Kuka KR C2 - 160 $Dh_4; 161 $Dh_5

2 The file $MACHINE.DAT (continued)
77 of 91
Maschinendaten 12.0400 en
2.1.160 $DH_4
Denavit--Hartenberg parameters
Data type real
min
V
a
l
u
e
-- --
Unit -- --
V
a
l
ue
max
-- --
Assignment -- --
Length A DHART_A
Length D DHART_D
Angle a DHART_ALPHA
Denavit--Hartenberg parameters a, d and a for frame between axis 4 and 5, or 5 and 6.
$DH_4.D is always 0 and two consecutive wrist axes must not be “quasi--parallel”, i.e. |a|
must not be less than 10 degrees.
Caution: The initial system X3 in axis 4 is defined by $TX3P3. Only the Z axis is defined by
X3. The position of the X axis can be “freely” selected, thus giving rise to a number of
configuration options, each with a different zero position of the wrist axes.
2.1.161 $DH_5
Denavit--Hartenberg parameters
Data type -- --
min
V
a
l
u
e
-- --
Unit -- --
V
a
l
ue
max
-- --
Assignment -- --
Length A DHART_A
Length D DHART_D
Angle a DHART_ALPHA
Denavit--Hartenberg parameters a, d and a for frame between axis 4 and 5, or 5 and 6.
$DH_4.D is always 0 and two consecutive wrist axes must not be “quasi--parallel”, i.e. |a|
must not be less than 10 degrees.
Caution: The initial system X3 in axis 4 is defined by $TX3P3. Only the Z axis is defined by
X3. The position of the X axis can be “freely” selected, thus giving rise to a number of
configuration options, each with a different zero position of the wrist axes.