Kinematics for XYZAB mill

Thats actually handled by remapping the joints in 2.9 when the switchkins mode changes
as shown here in millturn.comp
github.com/LinuxCNC/linuxcnc/blob/master...s/millturn.comp#L156
This is a standard sim in 2.9

I see your point and there are millturn machines (hence the sim you mentioned) but to justify the term 'turn' you need a rotary axis that can position as well as rotate at high speeds. If it's just rotating while the mill bit is engaged in the material then I would call that milling. I don't expect the particular machine you need the kinematics for has the ability to run the B axis as a spindle, but I don't know.
Usually a 5/6 axis millturn machine has a horizontal A axis that also works as the lathe spindle and a tilting head as the B axis. This is also preferable since bar stock can be loaded in the spindle/A-axis and the milling head can also be used on work held in the tailstock axis (ie 6th axis). On a millturn machine non rotating lathe tools can also be used instead of a rotating millbit.
 


 

Yeh everytime I look at the parts I use, it needs a mill turn but I don't have a budget for that!

I think I might not bother for a while.
 

Now that you wield the full might of matrix multiplication you can build your own!

Thanks, It would take a lot of googling to do it. Still some gaps in my knowledge like inverting the matrix towards the end. I kinda get the direction they take but the specifics are still unknwn.

I was very grateful for the amazing effort you put in.

But the lathe is just basic trig I could handle...

After finally getting tired of doing the math by hand and switching over to sage I managed to get the offsets implemented: 

Video: user-images.githubusercontent.com/460672...784-f69c9e05f146.mp4

Sim config (requires version 2.10):    

That is very cool. Maybe you should add a pull request to get it into 2.9 before its finalised

Thanks, I do hope to get it into the sim collection but it won't be for the 2.9 release. The kinematics component in this particular sim config requires 2.10 due to some changes that have been pushed a couple of weeks ago.

Thanks to dngarret this sim config has just been pushed to 2.9 as 'xyzab-tdr'

Awesome work team! Aceira, thanks for your hard work with the kinematics.
And thanks to Dewey for getting this amazing enhancement into the next production release of Linuxcnc. I'm always in awe of Dewey's work.