Allen-Bradley 1756-HYD02 User Manual page 184

Chapter 4 Geometries with orientation support
Configuring offsets
Joint 4 axis is starting right at the End plate center point so A3 and D3 offsets are zero.
Joint 5 is at a distance from Joint 4. Distance on the positive X axis is configured as A4 = 30mm,
distance on positive Z axis is measured as D4 = 50mm.
From Joint 5 to EOA is measured as D5 = 75 mm.
184
Example 1
The image shows one of the typical setups for a Swing Arm mechanism. Here
Joint 4 and Joint 5 axes are not intersecting each other. Joint 4 axis is passing
through the End plate center point.
The table shows configuring offsets and Swing Arm Offset values:
Enter these offset values on the Offsets tab in the Coordinate System Properties
dialog box.
Rockwell Automation Publication MOTION-UM002F-EN-P - February 2018
Swing Arm offset value
D3 = 0
A3 = 0
D4 = 50
A4 = 30
D5 = 75