspeed="150" />
<Revolute number="5" a="0" d="0" minrange="-130" maxrange="130" maxspeed="120" />
<Revolute number="6" a="0" d="200" minrange="-300" maxrange="300" maxspeed="190" />
</Joints>
</RobotArm>
</Mechanisms>
<IO>
<DO names="DO10_1,DO10_2,DO10_3,DO10_4,DO10_5,DO10_6,DO10_7,DO10_8,DO10_9,DO10_10,DO10_11,DO10_12,DO10_13,DO10_14,DO10_15,DO10_16"/>
<DI names="DI10_1,DI10_2,DI10_3,DI10_4,DI10_5,DI10_6,DI10_7,DI10_8,DI10_9,DI10_10,DI10_11,DI10_12,DI10_13,DI10_14,DI10_15,DO10_16"/>
<AO names="AO10_1,AO10_2"/>
<AI names="AI10_1,AI10_2"/>
<DO names="DO10_1,DO10_2,DO10_3,DO10_4,DO10_5,DO10_6,DO10_7,DO10_8,DO10_9,DO10_10,DO10_11,DO10_12,DO10_13,DO10_14,DO10_15,DO10_16" />
<DI names="DI10_1,DI10_2,DI10_3,DI10_4,DI10_5,DI10_6,DI10_7,DI10_8,DI10_9,DI10_10,DI10_11,DI10_12,DI10_13,DI10_14,DI10_15,DO10_16" />
<AO names="AO10_1,AO10_2" />
<AI names="AI10_1,AI10_2" />
</IO>
</RobotCell>
</RobotCell>

</RobotSystems>
26 changes: 13 additions & 13 deletions libraries/Automata.xml
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Original file line number Diff line number Diff line change
@@ -1,23 +1,23 @@
<RobotSystems>
<RobotCell name="Automata" manufacturer="Staubli">
<RobotSystems>
<RobotCell name="Automata" manufacturer="Staubli">
<Mechanisms group="0">
<RobotArm model="Eva" manufacturer="Staubli" payload="1.5">
<Base x="0.000" y="0.000" z="0.000" q1="1.000" q2="0.000" q3="0.000" q4="0.000"/>
<Base x="0.000" y="0.000" z="0.000" q1="1.000" q2="0.000" q3="0.000" q4="0.000" />
<Joints>
<Revolute number="1" a ="56" d ="283" minrange = "-160" maxrange ="160" maxspeed ="200"/>
<Revolute number="2" a ="205" d ="0" minrange = "-137.5" maxrange ="137.5" maxspeed ="200"/>
<Revolute number="3" a ="56" d ="0" minrange = "-150" maxrange ="150" maxspeed ="255"/>
<Revolute number="4" a ="0" d ="291" minrange = "-270" maxrange ="270" maxspeed ="315"/>
<Revolute number="5" a ="0" d ="0" minrange = "-105" maxrange ="120" maxspeed ="360"/>
<Revolute number="6" a ="65" d ="105" minrange = "-270" maxrange ="270" maxspeed ="870"/>
<Revolute number="1" a="56" d="283" minrange="-160" maxrange="160" maxspeed="200" />
<Revolute number="2" a="205" d="0" minrange="-137.5" maxrange="137.5" maxspeed="200" />
<Revolute number="3" a="56" d="0" minrange="-150" maxrange="150" maxspeed="255" />
<Revolute number="4" a="0" d="291" minrange="-270" maxrange="270" maxspeed="315" />
<Revolute number="5" a="0" d="0" minrange="-105" maxrange="120" maxspeed="360" />
<Revolute number="6" a="65" d="105" minrange="-270" maxrange="270" maxspeed="870" />
</Joints>
</RobotArm>
</Mechanisms>
<IO>
<DO names="1,2,3,4"/>
<DI names="1,2,3,4"/>
<AO names="1,2,3,4"/>
<AI names="1,2,3,4"/>
<DO names="1,2,3,4" />
<DI names="1,2,3,4" />
<AO names="1,2,3,4" />
<AI names="1,2,3,4" />
</IO>
</RobotCell>

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24 changes: 12 additions & 12 deletions libraries/Bigli.xml
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@@ -1,23 +1,23 @@
<RobotSystems>
<RobotCell name="Bigli-KR20" manufacturer="KUKA">
<RobotCell name="Bigli-KR20" manufacturer="KUKA">
<Mechanisms group="0">
<RobotArm model="KR20-3" manufacturer="KUKA" payload="20">
<Base x="0.000" y="0.000" z="0.000" q1="1.000" q2="0.000" q3="0.000" q4="0.000"/>
<Base x="0.000" y="0.000" z="0.000" q1="1.000" q2="0.000" q3="0.000" q4="0.000" />
<Joints>
<Revolute number="1" a ="260" d ="675" minrange ="-185" maxrange ="185" maxspeed ="156"/>
<Revolute number="2" a ="680" d ="0" minrange ="-155" maxrange ="35" maxspeed ="156"/>
<Revolute number="3" a ="-35" d ="0" minrange ="-130" maxrange ="154" maxspeed ="156"/>
<Revolute number="4" a ="0" d ="670" minrange ="-350" maxrange ="350" maxspeed ="330"/>
<Revolute number="5" a ="0" d ="0" minrange ="-130" maxrange ="130" maxspeed ="332"/>
<Revolute number="6" a ="0" d ="158" minrange ="-350" maxrange ="350" maxspeed ="616"/>
<Revolute number="1" a="260" d="675" minrange="-185" maxrange="185" maxspeed="156" />
<Revolute number="2" a="680" d="0" minrange="-155" maxrange="35" maxspeed="156" />
<Revolute number="3" a="-35" d="0" minrange="-130" maxrange="154" maxspeed="156" />
<Revolute number="4" a="0" d="670" minrange="-350" maxrange="350" maxspeed="330" />
<Revolute number="5" a="0" d="0" minrange="-130" maxrange="130" maxspeed="332" />
<Revolute number="6" a="0" d="158" minrange="-350" maxrange="350" maxspeed="616" />
</Joints>
</RobotArm>
</Mechanisms>
<IO>
<DO names="1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16"/>
<DI names="1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16"/>
<AO names="1,2,3,4"/>
<AI names="1,2,3,4"/>
<DO names="1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16" />
<DI names="1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16" />
<AO names="1,2,3,4" />
<AI names="1,2,3,4" />
</IO>
</RobotCell>
</RobotSystems>
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