Joint compensation on a 6 axis robot

Thomas,

Thanks for the explanation!
Converting mm to inch is not difficult, as you point out. I just want to make sure that there's nothing squirreled away somewhere that is telling it to expect inches, because then feeding it mm measurements would really mess things up.
Thanks!

My expectation would be that inches would work on an inches machine and mm on a metric machine. However it is possible that kinematics is done in Machine Internal Units, which is mm.