Siemens SIMOTION Function Manual page 63

Figure 2-52
The domain of the single A1 to A3 axes is limited to [-180°; 180°).
Coupled axes
If a positive coupling factor between two axes is specified, the transformation assumes that a
positive motion on the first axes leads to a negative motion on the second axis.
Configuration data for articulated arm kinematics
typeOfKinematics:
ARTICULATED_ARM
basicOffset.x
basicOffset.y
basicOffset.z
offsetA1
distanceA1A2
offsetA2
distanceA2A3
offsetA3
distanceA3Endpoint
linkCompensation.enableA2A3
linkCompensation.factorA2A3
TO Path Interpolation
Function Manual, 11/2010
Articulated arm: Axis A1 zero position
Articulated arm kinematics type
Offset of the kinematic zero point relative to the
Cartesian zero point, x-coordinate
Offset of the kinematic zero point relative to the
Cartesian zero point, y-coordinate
Offset of the kinematic zero point relative to the
Cartesian zero point, z-coordinate
Offset of axis zero point axis A1 relative to zero position
of axis A1 in the transformation
A1-A2 separation
Offset of axis zero point axis A2 relative to zero position
of axis A2 in the transformation
A2 - A3 separation
Offset of axis zero point axis A3 relative to zero position
of axis A3 in the transformation
A3 - end point separation
Compensate A3 articulated joint positioning dependence
for A2
Factor
Basics of Path Interpolation
2.13 Kinematic adaptation
63