5axis router with Y-slave axis XYZAB

Do you need 5 axis fully interpolated ?
For the interpolated setup you would need to write the kinematic yourself as for now only xyzac and xyzbc come with the installation and you need XYYZAB.

Otherwise all you need is to setup XYZAB and the slave axis Y in the INI

Ok so I presume you don't need TCP.

You need to change this in the INI:
[KINS]
JOINTS = 6
KINEMATICS = trivkins coordinates=XYYZAB kinstype=BOTH


[TRAJ]
COORDINATES = X Y Y Z A B

[AXIS_X]
..

[JOINT_0]
..
[AXIS_Y]
..

[JOINT_1]
..
[JOINT_2]
..

[AXIS_Z]
..

[JOINT_3]
..

[AXIS_A]
..

[JOINT_4]
..

[AXIS_C]
..

[JOINT_5]
..