5 axis head head machine xyzbc tcp

I am trying to make a 5axis head head cnc machine, i have a few problems (questions)
problem 1) i am getting a  joint following error i am using stepper motors
Problem 2) i tried to add x axis offset but it is not changing anything while moving the c axis did i do something wrong

Looking at '5axiskins.c' it doesn't seem to offer an 'x axis offset' only a 'pivot_length'. Have you altered the kinematics file?

[edit]
As for getting following errors on a stepper system maybe look here:
forum.linuxcnc.org/38-general-linuxcnc-q...or-on-stepper-system