I've configured my scara robot so all joints are homing nicely. In Axis, when I jog the Z axis in a negative direction (down), the end effector physically moves down. So far, so good. But it moves 'up' in the 3d window.
In the ini file, traj coordinates are XYZC and Display geometry is the same.
If I switch display geometry to XY-ZC Then the motion on screen is coordinated with the machine but everything else is inverted. Z "up" is below Z 'down' if that makes sense.
I've tried inverted the axis by changing the encoder scale and output scale, but then jogging negative goes up and vice versa. So I don't think my issue is hardware configuration. I think it's related to the kinematics.
in scarakins.c there's a comment:
Code:
joint[2] = End effector slides along a vertical axis at the outer end
of the outer arm. A value of zero means the end effector
is at the same height as the center of the outer arm, and
positive values mean downward movement.
That leads me to believe my joint[2] needs to be negative. But I don't know how to set that.
Am I barking up the wrong tree?
