How to move joints of a new robot to verfiy it's motions?

Is your robot a serial robot? Have you looked at Genserkins?

For me, yes and no. Serial yes, I'm ignorant of Generkins

Is there a Generkins I can select from the configuration selector?

I ran across

forum.linuxcnc.org/38-general-linuxcnc-q...puma-geometry#140795

which leads to

github.com/deanforbes/Staubli_RX60L/blob...rg/Ross/staubli2.gif

It looks like they've got nice linear motions, but I can't quite make out what G-code is running.

jaxonusa wrote: For me, yes and no. Serial yes, I'm ignorant of Generkins

Is there a Generkins I can select from the configuration selector?

sim-axis-Vismach-puma-puma560 uses genserkins.

sim-axis-Vismach-puma-puma560 is really neat. Help me understand.

G-code -> interpreter -> Genserkins -> hal pins ?

There's a trajectory planner in there somewhere too right? I'm really really terrible about figuring out the flow of information looking at github. Is there some kind of block diagram that shows how G-code turns into writing to a joint pin?

The abc. Is it a Euler sequence? 1st a about x, then b about y, then c about z? I've worked with kukas where a is the 1st rotation about z, then b about y, finally c about x.

jaxonusa wrote: sim-axis-Vismach-puma-puma560 is really neat.

I think in that sim you can switch between cartesian and joint jogging (Machine menu or $ shortcut). Which might answer one of your questions.

G-code -> interpreter -> Genserkins -> hal pins ?

There's a trajectory planner in there somewhere too right?

G-code -> interpreter -> TP -> TC -> kinematics -> HAL.

linuxcnc.org/docs/html/code/code-notes.html

The abc. Is it a Euler sequence? 1st a about x, then b about y, then c about z? I've worked with kukas where a is the 1st rotation about z, then b about y, finally c about x.

It's something like that. I confess I have never needed to know as I don't own a robot.

I think it is actually something that is entirely determined by the kinematics file. That basically gets the XYZ ABC numbers directly, and transforms them in to joint angles, so the ABC can be interpreted in a number of ways.

linuxcnc.org/docs/2.8/html/motion/5-axis-kinematics.html