Kinematics for XYZAB mill

Thanks Rod,
1) I noticed the wrong rotation sense as well. We did invert the sines on the rotation matrices as described in Rudy's document but since the machine in question has the rotation sense defined as being opposite the right hand rule it seem that we don't need to do that.

2) I think you might be using the Identity kinematics. With the TCP on you should not see a toolpath in the vismach model when rotating B as the tool will be following the rotating coordinate point. Try to click on the GUI button 'TCP: XYZAB' and test again. What I see is that is seems to work for the A axis but B is not correct.

Need to put my thinking cap on, again.

You jumped the gun a bit there Rod, presenting that.
Finally found the mistake that was staring me in the eye. 
Here is a presentable solution that actually works for both A and B axes. So you might want to halcompile that and shoot that video again

 

Anyway, the other think I had was that Dy is not needed because the axes of our A and B DO actually intersect.
 

We don't want the public to laugh me off the streets, do we?

Just kidding Rod, I forgot the smiley when I wrote that you jumped the gun

Doesn't take much to screw up a kinematic, a 'CB' instead of a 'CA' will do.

Anyway I'll redo the pdf with the math and I'll need to have a look at the kinematics comp because I'm having issues setting the rotation point in the ini file.

[Edit]
Just to be clear, the error was in the comp I posted earlier. Nothing to do with your changes.

[edit2]
Also tool length offset is not implemented yet.

Maybe compare with the xyzac-trt and xyzbc-trt simulation configs.