SCARA Robot changing offsets in teleop mode ?

Hey guys I'm having troubles with the operation of my scara robot.
I'm homing the Joints in Joint mode and they are setting correctly to zero.

When im changing into teleop(World) mode the kartesian coordinates were set to X= 745 , which seems to be the result of the arm lengths defined with : scarakins.D2 and scarakins.D4-

The Z axis is set to 525 which seems to be the value of scarakins.D1 (vertikal height)

The Y axis is set to 0

Now I would like to know how to set up the coordinate system right.

the min and max limits of the axes in the actual cooridnate system is :

x: max :745 min: 200
y: max :300 min -300
z: max 525 min:-2

I would like to change the value of each axis to 0 after changing from jonts mode to teleop mode but i cant find out how to handle this , as the offset G91 does not change the values of the kartesian axes

Maybe you can help me

regards lukas

Heres a quik screenshot of what im talking.

In Joints mode every joint is homed an set to zero but after going to World mode ist sets the axes to the values on the photo and I dont know how to change them .

I would like to have X is in this position 0 instead of 745 ans so on...

dear hardwear i'm looking for configering emc2 to robot arm
hope for help
i mean how to gofigure pin port to accept joins not x,y,z
or this needs to write funcions some where to identefy x,y,z,
so please help if you can
thanks alot