PUMA 200 Robotarm and some Hal/INI issues

Dh parameters= real positon/ angles
Vismach model = not build by dh paramters.

Or what do you mean?

Yes.

But the real problem is that you are getting ahead of yourself. There is ZERO point in hooking up your robot to linuxcnc before you have a clear understanding of what those modified DH parameters actually mean.

Step 1: Take the drawings of your puma, draw a kinematic model and derive a set of DH parameters.

Step 2: Take a six-axis SIM config (without hooking up ANY hardware) that uses genserkins and verify that the World coordinates calculated for simple poses are what you expect.

There is absolutely no point in either hooking up your robot or building a vismach model before Step 2 has been completed successfully.

Here is the corrected suggestion on how to build the modified DH parameter model. The vertical offset (0.75") between J1 and J2 make things a bit more complex then in the 'puma560' sim config.
 
Some explanation on how modified DH parameters work:

- Each parameter set describes the coordinate transformation from one coordinate frame (F0..F6) to the next.
- Each transformation consists of the same sequence (X,Z directions here follow the current coordinate frame!)
      1. Translation along Xn so that the origin of the coordinate frame lies on the rotational axis of the next joint (Jn+1) 
      2. Rotation around Xn   so that Zn is collinear with the rotational axis of the current joint Jn . Note that the direction of Zn and the rotational direction of the physical joint MUST be identical! 
      3. Translation along Zn so that the Xn direction intersects with the rotational axis of the next joint (Jn).
- At the end of each transformation sequence we have created a new coordinate frame Fn+1.
 
Note that with these rules it is not possible to build a transformation from F2 to F3 without rotating J1 by angle theta1 so that the rotational axis of the next joint (J2) intersects with the X vector of F2. This then requires rotating J2 the same amount but in the opposite direction so the lower arm is vertical again. This needs to be corrected in the configuration by either setting a corresponding HOME_OFFSET value for JOINT_1 and JOINT_2 in the INI file or setting the work_offsets accordingly when in JOINT mode (these must then be deactivated when switching to WORLD mode) 

 

As for Step2:

Draw some simple poses and calculate the expected x,y,z coordinates:
 


Then create a sim config for genserkins and feed in the derived DH parameters. then test the results by setting up the joint positions as in the chosen poses while keepin the angular offset for J1 and J2 in mind (+- 5.49°) :

 
 
 
 
 

You are very welcome!

you calculate a different arm length for upper arm.. i got a drawing where the 0.75" are not realy present.

Note though that the line from center to center is not parallel to the underside of the upper arm, so there is also a vertical offset when the arm is horizontal. But, yes, the center distance is given here as 8" so you might want to check that on the actual arm and adjust the A2 value accordingly.