# wrong rotation of mechanism

**URL:** <https://tech-community.robotics.abb.com/t/wrong-rotation-of-mechanism/6308>\
**Category:** RobotStudio\
**Tags:** robotstudio-mechanism\
**Created:** [October 8, 2014, 12:52pm UTC](https://tech-community.robotics.abb.com/t/wrong-rotation-of-mechanism/6308 "2014-10-08T12:52:23Z")\
**Posts on this page:** 1\
**Page:** 1

<div class="post-metadata">

**Author:** ![svoldgaard](https://dub1.discourse-cdn.com/flex005/user_avatar/tech-community.robotics.abb.com/svoldgaard/32/3334_2.png) [@svoldgaard](https://tech-community.robotics.abb.com/u/svoldgaard)\
**Post date:** [October 8, 2014, 12:52pm UTC](https://tech-community.robotics.abb.com/t/wrong-rotation-of-mechanism/6308/1 "2014-10-08T12:52:23Z")

</div>

Hello

I have made my own r-manipulator as a mechanism, it’s basically a like a normal one, with a few changes. I have some issues with using my mechanisme in RS:

1. first of all RS wants a cfg file when I try to use the create system from layout. Is there a guide to make this file?

2. external axis wizard wont accept my mechanism due to it having 2 flange. Is there a workaround?

3. as a last resort, I created a systems with a normal R-manipulator, tried to edit the system and change the manipulator model to my own. RS accepts my manipulator, but the mechanism is rotated 90 degree around y and z. can anybody explain why this happens? And how to fix it? I am quite certain that I have rotated the frame of the manipulator in the same way as a normal R-manipulator.

Hope someone can give me some answers especially on the last part.