TCP 5-axis kinematics

The thing is, only you know what you want to happen.

I _think_ that you can get what you want by tweaking the HOME_OFFSET in the INI.

But, "trivkins" is really a "no kins" where joints and axes are identical.

But explain to me like I have one minute to understand. Because there are only so many hours in the day and the forum is busy,

Do you want the position of the work origin to move with the rotation of A with Z remaining colinear with the tool as in the attached sketch?

 

Sorry for my bad explanation.

@Aciera: Yes, that is exactly what I want to implement.

Presuming that this is used in indexing mode only (ie the A axis does not move while the tool is cutting) it seems to me the most straight forward solution would be to move the work offsets (in Y and Z) according to the change in the A axis.
One approach would be to define a custom G command for the rotation of the A axis and calculate the required change in the current work offset values.

    Good morning sorry for the english, but I have to translate it with google Thanks to everyone for the ideas on using LinuxCNC that can be found here. I managed to set up the 5 axis kinematics on my home made cnc, but I can't to solve a problem, using the test file made available by plopes 9000, i can't understand why when xyzc interpolation happens, something is wrong, the two squares are deformed, I attach photos help thanks   

It looks like either some of the distances are not quite correct, or possibly the mechanics are not perfectly linear.

Try making a 2% change to the Y offset, and see if things get better (in which case do it some more) or worse (in which case go the other way).

Then try the same with the Z offset.

All assuming that I have remembered correctly that this kinematics has those adjustments.