[mytrail]

There's no tolerance if you want it to properly rotate.
You need to precisely know the position of one joint axis with respect to the other.

If you can't send screenshots it will be hard for us to help you.

Jeremy

我解决了宽容/测量问题,现在everything rotates fine and is controllable via the joint axis jog.

However I took a look at the reference Frame of the tool with respect to the base and the 4x4 matrix is not the same as what I get when I calculate it.

Now the 28.563 I can understand as it seems to be close to the d2 value I put of 27 mm

And 643.39 I dont know where that came from