Setting up switchable TCP

Hello everyone I am trying to set up switchable TCP on linuxcnc for my 5 axis mill I have linuxcnc 2.9 and ran some commands that I found on the internet that is supposed to configure switchable TCP But I am getting errors when I open a sample xyzac-trt configuration from already configured data.
.ini and .hal are attached plus the error message any help is appreciated thanks 

I have linuxcnc 2.9 and ran some commands that I found on the internet that is supposed to configure switchable TCP

Not sure what that means but if you use a current version of 2.9 then the switchable kinematics feature should work right out of the box.
So the first step would be to try to run the simulation config that comes with the installation: sim / axis / vismach / 5axis / table-rotary-tilting /xyzac-trt.ini If that does not show the buttons in the axis gui to switch kinematics between TCP and trivkins then you are running an outdated 2.9.

Well that is the name of the version I am testing 
Is it compatible?
 

2.9 is the development version of linuxcnc, so things change all the time. There are people who could tell you which revision you are running by looking at the numbers you posted and if the switchable kinematic feature had already been merged at that time. I am not one of them and that is why I suggested you run one of the -trt simulation configs to find out. You can also look for configs/sim/axis/vismach/millturn or configs/sim/axis/vismach/melfa-sim. If these are not present in your installation you need to get a more recent revision of 2.9.

3879 is the last build for Buster, the current builds should be in the 6000 range, did not check lately.