v2.9 and not the perpendicularity of X and Y

Colleagues, I am currently using v2.8.4 with the XXYYZ scheme. Two sensors X1 and X2, when performing Home, help set the portal to the working position. I use a rack as a drive and to reduce the influence of gaps (so that the gear is always in contact with the rack on one side) I adjusted X1 and X2 so that a pre-elastic stress occurs. But to correct this, use the setting (additional module) -
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#20241015 переход на программную корреkцию осей
    #loadrt [KINS]KINEMATICS

#вариант программной коррекции осей
#вариант простой, коррекция вдоль У по двум крайним точка
loadrt relkins coordinates=XXYYZ adjust=X from=Y steps=2 step_size=1030 offset=0
    setp relkins.adjX.Y0 0
    setp relkins.adjX.Y1030 -2.6
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There is a question about switching to version 2.9. Accordingly, the question is - in version 2.9, how can you indicate (correct) the deviation of the X*Y geometry from the normal one (90 degrees)?

sounds really good, thanks for the answer.
Are there any configuration examples somewhere? that loadrt is clear.

The current version 2.8.4 I can -
1. enable
2. launch a geometry check program, which, based on the results of the Sonde of the first class square, will calculate and tell me the amount of deviation from the perpendicular
3. Without turning off the program, I can enter a command like - in the terminal -
halcmd setp relkins.adjX.Y1030 -1.82

and get the corrected geometry without restarting the program.


How to do this in version 2.9? are there any examples?

From the description at the link I see the following alorhythm -

1. I know the amount of deviation
2. in the case of XU, I need to explicitly specify the parameter for the formula -
X_joint = C_xx * X_axis + C_xy * Y_axis + C_xz * Z_axis

Those. I know the coefficient from clause 1
C_xx = 1
C_xy = (deviation X divided by width Y)

But what are the rules of use, syntax, examples?

loadrt matrixkins count=0
C_xx = 1
C_xy = 0.03
or
C_xy = [3/100]

or otherwise?
how to change the C_xy parameter on the fly without rebooting the program?
if loading a component requires specifying the contact number count=N, then N is what, what are the options? And where should this count be specified in the C_xy job?

In general, we need examples of syntax and application
In man, the example section of the configuration file shines with emptiness

Thank you, however, this is not necessary. If you already have a Matrixkins component built into the LinuxCNC kernel, then you need to use it. According to the description, it is quite suitable. The main thing is to understand the configuration synatxis for hal.
According to the description, the component built into the kernel solves issues of three axes at once. Simple (linear), but closes.

I don’t have the realkins component itself. The forum where this component was published has already died. The module is here. That's exactly what's holding me up on version 2.8.4

Thank you, the comments in the source code are much less detailed than in man (this is strange). It would be right to bring the man to the proper level. Thanks again. When I install 2.9.x I will publish detailed startup instructions.