# Understanding DH Parameters in Robot XML

**URL:** <https://tech-community.robotics.abb.com/t/understanding-dh-parameters-in-robot-xml/11680>\
**Category:** RobotStudio\
**Created:** [November 5, 2024, 6:14am UTC](https://tech-community.robotics.abb.com/t/understanding-dh-parameters-in-robot-xml/11680 "2024-11-05T06:14:57Z")\
**Posts on this page:** 1\
**Page:** 1

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**Author:** ![ji291](https://avatars.discourse-cdn.com/v4/letter/j/3da27b/32.png) [@ji291](https://tech-community.robotics.abb.com/u/ji291)\
**Post date:** [November 5, 2024, 6:14am UTC](https://tech-community.robotics.abb.com/t/understanding-dh-parameters-in-robot-xml/11680/1 "2024-11-05T06:14:57Z")

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Hi all,  
I am currently trying to wrpa my head around the DH parameters that are present in the PIM.xml for the IRB6400 robot.

When attempting todo forward kinematic calculations with the robot, I am not getting the same values as reported by the flexpendant.  
XML Below:

With my understanding, where Link Value = ‘1’, this represents the transofrmation of the base frame to link 1, and then Link Value = ‘2’ represents the transformation parameters from joint 1 to joint 2. Although this raises questions about why there are more than 6 joint values

Please can someone inform me if I am correct?

Best Regards,  
Joe