# Creating Mechanism - Robot

**URL:** <https://tech-community.robotics.abb.com/t/creating-mechanism-robot/5588>\
**Category:** RobotStudio\
**Created:** [July 2, 2013, 6:39am UTC](https://tech-community.robotics.abb.com/t/creating-mechanism-robot/5588 "2013-07-02T06:39:22Z")\
**Posts on this page:** 3\
**Page:** 1

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**Author:** ![apox](https://dub1.discourse-cdn.com/flex005/user_avatar/tech-community.robotics.abb.com/apox/32/2392_2.png) [@apox](https://tech-community.robotics.abb.com/u/apox)\
**Post date:** [July 2, 2013, 6:39am UTC](https://tech-community.robotics.abb.com/t/creating-mechanism-robot/5588/1 "2013-07-02T06:39:22Z")

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Hi,

when creating a mechanism of type robot i specify joint axes but something goes wrong with the rotational axis after compiling the mechanism.

Preview of axis in mechanism builder (seems to be ok, the last link should rotate around the green axis):

 ![image.png](https://europe1.discourse-cdn.com/flex005/uploads/robotics1/original/2X/6/697fda9968576be2f93fc7afc4b0cdab4ab8937c.png)

Result after compiling the mechanism (rotation is wrong):

 ![image.png](https://europe1.discourse-cdn.com/flex005/uploads/robotics1/original/2X/2/271a2db7df667c2451230fcda7bc1f31ca99ebb5.png)

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**Author:** ![Christian\_Goy](https://avatars.discourse-cdn.com/v4/letter/c/90db22/32.png) [@Christian\_Goy](https://tech-community.robotics.abb.com/u/Christian_Goy)\
**Post date:** [August 28, 2013, 8:27am UTC](https://tech-community.robotics.abb.com/t/creating-mechanism-robot/5588/2 "2013-08-28T08:27:59Z")

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Set the local origin of all your parts (that become a link in your mechanism) to 0,0,0 / 0,0,0 (equal to graphic origin) and create your mechanism again

regards

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**Author:** ![tacnurt](https://dub1.discourse-cdn.com/flex005/user_avatar/tech-community.robotics.abb.com/tacnurt/32/2333_2.png) [@tacnurt](https://tech-community.robotics.abb.com/u/tacnurt)\
**Post date:** [September 11, 2013, 4:14pm UTC](https://tech-community.robotics.abb.com/t/creating-mechanism-robot/5588/3 "2013-09-11T16:14:54Z")

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Yes, do not move them from the origin, otherwise they will appear in random locations and your movements will be skewed.