TCP 5-axis kinematics

Hi
Only now have I done the correct kinematics for the MAKA machine.


But I have a problem with the W axis. He will make a mistake after one millimeter. It doesn't matter what the speed is. (parameter F)
The movement of the W axis is also 1 mm


Kinematics: 5axiskins
LC: master 2.9.0.
I can't find an error in my configuration. Please help.

Another question: How do I set the Pivot-length parameter to fixed? The default is set to 250mm.

for w joint 5:
net j5loop <= joint.5.motor-pos-cmd
net j5loop => joint.5.motor-pos-fb


For pivot-length use:
5axiskins.pivot-length

the sim config shows example computing pivot-length

github.com/LinuxCNC/linuxcnc/tree/master...ach/5axis/bridgemill
github.com/LinuxCNC/linuxcnc/blob/master...dgemill/5axisgui.hal
 

Thank you, he's working right now

I referenced xyzac-trt-kins in my .INI-file. I have an XYYZAC setup.
After starting LinuxCNC it shows 6 axis as joints. After homing, it shows x,y,z,a and c. Nothing wrong there.

My problem: my joints are not moving correctly. X moves fine, but only one of my y-axis-joints is moving. When trying to move z, it is moving y2 and so on... I guess LinuxCNC "forgets" my gantry setup in the xyzac-trt-kins setup.

Any suggestions, what´s the issue?

I should add, that I am homing on the spot manually for test purposes.

I am sorry, I don´t know how to pass the coordinate list to the xyzac-trt-kins. Where can I do that?
Do you mean the assignment in the INI file as: KINEMATICS = xyzac-trt-kins coordinates = xyyzac?
Is there anything else I need to assign in the HAL file?

I am using LinuxCNC 2.9

Ist there anything I need to change in my hal file?
Getting the following error message.

Maybe hardcoding the trtfuncs.c could help? I would change the assignment of joint 3 from "JZ" to "JY2" and move any further joint according to that.