PUMA 200 Robotarm and some Hal/INI issues

Hi guys!

I have gere a puma 200 robot arm from unimation.

All joints working
All brakes working
All encoders working
All ratios of the gears fit to encoder and measured angles anglea digital angle measurement tool.

After all this i change my kinematic to GENSERKINS

In joint mode all works.
In world mode i have issues.

There is one thing what make me headache... the TCP is upside down.

If i look to the puma560 vismach genserkins simulation.. its the same.

I set up the DH parameters.. i look to the puma 560 dh parameters in the simulation config and adapt them to my puma 200 parameters i get from the drawings.


In world mode Z looks ok... x y small radius?
But if i start the linux example i get errors of limits and kinematic errors.


Has someone the knowledge to look to it?

Thanks
Could someone help me please?