5 axis trunnion set up and kinematics

Hi,
I am interested in running a trunnion style 5 axis machine, i.e. A and C rotary axes mounted to the table of a 3 axis mill.
I've read up on the various configs people have done already, and watched the YouTube videos. I am very impressed with what EMC and its users can achieve, but I am a Mach3 user myself so I have to learn about EMC2. I have set up a couple of 3 and 4 axis machines in the past using Mach.
I'd like to know if anyone has any info, especially a kinematics file for a trunnion type 5 axis system. I haven't seen one in my searches, running EMC. If not, I'm going to attempt to write my own, but I might need some help!

Hello,

There is a great section on kinematics in the EMC2 Integrator manual. You also might try playing with the 9 axis sample files supplied with EMC and modifying them.

Rick

ITALY ROBOT EMC2 6 AXIS run ok