Welcome to LinuxCNC.org

I'm looking into how the robots are implemented in EMC2.

I would like to be able to move axis in manual instead of joints, is it possible?

grandixximo wrote:
It certainly ought to be possible to jog in both joint-mode and world-mode (if that is the question you are asking)

You should be able to try it out with the scara sample config (which is a sample configuration so will work without having a robot attached)

You toggle between World and Joint mode with the $ key.

Yes that is exactly what i was asking, thank you

i have another question, if i make the scara bigger, when i play a g-code i will almost always have to confirm a message that tells me that i'm out of limit.

is there a way to disable limits?

For angular axis if my joint 1 can move from -100 to 100 degrees it does not mean that my X axis it can only move from -100 to +100, but the limits are set like that, i can see it in the axis graphic area.

is there a solution to this?

grandixximo wrote:No, but you should be able to edit the INI file to suit the machine limits.
(I am not entirely sure that this works properly in non-trivial kinematics, it is possible that the axis limits define a workspace envelope not actuator limits. There is a significant confusion in the current version of LinuxCNC between "joints" (ie actuators) and "axes" (ie XYZ in space). This is a consequence of the way that robots were added as a modification to the original conventional machine-tool control.

There is a separate branch which is attempting to fix this problem, called the joints-axes3 branch, and I think that some people are actually using this.
You can check-out and compile this branch if you need it. The fixes will eventually (probably years) be merged into the main LinuxCNC.