[SOLVED]v2.9 and not the perpendicularity of X and Y matrixkins + XXYYZ

ok, -
INI -
[KINS]
JOINTS = 5

#2025-11-20 для 2.9.4
#KINEMATICS = trivkins coordinates=XXYYZ
KINEMATICS=matrixkins

HAL -
#2025-11-20 для версии 2.9.4
loadrt [KINS]KINEMATICS

#программная коррекция
#https://linuxcnc.org/docs/devel/html/man/man9/matrixkins.9.html
#https://github.com/LinuxCNC/linuxcnc/blob/master/src/hal/components/matrixkins.comp
#loadrt matrixkins
setp matrixkins.C_xy 0 # Skew Y axis towards X axis
setp matrixkins.C_xx 1 # X axis scale
setp matrixkins.C_xz 0 # Skew Z axis towards X axis
setp matrixkins.C_yx 0 # Skew X axis towards Y axis
setp matrixkins.C_yy 1 # Y axis scale
setp matrixkins.C_yz 0 # Skew Z axis towards Y axis
setp matrixkins.C_zx 0 # Skew X axis towards Z axis
setp matrixkins.C_zy 0 # Skew Y axis towards Z axis
setp matrixkins.C_zz 1 # Z axis scale

Start = abort,

Debug file information:
Note: Using POSIX realtime
matrixkins: dlopen: /usr/lib/linuxcnc/modules/matrixkins.so: cannot open shared object file: No such file or directory
./4.hal:16: waitpid failed /usr/bin/rtapi_app matrixkins
./4.hal:16: /usr/bin/rtapi_app exited without becoming ready
./4.hal:16: insmod for matrixkins failed, returned -1
951
Stopping realtime threads
Unloading hal components
Note: Using POSIX realtime

Linuxcnc-2.9.7 usp + linuxcnc-dev-2.9.7 + kernel 6.1.0-41-rt-amd64

?!?!?!?!

ll /usr/lib/linuxcnc/modules/ma*
-rw-r--r-- 1 root root 15240 окт 23 01:43 /usr/lib/linuxcnc/modules/maj3.so
-rw-r--r-- 1 root root 15680 окт 23 01:43 /usr/lib/linuxcnc/modules/match8.so
-rw-r--r-- 1 root root 14800 окт 23 01:43 /usr/lib/linuxcnc/modules/matrix_kb.so
-rw-r--r-- 1 root root 15512 окт 23 01:43 /usr/lib/linuxcnc/modules/max31855.so
-rw-r--r-- 1 root root 14704 окт 23 01:43 /usr/lib/linuxcnc/modules/maxkins.so

?!?!?!?!

ln -s /usr/lib/linuxcnc/modules/maxkins.so /usr/lib/linuxcnc/modules/matrixkins.so
# ll /usr/lib/linuxcnc/modules/ma*
-rw-r--r-- 1 root root 15240 окт 23 01:43 /usr/lib/linuxcnc/modules/maj3.so
-rw-r--r-- 1 root root 15680 окт 23 01:43 /usr/lib/linuxcnc/modules/match8.so
-rw-r--r-- 1 root root 14800 окт 23 01:43 /usr/lib/linuxcnc/modules/matrix_kb.so
lrwxrwxrwx 1 root root 36 ноя 20 22:52 /usr/lib/linuxcnc/modules/matrixkins.so -> /usr/lib/linuxcnc/modules/maxkins.so
-rw-r--r-- 1 root root 15512 окт 23 01:43 /usr/lib/linuxcnc/modules/max31855.so
-rw-r--r-- 1 root root 14704 окт 23 01:43 /usr/lib/linuxcnc/modules/maxkins.so

Start = abort,
=============
Debug file information:
Note: Using POSIX realtime
4.hal:16: /usr/bin/rtapi_app exited without becoming ready
4.hal:16: insmod for matrixkins failed, returned -1
1358
Stopping realtime threads
Unloading hal components
maxkins: not loaded
<commandline>:0: exit value: 255
<commandline>:0: rmmod failed, returned -1
<commandline>:0: unloadrt failed

ЧЯДНТ? What I Do Wrong?

Thanks for the tips. I deleted sl. Linuxcnc-dev, of course, is installed.
======
# halcompile -h
halcompile: Build, compile, and install LinuxCNC HAL components
///

halcompile --install matrixkins.comp
Traceback (most recent call last):
File "/usr/bin/halcompile", line 1553, in <module>
main()
File "/usr/bin/halcompile", line 1523, in main
process(f, mode, outfile)
File "/usr/bin/halcompile", line 1363, in process
a, b = parse(filename)
^^^^^^^^^^^^^^^
File "/usr/bin/halcompile", line 434, in parse
f = open(filename).read()
^^^^^^^^^^^^^^
FileNotFoundError: [Errno 2] No such file or directory: 'matrixkins.comp'

find / -name matrixkins.comp
is null

pardone, -
wget github.com/LinuxCNC/linuxcnc/blob/master...ents/matrixkins.comp
--2025-11-21 12:20:08-- github.com/LinuxCNC/linuxcnc/blob/master...ents/matrixkins.comp
Распознаётся github.com (github.com)… 140.82.121.3
Подключение к github.com (github.com)|140.82.121.3|:443... соединение установлено.
HTTP-запрос отправлен. Ожидание ответа… 200 OK

halcompile --install matrixkins.comp
Traceback (most recent call last):
File "/usr/bin/halcompile", line 1553, in <module>
main()
File "/usr/bin/halcompile", line 1523, in main
process(f, mode, outfile)
File "/usr/bin/halcompile", line 1363, in process
a, b = parse(filename)
^^^^^^^^^^^^^^^
File "/usr/bin/halcompile", line 441, in parse
a, b = f.split("\n;;\n", 1)
^^^^
ValueError: not enough values to unpack (expected 2, got 1)

Thank you, of course, I'm a hat and stupidly downloaded the html page. We have advanced

halcompile --install matrixkins.comp
Compiling realtime matrixkins.c
Linking matrixkins.so
cp matrixkins.so /usr/lib/linuxcnc/modules/

start abort -
4.hal:22: parameter or pin 'matrixkins.C_xy' not found

4.hal file -
setp matrixkins.C_xy 0  # Skew Y axis towards X axis
setp matrixkins.C_xx 1  # X axis scale
setp matrixkins.C_xz 0  # Skew Z axis towards X axis
setp matrixkins.C_yx 0  # Skew X axis towards Y axis
setp matrixkins.C_yy 1  # Y axis scale
setp matrixkins.C_yz 0  # Skew Z axis towards Y axis
setp matrixkins.C_zx 0  # Skew X axis towards Z axis
setp matrixkins.C_zy 0  # Skew Y axis towards Z axis
setp matrixkins.C_zz 1  # Z axis scale

Bravo, thank you!
The interface immediately changed - before home, a choice of individual motors is now available!
There was an error in the perception of the hal file configuration when I tried to write down the parameters
setp matrixkins.C_xy 0