Robotic module Question

Hi all
i have some question about the robotic module.
i already have a DH table for my robto arm.
Now i am trying to input this DH parameters into Labview.
I saw the example of inverse kinematis for puma 560.
Also,I find that the "create PUMA 560 Modified.Vi" can let user to input their only DH parameters.
But
What is the Twist in Labview? angle about previous Z, from old X to new X.
What is the Length in Labview? is it represent thelength of the common normal (r).
What is the Offset in Labview?offset along previousZ to the common normal.
What is the Joint Corrdinate Offseti? in Labview?offset along previousZ to the common normal.
When i modify the DH paramters into "set kinematic parameter.vi",there show a error about -310040.
Anyone can indicate which part i get worg?
Thank you so much
Tim