help to set up the kinematics

My robot work correctly in joint mode. I am able to move the individual joints as "Joint 1", "Joint 2" etc. Instead in the world mode my robot doesn't move! So which could be the problem?

This is my hal file. Maybe there is here something wrong......

honey, setting up a robot with serial kinematics is not an easy task, so be ready to put much effort in it. Do not expect it to work from the first attempt, even from the tenth.

Which interface do you use? If it's AXIS, pressing Shift-4 in manual tab lets you switch between joint and world modes. What happens when you try to jog in world mode?

I know very well that it is not easy especially for who like me are not very experienced. But I do not give up even to the tenth attempt!
Yes, i use AXIS interface. When i use joint mode my robot works in manual control ( I am be able to move every single joint) but doesn't in mdi or auto. When I switch to world mode i have in the interface axes XYZABC but I am unable to move my robot either in manual control or with mdi commands.

Well, but what happens when you press +-X for example? No messages, and the robot stands still?

By the way, you might try new configurations with robot disconnected from the PC, for safety reasons.

I managed to get your setup to launch.

It seems to have problems in the kinematics parameters. If you look in dmesg you will find thousands of error messages.

I think you need to look very carefully at you D-H parameters.

An (possibly unrelated) problem, I think, is that the joins are not in sequence in the Puma visualisation tool.

In genserkins the joints need to be defined in sequence from the base to the end-effector. That is what Serial Kinematics means. Then the D-H parameters need to be correct and consistent. I don't actually know how to do that bit, it has never been relevant.

Have you see the video here?