Rotating A axis using TCP

Hello guys i had succeeded in implementing TCP kinematics using userkins templete , now  my problem is when i want to rotate A180 ( back face of the disk) the problem is as TCP is defined there will be effect in Z,Y axis if i am parallel to X axis , the problem is that if i rotate A 180 degree there will be mechanical collision , so i want to rotate A180 without effecting any other joints, i believe this problem must be faced with anyone tried to implement TCP, could you guys shared ideas how to solve this problem with me?

That is what switchable kinematics was developed for so create a 'switchable' kinematic file (you can use the 'millturn.comp' as a template) which will enable you to switch between joint and tcp mode.

Also see the 'sim/axis/vismach/5axis/table-dual-rotary/xyzab-tdr.ini' simulation config for an example. You will find the kinematics component used for that in 'src/hal/components/xyzab_tdr_kins.comp'