5 axis tilted drilling

Not sure, can you attach the hal and ini files you are working with?

the only think a did was to change the A to C in ini and hal file

I'm not clairvoyant.  How am I to know what specific changes you made to which version of your files. The changes should already be done in the hal file I posted, while the ini you would need to modify. 

I'm sorry I don't have much time but I would think the w axis does need some feedback hence the following error.
I'll try to have a look at it later today or tomorrow.

After a bit of a ponder I think that the W axis might not even need a pid at all. So try removing/ commenting all this (if it isn't already commented out of course):
#*******************
# AXIS W JOINT 5
#*******************

setp pid.w.Pgain [JOINT_5]P
setp pid.w.Igain [JOINT_5]I
setp pid.w.Dgain [JOINT_5]D
setp pid.w.bias [JOINT_5]BIAS
setp pid.w.FF0 [JOINT_5]FF0
setp pid.w.FF1 [JOINT_5]FF1
setp pid.w.FF2 [JOINT_5]FF2
setp pid.w.deadband [JOINT_5]DEADBAND
setp pid.w.maxoutput [JOINT_5]MAX_OUTPUT
setp pid.w.error-previous-target true
# This setting is to limit bogus stepgen
# velocity corrections caused by position
# feedback sample time jitter.
setp pid.w.maxerror 0.012700

#net w-index-enable <=> pid.w.index-enable
#net w-enable => pid.w.enable
#net w-pos-cmd => pid.w.command
#net w-pos-fb => pid.w.feedback
#net w-output <= pid.w.output

# Step Gen signals/setup

#setp hm2_7i76e.0.stepgen.05.dirsetup [JOINT_5]DIRSETUP
#setp hm2_7i76e.0.stepgen.05.dirhold [JOINT_5]DIRHOLD
#setp hm2_7i76e.0.stepgen.05.steplen [JOINT_5]STEPLEN
#setp hm2_7i76e.0.stepgen.05.stepspace [JOINT_5]STEPSPACE
#setp hm2_7i76e.0.stepgen.05.position-scale [JOINT_5]STEP_SCALE
#setp hm2_7i76e.0.stepgen.05.step_type 0
#setp hm2_7i76e.0.stepgen.05.control-type 1
#setp hm2_7i76e.0.stepgen.05.maxaccel [JOINT_5]STEPGEN_MAXACCEL
#setp hm2_7i76e.0.stepgen.05.maxvel [JOINT_5]STEPGEN_MAXVEL

# ---closedloop stepper signals---

#net w-pos-cmd <= joint.5.motor-pos-cmd
#net w-vel-cmd <= joint.5.vel-cmd
#net w-output <= hm2_7i76e.0.stepgen.05.velocity-cmd
#net w-pos-fb <= hm2_7i76e.0.stepgen.05.position-fb
#net w-pos-fb => joint.5.motor-pos-fb
#net w-enable <= joint.5.amp-enable-out
#net w-enable => hm2_7i76e.0.stepgen.05.enable

# ---setup home / limit switch signals---

#net w-home-sw => joint.5.home-sw-in
#net w-neg-limit => joint.5.neg-lim-sw-in
#net w-pos-limit => joint.5.pos-lim-sw-in

And add this to close the loop:

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


As for the rotary axis not moving I'm somewhat at a loss. As a last resort you might want to create a totally new config using the pncconf tool and modify/add the extra axis manually.

edit:
Also not that this line is not correct:
loadrt trivkins


It should be:
loadrt [KINS]KINEMATICS