New kins for XZAB lathe/mill - joint following error

I have a lathe/mill that i recently added a 4th axis -B- to allow the spindle to rotate.
The lathe/mill is setup as follows:
Joint 0/"X" axis - parallel to the bed of the lathe
Joint 2/"Z" axis - perpendicular to the bed of the lathe
Joint 3/"A" axis - rotary around "X" - gives me a access to a polar "Y"
Joint 4/"B" axis - on the "Z" table holding the spindle - rotates with zero degrees perpendicular to the "X" axis, 90 degrees is parallel to the "X" axis pointing to the headstock.
LinuxCNC version 2.7.8

What i want with the custom kins is the following:
with a Z-TLO configured for when the B-axis is at zero degrees, as I rotate the "B" axis, the "Z" and "X" axis will move to keep the end of the tool at the same location.

With this XZABkins, hal and ini (attached) i get a joint 0 following error immediately on executing "G0 B1" - just 1 degree worth of rotation - I added hal-out pins for the joint 0, 2, 4 to validate that the computations are working but i just don't know what i am doing wrong? is this approach even valid?
if I need to increase the follow error - where would I do this?

Note: With Trivkins - all 4 axis operate as expected., Also the tool-number 100 is reserved for a dedicated probe i have attached to the side of my spindle - i have not tested it yet with this kins.

My test case is Tool 99, with a TLO of 132.688276 (T99 P99 D3.175.000000 Z+132.688276 ;Generic) - This should be the actual distance between the center rotation of the spindle and the end of the tool tip. (With the B @ 90 and Z = 0, the bit is on centerline.of the X axis)

Also, I have seen posts on joint vs world view - with this version I am not sure i see a menu choice on how to change this.

Thank you for any and all suggestions!

ok - turns out the kinematics are working just fine. if i execute a "G0 B90 F10" things work as expected, "G0 B90 F900" generates the joint error. Now i am pointing to the trajectory settings in the ini file - at least this makes sense to me. I guess the movement of the X/Z/B axis in tandem is exposing a problem with my TRAJ settings that has always been there.

Thank you all for your patience...

Andy, Thank you for the response. Let's say i do some testing with the feed rates and i find the maximum feed rate for the rotational axis (in conjunction with the linear axis) is 1200 degrees/minute or 20 degrees a second. Where should i put this value for the TP to limit the rotational feed rate say during a rapid (e.g., G0 B0)?

In the [TRAJ]MAX_ANGULAR_VELOCITY = 20.00
or somewhere else?

Thank you!

ok- so here is what I found out:

1) 2.8.0-pre1 allowed me to specify the velocity/acceleration at both the axis and joint levels - this helped a lot!
2) In my kinematics i lost sight of the forward/inverse functions needing to be stateless - this meant leveraging a "fake" axis "W" to hold the TLO so that the TP could plan an appropriate timing to get from no TLO to TLO distance including any rotational requirements.
3) I have everything running now so i have a "process" to change tools that keeps everything sane and allows me to leverage a static probe tool that is 90degree offset from the spindle.
4) I only have one issue left and that is an AXIS geometry issue with my B axis - i am using a Geometry of AXZ-B (remember no Y axis) and if i am at G0 A0 when i go from G0 B0 to G0 B90 and back to G0 B-90 the display properly shows the "bit" moving correctly - however if i am at B45 and then rotate A from A0 to A180 the spindle actually changes orientation visually from B45 to B-45 - i am not sure how to stop this.
5) Oh yes - btw - with a tool loaded and i go to G0 X150 Z200 and then rotate from G0 B0 to G0 B90 the end of the tool bit stays at the same point - whoo hoo!

Thanks for all of your assistance!
-Tom