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.

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 ).