6DOF robot Limit Issues

I have a hobby robot partly based on the Melfa sim.  When I home the robot all axis report zero degrees.  The Cartesian location appears correct and it jogs correctly in world/Cartesian. The problem is I'm getting axis limits that contradict what is reported at the Home position pictured below. 

With axis 2 limit set to -45/+110 I'm getting a error at -20 degrees.  It appears the axis limits are rotated 90 degress some how.  Is there an absolute vs. relative setting?  

 

I could fudge the limit settings but I want it done right.  How should I define the axis limits?

You have a work offset of -90 set for Y (joint1) so your position is actually indeed -110.

Do I need to have the axis offsets loaded?  In the 429remap.ngc G10 is loading axis offsets.  Is it necessary for either genserkins or idenity kins?

You don't _need_ it, those are simply used to define the pose for (x,y,z,a,b,c)=(0,0,0,0,0,0).

[edit]

Actually I just noticed that you are not getting an 'axis' limit error but a 'joint' limit error. So the issue is that you have to adjust your 'MIN_LIMIT' , 'MAX_LIMIT' values in the [JOINT_1] section of your ini file. Note that joint1=0 has the upper arm in the horizontal forward pose as that is what is used in the genserkins model so you may need to adjust the limit values accordingly.

www.linuxcnc.org/docs/2.9/html/sv/motion/dh-parameters.html

 

Aciera post=312133 userid=25994You don't _need_ it, those are simply used to define the pose for (x,y,z,a,b,c)=(0,0,0,0,0,0).

[edit]

Actually I just noticed that you are not getting an 'axis' limit error but a 'joint' limit error. So the issue is that you have to adjust your 'MIN_LIMIT' , 'MAX_LIMIT' values in the [JOINT_1] section of your ini file. Note that joint1=0 has the upper arm in the horizontal forward pose as that is what is used in the genserkins model so you may need to adjust the limit values accordingly.
 

So the joint axis limits in this case are relative the arm posture defined by the modified DH parameters?

Yes

You can watch the current commanded joint position in the 'halshow' tool under:
'joint.N.motor-pos-cmd'
Where 'N' denotes the joint number (ie 1 for the joint in question).