shouldn't the reference frame replace the frames of the subsystem

Hi I am building a robot arm simulation

and I built every joint out of cylinders then made it a subsystem.

the frames is not where they should be so I am added a reference frame to the subsystem

but when I Specify Position in the State Targets in the Z Reveloute Primitive (Rz) it still use one the 2 solids' frames and this is what I end up getting.

bold where its obviously rotating around the axis shown in the picture (above) which is one of the solids' Axis (solid 9) and not the reference frame . can someone tell me what am I doing wrong??? Thank you very much

Answer 1

[Qu Cao]

Since the Reference Frame is attached to Solid 8 not the World Coordinate, the rotating axis will be one of the Solids 8's references frame.