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The third was me, so seems like only mods?

We figured out the setting of the parameters, thank you. The program starts normally. Home search is normal.
But running any g-code program fails. Moreover, an attempt to move manually (with arrows on the keyboard) leads to the fact that only each motor moves separately - i.e. not two X X motors, but one X motor, which immediately leads to an accident.

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

Where exactly and how exactly can we now indicate that we have 5 engines and an XXYYZ circuit?

ini-file:
[KINS]
    JOINTS = 5
   
    #2025-11-20 для 2.9.4
    #KINEMATICS = trivkins coordinates=XXYYZ
    KINEMATICS=matrixkins
   


[HAL]
    HALFILE = 4.hal
    HALCMD = setp matrixkinx.C_xy 0 # Skew Y axis towards X axis
    POSTGUI_HALFILE = postgui_call_list.hal
    
[TRAJ]
    COORDINATES =  XXYYZ
    LINEAR_UNITS = mm
    ANGULAR_UNITS = degree
    DEFAULT_LINEAR_VELOCITY = 25.00
    MAX_LINEAR_VELOCITY = 250.00


 

setting maxkins paramter values certainly works for me.
Example using 'HALCMD' entry in the [HAL] section of the inifile:
 

parameter values can also be changed during run time using an executable Mcode that calls 'halcmd' tool but doing so on a kinematics parameter may lead to joint following errors.

But another problem immediately appeared!

when you try to run a regular program, errors will appear
about the release of a program for A and B positive limits!
I don’t have A and B axles, but for 0-4 engines all the limits are set correctly
XXYYZ!

But how to correctly write the value of one of the parameters in the settings? If earlier I could provide in a hal file
setp relkins.adjX.Y0 0

now it's an attempt to indicate

setp matrixkinx.C_xy 0

leads to abortion program launch

Through HalShow, the command setp matrixkinx.C_xy 0 is executed normally.

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

Comment out or remove all lines with 'matrixkins' and try to start the config, if it starts open the 'show hal configuration' tool and check if 'matrixkins' has been loaded and the parameters have been created:
 

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

Try copy/pasting the contents of the file:
raw.githubusercontent.com/LinuxCNC/linux...ents/matrixkins.comp

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)

unknown,

Do you have a Debian Trixie version with RT-PREEMPT kernel for a RaspberryPi 3B+?
It is everywhere written that Trixie already is ' real-time', but I faced a lot of issues when trying to run LinuxCNC on Trixie. Especially on a RaspberryPi 3B+.

Regards, DGdodo

Did you get 'matrixkins.comp' from the github page as linked in my last post?

Grazie. Allora userei p.7 per il segnale M8, p. 12 per PAUSE e p. 13 per RESUME.
Stasera faccio una prova, e poi faccio sapere.

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

Appologies, it seems that 'matrixkins' is not in version 2.9 but in version 2.10.

you'll want to remove the link to 'maxkins'

It should be possible to install 'matrixkins' using the 'halcompile' tool, this will require the linuxcnc-dev package though. To check if 'halcompile' is installed try

if that works you can copy the contents from here:
github.com/LinuxCNC/linuxcnc/blob/master...ents/matrixkins.comp
to a file named 'matrixkins.comp', Then navigate to the location of the file in terminal and install it with:
If halcompile is not installed you would need to install the 'linuxcnc-dev' package:
sudo apt install linuxcnc-dev

NOTE though that I am generally unfamiliar with deb installs as I usually work with locally built installations so I'm not sure if installing 'linuxcnc-dev' will have any consequences to your current installation.