#
# JLS file for a (fairly) generic PUMA 560. It differs from "puma560.jls" in
# that the joint coordinate system is consistent with that described in the 
# paper "Kinematics of Common Industrial Robots", Lloyd & Hayward, 
# Robotics, Vol 4, pp. 169-191 (1988).
#
# 	NJ denotes the number of joints
# 	NFC denotes the number of forward couplings
# 	NIC denotes the number of inverse couplings
#
# Data type	   JLS field name     Description
#
# (1 int)     	   numJ		      number of joints
	6
# (NJ characters)  jtype	      joint type ('R' or 'P')
	R R R R R R
# (1 int)	   numFC	      number of forward couplings
	3
# (NFC * 2 ints)   forCouplings	      indicies of forward couplings
	5 4
	6 4
	6 5
# (1 int)     	   numIC	      number of inverse couplings
	3
# (NIC * 2 ints)   invCouplings       indicies of inverse couplings
	5 4
	6 4
	6 5
# (NJ+NFC floats)  forGearRatios      forward gear ratios and couplings
        -62.5467
	107.81
	-53.85
         76.016
	 71.9108
	 76.729
# Gear couplings
# The relationship between these off-diagonal couplings G(i,j) and the 
# Unimation coupling constansts C(i,j) is 
# 	G(i,j) = G(i,i) * C(i,j)
	-1.0570075
	 0.992078
	12.993416
# (NJ dec float pairs) encOffset      encoder value followed by its
#				      corresponding joint value
	32768	180.0
	32768	 90.0
	32768	-90.0
	32768	  0.0
	32768	  0.0
	32768	-90.0
# (NJ dec)	   encWheelSize       encoder counts/motor shaft rev
	1000
	 800
	1000
	 500
	1000
	 500
# (NJ floats)	   mtorqueToCurrent   motor tor. to output DAC ratio
	-1344.0
	-1343.0
	-1384.5
	-3787.6
	-4060.2
	-4150.5
# (NJ floats) 	   currentToMtorque   ADC input to motor tor. ratio
	-9.920625e-04
	-9.927890e-04
	-9.630274e-04
	-3.520234e-04
	-3.283945e-04
	-3.212461e-04
# (NJ ints) 	   currentBias	      zero-torque current values, if current
#				      outputs are biased
	0
	0
	0
	0
	0
	0
# (NJ dec)         encCalvec	      encoder calibration vector
#				      (measured by primecal)
	33184
	33530
	33657
	33688
	33103
	33086
# (NJ dec)         encHome            encoder counts at home or nest position
#				      (not used on PUMA 560)
	0
	0
	0
	0
	0
	0
# (NJ float)  	   potSlope           slope for pot enc estimate
#				      (measured by potcal)
	112.411
	 88.9051
	112.261
	 56.7
	108.761
	 55.8067
# (NJ float) 	   potIntercept       intercept for pot enc estimate
#				      (measured by potcal)
	-23626.1
	-12027.1
	-24176.8
	  4070.0
	-24472.8
	 14333.2
# (NJ float)       jmin		      minimum joint angle (deg.)
	  20.0
	 -35.0
	-232.0
	-115.0
	-100.0
	-330.0
# (NJ float)        jmax	      maximum joint angle (deg.)
	 340.0
	 215.0
	  52.0
	 180.0
	 100.0
	 150.0
# (NJ float)       maxVel	      maximum velocity (deg./sec.)
	180.0
	180.0
	180.0
	360.0
	360.0
	360.0
# (NJ float)       maxAcc	      maximum acceleration (deg./sec.^2)
#				      (not presently used)
	0.0
	0.0
	0.0
	0.0
	0.0
	0.0
# (NJ float)       maxJerk	      maximum jerk (deg./sec.^3)
#				      (not presently used)
	0.0
	0.0
	0.0
	0.0
	0.0
	0.0
# (NJ float)       maxMtorque	      maximum motor torque or force
#				      (Newton-meters of Newtons)
	1.2
	1.2
	1.2
	0.3
	0.3
	0.3
# (NJ float)       maxJtorque	      maximum joint torque
#	   			      (Not presently used)
	0.0
	0.0
	0.0
	0.0
	0.0
	0.0
# (NJ floats)	   parkAngles	      the park angles for the robot
#				      (corresponds to the "rcclpark" position)
	 -90.0
	-135.0
           0.0
           0.0
         -45.0
          90.0
# (NJ floats)	   bestAngles	      a set of well conditioned angles
#				      Usually the parkAngles work well here
         -90.0
        -135.0
           0.0
           0.0
         -45.0
          90.0
# (NJ floats)	   nominalVel	      nominal velocity (deg/sec)
	15.0
	15.0
	15.0
	30.0
	30.0
	30.0
# (NJ floats)	   nominalAcc	      nominal acceleration (deg/sec^2)
	150.0
	150.0
	150.0
	300.0
	300.0
	300.0
# (NJ floats)	   nominalJerk	      nominal jerk (deg/sec^3)
#				      (not presently used)
	1500.0
	1500.0
	1500.0
	3000.0
	3000.0
	3000.0
# (1 hex int)	   flags	      robot specific flags.
#	0x1 says this is a PUMA 260
	00
