SCARA hand region issues

Halcompile doesn't allow me to recompile scarakins . The error is something like component must have at least one pin .
Is there a detailed how to ?
I'm not a programmer, so I'm in unknown waters right now .

What halcompile command did you use?

Now you mentioned it halcompile --compile should work, right ?
I didn't want to install it for some reason .

The arm extends now . I moved int in manual mode, but I still can't move it in MDI .
I get Linear move on line 0 would exceed Z's negative limit .

P.S. Z only moves down . Jogging + or - doesn't change the direction .

Niko wrote: The arm extends now . I moved int in manual mode, but I still can't move it in MDI .
I get Linear move on line 0 would exceed Z's negative limit .

If you look at the position in machine coordinates, and command a G53 move of a fraction of a mm do you still get the message?

P.S. Z only moves down . Jogging + or - doesn't change the direction .

Is this the same in joint mode?

If using 2.8, you have to set the min and max limits in 2 places for each joint and axis.
If using servo motors with loop closed at Linuxcnc, you have to home the axis in some cases or it will not move in one direction when the DRO value is big.

Andypugh, joint mode is fine, just tried g53 and it doesn't work .

Tommylight, every joint is homed and this regards moving in MDI in world mode .
Jogging in world mode is fine on X and Y but Z is only in one direction .

Where does the machine think it is, and how does this compare with the Joint and Axis limits?

If the machine thinks that it is already outside its limits it won't say anything until you try to move. (destinations are checked, but not current position)

The square limits are much larger than the hand can reach, something like 2 meters in every direction . Home positions are to the left most position of the joints and it is reflected in the scara gui . Z is 5 mm below the top limit switch .
In 2.7 this setup worked MDI ran fine . There's still a little arc that I'll have to clear up but thats a different topic .

Yes, but, where does the machine _think_ it is in world mode?