Joint Information

Joint	Type	Initial	Lower limit	upper limit
1	Rotation	0.000	-2.709	2.709
2	Translation	0.000	-205.400	267.100
3	Translation	0.000	=max(-134.8,sass($c5,sasa($c4,138*RAD,$c1)+sssa($c3,$c2,sass($c4,138*RAD,$c1))-2.14447+sssa(dof(2)+$l2,$b1,$b2),$c6)-$l3)	=min(336.7,sass($c5,sasa($c4,42*RAD,$c1)+sssa($c3,$c2,sass($c4,42*RAD,$c1))-2.14447+sssa(dof(2)+$l2,$b1,$b2),$c6)-$l3)
4	Rotation	0.000	-3.141	3.141
5	Rotation	0.000	-3.141	3.141
6	Rotation	0.000	-3.141	3.141