Puma560 - Geometry and building other 6 axis robots

absolutely, that would be an honour.

I just noticed that the explanation of parameter A-5 is missing. I will fix that.

@andy: The PDF is fixed and ready for you.

@Aciera re: ini hal pins

Is there a way to alter the min- and max-axis limits

ini hal pins are available for both JOINT_N and AXIS_L
MIN_LIMIT,MAX_LIMIT,MAX_ACCELERATION, MAX_VELOCITY

See the milltask man page (especially notes at bottom):
linuxcnc.org/docs/master/html/man/man1/milltask.1.html

In general, an interp-motion sync is needed for ini hal pins
to be recognized for subsequent motion but the sync is
needed to switch kins types anyway.

Recent dgarr/s_kins docs (not commited yet):
www.panix.com/~dgarrett/stuff/switchkins.html
See 3.3 Inifile Limit settings

And intree examples for M128,...:
github.com/LinuxCNC/linuxcnc/blob/dgarr/...ach/puma/mcodes/M128

@Aciera

I converted your pdf to the asciidoc format used for
LinuxCNC docs and made a branch dgarr/dhtxt for test.

Ref: github.com/LinuxCNC/linuxcnc/blob/dgarr/...on/dh-parameters.txt

Rendered in html:
www.panix.com/~dgarrett/stuff/dh-parameters.html

The dh-parameters.txt file includes your images from the
pdf but would benefit from some introductory and explanatory
text. If interested, please review the document and
supply any additional text to me.

The easiest way is to send an edited copy of the
dh-parameters.txt file to me:
d g a r r e t t at panix dot com