Siemens SINUMERIK Series Function Manual page 37

If axis 5 is at position 0° - then axes 4 and 6 are redundant. In this case, the compensation
angles of the manual axes are reduced to 0° - and the orientation at the TCP is no longer
compensated.
Example 2: Axis 1 and axis 6 are coaxial, axis 3 does not intersect with axis 1
Figure 8-3
In this case, axes 1 and 6 are redundant. The sequence is identical to that of example 1:
SINUMERIK Run MyCC /ROCO
Function Manual, 09/2018, A5E45818879B AA
Alpha 1 singularity - axis 1 and axis 6 are collinear and parallel
8.1 Compensation of external disturbing forces
Application examples
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