Genserkins 6-Axis strange behavior

 Hello,
i have a 6-Axis Robot arm (Motoman K10S) running with genserkins. Kartesian movement is working good if the last joint is pointing straight down.
If the last joint points horizontal the movement in the Y-direction is off ( to long and a slight ark).
If i use a pencil to track the movement and try to make a circle in the X-Y plane, I get a circle when the robot points straight down. When the robot is facing in the X - direction (horizontal) i get approximately an ellipse. (Pictures as reference).

It seems thougt the distance of the tooltip to the last joint is neglected in the movement, but the X - coordinate is correct. Y - Movement ( if Y near to 0 +- 200mm is off by 30%.  X-Movement is spot on. If i turn the robot 90° and X is near 0, Y-Movement is correct and X- Movement is off.

I followed the D-H Parameter tutorial and the Puma560 Demo helped a lot ( The robots are the simmilar in theconstruction and order of the joint - types, just the dimensions from joint to joint are different)
The DH-Parameter are attached.

This is strange or is this normal behavior??

I got the lever mechanism working with a little software "hack", (Custom component that moves the second joint when the first moves, so that the net movement is only on joint 1, works flawlessly so far.) when the robot is fully working i will post my solution here.

If i increase the d-5 Offset to 400 or 0 not much changes. 

Are you sure your X-coordinate is correct when the wrist is horizontal as in the hand-drawn sketch on the left? If it is then D-5 parameter would seem to be correct.
Also, if you go from the horizontal to the vertical orientation does the z-coordinate value change by the value of D-5?

1. Yes i tested it multiple times.
2. I only measured the x - Value.  I will test the z - Value and then reply.

Looking at your parameter list (D-0 = 0), it seems that your origin is in your shoulder joint rather than on the base plate. Is that intended?

Yes its intended, this way, the z coordinate absolute 0 is near the Workbench surface. In absolute World mode its simpler to measure z height for me.

Note: If you are using the 'switchable kinematic' feature you should update to current master as a bug has been identified and a fix has been pushed recently.

As far as i know i dont use switchable kinematics. What is this feature?

Thanks for the help.
I found the problem when I turned joint 3 +90° and then joint 4 90°. The y-coordinate should be 195mm but it was -195mm. 
The other directions were correct. 
I switched the turning direction of joint 3 and 5. Now it works. 
Sometimes you can't see the obvious and need a hint :-D
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