TCP 5-axis kinematics

Hello ,

I set up a 5-axis xyzac-type machine in TCP, the switchkins work very well (M428 / M429 / M430) the switch to Trivkins mode -> xyzac-trt-kins goes well.

On the other hand, the parent axes in any direction.
Even when changing values if below the movement is always the same and inconsistent

net: kinstype-select <= motion.analog-out-03
net: kinstype-select => motion.switchkins-type

net: tool-offset motion.tooloffset.z xyzac-trt-kins.tool-offset
setp xyzac-trt-kins.x-offset 0
setp xyzac-trt-kins.y-offset 0
setp xyzac-trt-kins.z-offset -40

setp xyzac-trt-kins.x-rot-point 163.497
setp xyzac-trt-kins.y-rot-point 265.305
setp xyzac-trt-kins.z-rot-point -169

Can you help me please I can't understand?
attached my .ini / .hal files

thank you in advance

Hi everyone.
I could complete what i wanted to have my own 5 axis machine thanks you to everyone.

<iframe width="560" height="315" src="" frameborder="0" allow="accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture" allowfullscreen></iframe>

<iframe width="560" height="315" src="" frameborder="0" allow="accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture" allowfullscreen></iframe>

Very nice, thank you.

Id like to ask if the question if 3+2 / tilted workplane (hiedenhain G7 or fanuc G68.2) has been solved?
I see this is vital for 5 axis machining. Canned cycles and 2.5 D machining off-axis (undercuts in holes). Also for recovery as manual movement is in line with the spindle vector. This type of machining makes up 95% of muli axis machining, with rtcp rarely required other than some finish (swarf) machining. I know this because I am employed by the 5th largest aerospace tooling manufacturer globally and have machined many freeform tools with vacuum grooves and holes normal to the surface.
Some machines are delivered 3+2 only and require an upgrade (pay) to be allowed to do 5 axes simultaneously.

To add to the above post. My machine configuration is head/table the example max5 is basically my machine. 3+2 is necessary on a machine like this so that you can retract the tool along its axis regardless of the angle of rotation. with 3+2 active Z becomes a interpolation of X and Z and X becomes an interpolation of X and Z.

i think that i have read that UVW is the coordinate system relative to the tool but am unsure how to use them or weather they are relavent.
Heidenhain G7 uses Eulers rule to re-position work-plane/ref frame with or without rtcp active (movement of rotation axes around tool centre or not)
i hope this makes sense to somebody as i would really like to have this feature or something similar. The trig is simple enough would it be possible to use the userk function ?

on another note has anybody added switchkins to max5?

Sorry if i am all over the place but i have a lot to learn about linuxcnc.

Cheers

Matt

With switchkins you can rotate your table to the required angles and then switch to tcp which aligns your Z axis with your tool axis. I use this with a mechanical (indexing) swivel head to machine pockets in handrails for a stair maker.
I'm not sure if max5 kinematic has been adjusted for switchkins yet.