I have set up a serial robot (Mitsubishi RM-501) with 5 rotation joints. With the new joints-axes patch i have joints 0-4 and for axes the X,Y,Z (cartesian) and A,B which i still try to understand what they express and the mathematics behind it. Homing works just fine and jogging from X 95 to X 105 (with Y set to 0 and Z set to -160). But when i am in X 95 and use G1 X105 Y0 Z-160 i get two errors:
1) Linear move on line 0 would exceed C's negative limit
2) invalid params in linear command
