0 0 180 500 XXX 337.3 238.569 23.01 -106.496 84.3 - - 71.5 45 - mm mm Kgf Kgf Kg mm mm mm mm mm mm deg deg deg H21 Yg Zg X Y Z Rx Ry Rz MAXIMUM OPEN AMOUNT (EXTENSION) MAXIMUM PRESSURE MINIMUM PRESSURE (AT TIP DRESS) WEIGHT OF GUN (TOTAL R/B PAYLOAD) POSITION OF CENTER OF GRAVITY TOOL COORDINATES (TCP POSITION) Xg MAXIMUM OPEN AMOUNT (COMPRESSION) TOOL I.D. NO. (WITH ATC ONLY) ROBOT NO. (R/B) Z+ (R/B) Z+ (R/B) X+ (R/B) X+ (TCP) X+ (TCP) Z+ (R/B) Y+ (TCP) Y+ (TCP) Z+ (R/B) X+