Allen-Bradley 1756-HYD02 User Manual page 183

Geometries with orientation support
values. As per DH convention, Joint offsets in X direction are represented as A3
and A4, and Joint offsets in Z direction are shown as D3, D4, and D5. Offset
values are positive or negative based on XYZ reference frames shown in the
illustration.
•
D3 - The distance on Z axis from the center of end plate to the J4 axis of
rotation.
•
A3 - The distance on X axis from center of end plate to the J4 axis of
rotation.
•
D4 - The distance on Z axis from the J4 axis of rotation to the J5 axis of
rotation.
•
A4 - The distance on X axis from the J4 axis of rotation to the J5 axis of
rotation.
•
D5 - The distance on Z axis from the J5 axis of rotation to the EOA frame.
Tip: For all Swing Arm offsets, positive Z direction is pointing down at the End plate center point.
Refer to the manufacturer's CAD drawings or datasheet to find relevant Swing
Arm Offset values for the project. Some offset values will be zero based on the
mechanical setup. These examples shows how to configure Swing Arm offsets with
two different mechanical setups.
Rockwell Automation Publication MOTION-UM002F-EN-P - February 2018
Chapter 4
183