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. Here is a suggestion that should give you a 'non-inverted TCP' (since that seems to bother you). Make sure you actually understand the process and verify my values. Ask if you are having trouble.:

 
 
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.