a    ,alpha ,d    ,theta,rotDir,maxAngle ,minAngle ,AxisVelocity
260  ,-90   ,675  ,0    ,-1    ,+185     ,-185     ,156         
680  ,0     ,0    ,0    , 1    ,+35      ,-155     ,156         
-35  ,+90   ,0    ,-90  , 1    ,+154     ,-130     ,156         
0    ,-90   ,-670 ,0    , 1    ,+350     ,-350     ,330         
0    ,+90   ,0    ,0    , 1    ,+130     ,-130     ,330         
0    ,+180  ,-158 ,180  , 1    ,+350     ,-350     ,615