Allen-Bradley 1756-HYD02 User Manual page 189

Geometries with orientation support
If you want the Joint 5 axis position set as a 0
position (shown in the image below), then enter -90
Joint 5. The Z4 offset can be used to set Joint 4 axis other than default 0
position.
Example of Zero Angle Orientation set up in 5-axis Delta robot
See also
Configuration parameters for Delta J1J2J3J4J5 robot
Link Lengths for Delta J1J2J3J4J5 robot
Rockwell Automation Publication MOTION-UM002F-EN-P - February 2018
when D5 link is at horizontal
in the Z5 parameter for
on page 180
on page 180
Chapter 4
189