re_je.xml

<RobotSystems>

    <RobotCell name="RE-JE-GP8" manufacturer="ABB">
    <Mechanisms group="0">
      <RobotArm model="GP8" manufacturer="ABB" payload="8">
        <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 ="40" d ="330" minrange ="-90" maxrange ="90" maxspeed ="455"/>
          <Revolute number="2" a ="345" d ="0" minrange ="-36" maxrange ="145" maxspeed ="387"/>
          <Revolute number="3" a ="40" d ="0" minrange ="-70" maxrange ="90" maxspeed ="520"/>
          <Revolute number="4" a ="0" d ="340" minrange ="-190" maxrange ="190" maxspeed ="550"/>
          <Revolute number="5" a ="0" d ="0" minrange ="-135" maxrange ="135" maxspeed ="550"/>
          <Revolute number="6" a ="0" d ="80" minrange ="-350" maxrange ="350" maxspeed ="1002"/>
        </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"/>
    </IO>
  </RobotCell>

</RobotSystems>