Custom kinematic - TCP compensation Joint following Error

Hello Everyone.

We use a custom kinematic (based on maxkins.c) for a university project. The axis we are using is a rotational axis (b-axis), which is mounted on the x-axis and z-axis. The rotation of the b-axis is getting compensated to the TCP position. However if i press the machine-off button in linuxcnc and the b-axis has moved (and got compensated in x and z) I get a joint-0 following error (which is the joint of the x-axis).

Can someone tell us, what we can do that this error does not occur anymore?

Here you can find the kinematic we use (aimiskins.c):
github.com/AIMIS-FYT/AIMIS_PRINTER/tree/master/kins

Kind regards,
Michael

Can you post the hal and ini files so we can have a look ?
Also some more info on the system would help, like what motor/drives are in use, how is the B axis mounted in relation to X and Z, etc.