A CE-750 Captain failed to comply with the altitude restrictions on the RUUDY SID from TEB.

Narrative

Departing TEB we were assigned the RUUDY TWO Departure. This was brought up out of the database and loaded in the active flight plan. The procedure calls for a close in turn after takeoff that is only shown as a slightly bent course line on the airport plate but is a separate coded waypoint in the flight plan. The 1500 FT restriction (in the FMS) appears as both the change in course point and the hard; crossing altitude as WENTZ. When briefing the departure; I was concerned about the short distance (2.0 NM) between WENTZ (at 1500 FT) and TASCO (at 2000 FT). After departure; I leveled at 1500 FT and then started my climb to 2000 FT after passing the first waypoint on the flight plan page of the FMS/INFO; NOT the first waypoint on the pictorial SID. This is a procedure with a significant number of course and altitude changes in a short space of time. I had in my head to climb to 2000 FT after the first waypoint (as per the pictorial SID); when the FMS had coded the climb after the second waypoint. My recommendation is to add a second waypoint to the pictorial SID as the point where the course changes from 240 degrees to 260 degrees and I would engage the autopilot much sooner after takeoff to give me more situational awareness. The pictorial SID should be a closer representation to the FMS's screen coding and vice versa.