Move scara axis in Manual instead of joints

grandixximo wrote:

I would like to be able to move axis in manual instead of joints, is it possible?

It certainly ought to be possible to jog in both joint-mode and world-mode (if that is the question you are asking)

You should be able to try it out with the scara sample config (which is a sample configuration so will work without having a robot attached)

You toggle between World and Joint mode with the $ key.

grandixximo wrote:

is there a way to disable limits?

No, but you should be able to edit the INI file to suit the machine limits.
(I am not entirely sure that this works properly in non-trivial kinematics, it is possible that the axis limits define a workspace envelope not actuator limits. There is a significant confusion in the current version of LinuxCNC between "joints" (ie actuators) and "axes" (ie XYZ in space). This is a consequence of the way that robots were added as a modification to the original conventional machine-tool control.

There is a separate branch which is attempting to fix this problem, called the joints-axes3 branch, and I think that some people are actually using this.
You can check-out and compile this branch if you need it. The fixes will eventually (probably years) be merged into the main LinuxCNC.