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name:NEW PT(x,y,r);	Defines a point name with the values x,y,r and z if the
name:NEW PT(x,y,z,r);	robot supports it.
name:NEW ‘string’;	A string is assigned to variable name.
name:NEW n;	Create a variable name, and assign a numeric value to it.
ident:SUBR;	A subroutine called ident is created. A parameter list can
ident:SUBR(parameter);	be associated by adding it to the definition.
name:STATIC COUNTER;	a counter variable called name is created.
name:STATIC	a pallet definition name can be defined. The pallet is
PALLET(ll,lr,ur,ppr,parts);	assumed to be rectangular with the three corners
	given, ll, lr and ur (lower left, lower right, and upper
	right respectively). the parts per row (ppr), and total
	number of parts are also given.
label:statement;	A label can be arbitrarily inserted before any command
	to set a branch point.

39.2.3.7 - ASEA IRB-1000

• In general
maximum payload (for a 200mm tool offset)	6 kg
Maximum moment of inertia	2.5 Nm (dynamic)
Maximum static moment	12 Nm (static)
weight	125 kg
accuracy at wrist	+/- 0.20mm
• Axis 1
joint type	revolute
range	340 deg.
speed	95 deg/sec