SCARA hand region issues

Hi all ,
I just put together the control for an epson scara arm .
After tuning the servos and home procedure in MDI I can't move past a point .
The arm is not physically limited in any way , there's plenty of travel , but it wont go past that point .
I raised the max and min travel to very large numbers and the problem persists .
Axis returns following error on all the joints involved in the move . That is joint 0, 1 and 3 .

Looking forward to any ideas .

Cheers

Nikolai

I'll check the version tomorrow . Should be 2.7.8
So max limit and min limit correspond to X Y Z limits and not joint limits ?
The joints are set as angular so I expected them to be degrees of freedom .

It's 2.7.0 .
Where can I get 2.8 from ?
Max and min limit in INI are set to more than a meter (twice the length of the arm).
Where can I check the limits in the kinematics ?
Other than hal and ini I'm pretty clueless .

Upgraded to 2.8 .
It works but in a rather weird fashion . As a joint Z works fine but when I switch to real world position it switches direction .

Is there any logic to debugging nonlinearity in straight moves ?
I've already checked the lengths and encoder count rates and still get a slight curve .

P.S. in MDI linear moves on x or y result in "linear move on line 0 would exceed joint z positive limit".

And the point which limits it is at 90 degrees between arms .

Joints and axes are fine . Right now I'm wondering how to recompile stuff .