5 axis kinematic

maufissi wrote:

To my understanding, with the correct kinematics, I should be able to run the machine with the RTCP (rotation tool center point). This way the cam only needs to send to emc XYZ coordinate and tool tip orientation in the B and C axes with respect to the machined surface.

Yes, that is exactly the point of LinuxCNC Kinematics.

A good example if this is that an industrial robot can run the LinuxCNC splash-screen code unmodified because the kinematics converts XYZ tool-tip positions into joint angles.