5 axis tilted drilling

[EMC] VERSION = 1.1 MACHINE = Sim-5Axis Bridge Mill (xyzbcw)   DEBUG = 0 [DISPLAY]          GEOMETRY = XYZCBW         OPEN_FILE = ./5axisgui.ngc        INCREMENTS = 10 mm, 1 mm, .1 mm          JOG_AXES = XYZC          GEOMETRY = XYZCBW           DISPLAY = axis        CYCLE_TIME = 0.200   POSITION_OFFSET = RELATIVE POSITION_FEEDBACK = ACTUAL MAX_FEED_OVERRIDE = 2.0    PROGRAM_PREFIX = ../../nc_files/     INTRO_GRAPHIC = linuxcnc.gif        INTRO_TIME = 5       TOOL_EDITOR = tooledit z diam           #EDITOR = gedit             PYVCP = 5axis.xml [RS274NGC] SUBROUTINE_PATH = ./remap_subs    HAL_PIN_VARS = 1           REMAP = M428  modalgroup=10  ngc=428remap           REMAP = M429  modalgroup=10  ngc=429remap           REMAP = M430  modalgroup=10  ngc=430remap PARAMETER_FILE = 5axis.var [EMCMOT]       EMCMOT = motmod COMM_TIMEOUT = 1.0 SERVO_PERIOD = 1000000 [TASK]       TASK = milltask CYCLE_TIME = 0.010 [HAL]   HALUI = halui HALFILE = LIB:basic_sim.tcl HALFILE = 5axisgui.hal HALCMD  = net :kinstype-select <= motion.analog-out-03 => motion.switchkins-type POSTGUI_HALFILE = 5axis_postgui.hal [HALUI] # M428:bridgemill    (kinstype==0 startupDEFAULT) # M429:identity kins (kinstype==1) # M430:userk kins    (kinstype==2) MDI_COMMAND = M428 MDI_COMMAND = M429 MDI_COMMAND = M430 [TRAJ]          COORDINATES = XYZBCWY         LINEAR_UNITS = mm        ANGULAR_UNITS = degree MAX_ANGULAR_VELOCITY = 360.0 DEFAULT_LINEAR_VELOCITY = 200.0 MAX_LINEAR_VELOCITY = 346.0 MAX_LINEAR_ACCELERATION = 800.0 DEFAULT_LINEAR_ACCELERATION = 800.0 MAX_ANGULAR_VELOCITY = 360 [EMCIO]      EMCIO = io CYCLE_TIME = 0.100 TOOL_TABLE = 5axis.tbl [KINS] # Note: Supported coordinates are XYZBCW but the W coordinate #       motion is incorporated into the X,Y,Z axes. #       Use of the W coordinate requires a joint (5) #       in order to allow display of W values. #       Use immediate homing for this joint (JOINT_5) # Note: 5axiskins is misnomer #       (xyzbcw  uses 6 joints) #       (xyzbcwy uses 7 joints) # xyzbcw #          type0:5axiskins, type1:identity, type2:userk #          x:joint0,y:joint1,z:joint2,b:joint3,c:joint4,w:joint5 #    JOINTS  = 6 # KINEMATICS = 5axiskins # illustraed below is complex example with duplicate # coord letters for y, 7 joints total): #           type0:5axiskins, type1:identity, type2:userk #           x:joint0 #           y:joint1 AND joint6 #           z:joint2 #           b:joint3 #           c:joint4 #           w:joint5      JOINTS = 7  KINEMATICS = 5axiskins coordinates=xyzbcwy [AXIS_X]        MIN_LIMIT = -500        MAX_LIMIT =  500     MAX_VELOCITY =  200 MAX_ACCELERATION =  800 [AXIS_Y]        MIN_LIMIT = -500        MAX_LIMIT =  500     MAX_VELOCITY =  200 MAX_ACCELERATION =  800 [AXIS_Z]        MIN_LIMIT = -500        MAX_LIMIT =  100     MAX_VELOCITY =  200 MAX_ACCELERATION =  800 # B is one-to-one to JOINT_3 [AXIS_B]        MIN_LIMIT = -120        MAX_LIMIT =  120     MAX_VELOCITY =   60 MAX_ACCELERATION =  200 # C is one-to-one to JOINT_4 [AXIS_C]        MIN_LIMIT = -36000        MAX_LIMIT = 36000     MAX_VELOCITY =    60 MAX_ACCELERATION =   200 # W motion is incorporated in Z motion # but a joint (JOINT_5) must be configured # to support display of W values [AXIS_W]        MIN_LIMIT = -100        MAX_LIMIT =  500     MAX_VELOCITY =  200 MAX_ACCELERATION =  800 [JOINT_0]               TYPE = LINEAR       MAX_VELOCITY =  200   MAX_ACCELERATION =  800          MIN_LIMIT = -500          MAX_LIMIT =  500    HOME_SEARCH_VEL =    0      HOME_SEQUENCE =    0 [JOINT_1]             TYPE = LINEAR     MAX_VELOCITY =  200 MAX_ACCELERATION =  800        MIN_LIMIT = -500        MAX_LIMIT =  500  HOME_SEARCH_VEL =    0    HOME_SEQUENCE =   -1 # joints 1 and 6 used for y [JOINT_6]             TYPE = LINEAR     MAX_VELOCITY =  200 MAX_ACCELERATION =  800        MIN_LIMIT = -500        MAX_LIMIT =  500  HOME_SEARCH_VEL =    0    HOME_SEQUENCE =   -1 [JOINT_2]             TYPE = LINEAR     MAX_VELOCITY =  200 MAX_ACCELERATION =  800        MIN_LIMIT = -500        MAX_LIMIT =  100  HOME_SEARCH_VEL =    0    HOME_SEQUENCE =    0 [JOINT_3]             TYPE = ANGULAR     MAX_VELOCITY =   60 MAX_ACCELERATION =  200        MIN_LIMIT = -120        MAX_LIMIT =  120  HOME_SEARCH_VEL =    0    HOME_SEQUENCE =    0 [JOINT_4]             TYPE = ANGULAR     MAX_VELOCITY =     60 MAX_ACCELERATION =    200        MIN_LIMIT = -36000        MAX_LIMIT =  36000  HOME_SEARCH_VEL =      0    HOME_SEQUENCE =      0 # immediate homing for JOINT_5 (w coordinate) [JOINT_5]             TYPE = LINEAR        MIN_LIMIT = -100        MAX_LIMIT =  500     MAX_VELOCITY =  200 MAX_ACCELERATION =  800  HOME_SEARCH_VEL =    0    HOME_SEQUENCE =    0