5axiskins &LinuxCnc 2.5.3

eslavko wrote:

But when I rotate axis the reference point is still in the top of the head and not on the top of the tool as I expect.
Is it same on your test?

The point of pivot seems to be the W position from the tip of the tool.

So, if you have a 100mm tool and the W position is -100 then the pivot is about the point where the tool enters the head.
If you then G0 W0 then the pivot will be about the tip of the tool.
If you G0 W100 then the pivot will be about a point 100mm away from the tool.

XYZ define a point in space.
AB define the angle the tool makes to that point
W defines the radius at which the tool moves.

eslavko wrote:

So actualy if I want point to be in the tip of the tool I do need to do G0 W0 after tool change ?!?

I think this is normal. Even with a conventional machine.

If you put in a longer tool and do a g43 there isn't any axis movement until you actually ask for it.

G0 Z0 -> head at a particular height
M6 T1 G43 -> head stays at that height
G0 Z0 -> head moves up to allow for longer tool.

You tend to not notice this because a tool change normally coincides with a retract.