Siemens SIMOTION Function Manual page 62

Basics of Path Interpolation
2.13 Kinematic adaptation
Figure 2-50
The kinematic zero point lies in point A
The zero position of the kinematics exists if distanceA1A2, distanceA2A3 and distanceA3EP
point in the Cartesian x-direction.
Figure 2-51
62
Articulated arm: Kinematics
Articulated arm: Axes A2 and A3 zero positions
.
1
TO Path Interpolation
Function Manual, 11/2010