How to add 5 axis to foam cutting machine?

Please do not judge strictly. I am new to linuxCNC.
I have a foam cutting machine. I used mach3 now I want to switch to LinuxCNC. Machine kinematics XYUV + rotary axis A in the table. How to add A-axis control. Possible without graphic display.I wanted to set up the ini and hal file, but nothing happened to me. Help who can.

Upload the hal and ini files here so we can have a look please.

That's how I did it. Does not work

You need to start here  linuxcnc.org/docs/stable/html/motion/5-axis-kinematics.html
and set the kins type etc correctly. 

MOre docs here  linuxcnc.org/docs/stable/html/man/man9/genserkins.9.html

Not sure if custom kinematics is really what is needed here. As far as I understand he just wants to add a rotary A axis to the foam XY+UV configuration which seems to be using regular trivkins.
I'm not familiar with the foam configuration setup, can you maybe elaborate on what is not working? Just the added A-axis or what else?

edit:
Not sure about this but your joint numbering looks a bit wonky to me, I think that if you define:KINEMATICS = trivkins coordinates=XYUVA

you would want X to be joint0, Y - joint1, U - joint2, V - joint3 and A - joint 4


Also if you are getting any errors at startup you should post those as well.

Сообщение Aciera = 256790 userid = 25994Не уверен, что здесь действительно нужна пользовательская кинематика. Насколько я понимаю, он просто хочет добавить поворотную ось А к ​​пенопластовой конфигурации XY+UV, которая, кажется, использует обычные тривкины.
Я не знаком с настройкой конфигурации пены, не могли бы вы уточнить, что не работает? Просто добавили ось А или что еще?

редактировать:
не уверен в этом, но ваша нумерация суставов выглядит для меня немного шаткой, я думаю, что если вы определите: KINEMATICS = координаты trivkins = XYUVA

, вы бы хотели, чтобы X был совместным0, Y - совместным1, U - совместным2, V - совместным3 и A - соединение 4


Также, если вы получаете какие-либо ошибки при запуске, вы также должны опубликовать их.
 

Thanks, I already figured out how to do it.
So it worked for me, I just can't figure out how to make the C axis circular. It turned out only when it is linear.

The machine looks like this. Forgive me for not a photo, but a picture of a project.

It's still not clear to me what exactly isn't working for you.
So if you define JOINT_4 (C_AXIS) as ANGULAR you cannot use the C-axis?

I have tried to define X,Y and Z as ANGULAR before for a robot and it didn't seem to make any difference at all.

When the c-axis is angular, it gives limit errors. I tried to enter different values in hal it didn't fix the error.

I think this topic will be also helpfull to you ( hot wire change speed ).