v2.9 and not the perpendicularity of X and Y

SOLVED  -
 matrixkins is a standard technique for correcting the curvature of the portal in the LinuxCNC 2.10 kernel (and above). The issue of mutual correction of XYZ coordinates is resolved by specifying correction coefficients. However, this component is provided for single-engine machines, i.e. XYZ schemes. To use this software correction, changes must be made to the ini machine configuration files. Hal file does not require correction. MAN does not give these examples, см. github.com/LinuxCNC/linuxcnc/blob/master...ents/matrixkins.comp. However, in the ini file 
instead of -
KINEMATICS = trivkins coordinates=XYZ
set -
KINEMATICS=matrixkins
then explicitly specify non-zero correction factors, for example -
halcmd setp matrixkins.C_yx -0.00252427184466  

You will find the coefficient values and the transformation matrix in MAN.
The halcmd setp matrixkins.C_yx correction command -0.00252427184466 can be executed in the terminal (not while the machine is moving!), i.e. the parameter can be changed on the fly.

In case you have a multi-engine XXYZ configuration, etc., you need to change the source code of the matrixkins component (github.com/LinuxCNC/linuxcnc/blob/master...ents/matrixkins.comp), similar to www.forum.linuxcnc.org/38-general-linuxc...xyyz?start=20#338894

+ sudo halcompile --install matrixkins.comp


 

ln -s /usr/lib/linuxcnc/modules/maxkins.so /usr/lib/linuxcnc/modules/matrixkins.so
# ll /usr/lib/linuxcnc/modules/ma*
-rw-r--r-- 1 root root 15240 окт 23 01:43 /usr/lib/linuxcnc/modules/maj3.so
-rw-r--r-- 1 root root 15680 окт 23 01:43 /usr/lib/linuxcnc/modules/match8.so
-rw-r--r-- 1 root root 14800 окт 23 01:43 /usr/lib/linuxcnc/modules/matrix_kb.so
lrwxrwxrwx 1 root root 36 ноя 20 22:52 /usr/lib/linuxcnc/modules/matrixkins.so -> /usr/lib/linuxcnc/modules/maxkins.so
-rw-r--r-- 1 root root 15512 окт 23 01:43 /usr/lib/linuxcnc/modules/max31855.so
-rw-r--r-- 1 root root 14704 окт 23 01:43 /usr/lib/linuxcnc/modules/maxkins.so

Start = abort,
=============
Debug file information:
Note: Using POSIX realtime
4.hal:16: /usr/bin/rtapi_app exited without becoming ready
4.hal:16: insmod for matrixkins failed, returned -1
1358
Stopping realtime threads
Unloading hal components
maxkins: not loaded
<commandline>:0: exit value: 255
<commandline>:0: rmmod failed, returned -1
<commandline>:0: unloadrt failed

ЧЯДНТ? What I Do Wrong?

Thanks for the tips. I deleted sl. Linuxcnc-dev, of course, is installed.
======
# halcompile -h
halcompile: Build, compile, and install LinuxCNC HAL components
///

halcompile --install matrixkins.comp
Traceback (most recent call last):
File "/usr/bin/halcompile", line 1553, in <module>
main()
File "/usr/bin/halcompile", line 1523, in main
process(f, mode, outfile)
File "/usr/bin/halcompile", line 1363, in process
a, b = parse(filename)
^^^^^^^^^^^^^^^
File "/usr/bin/halcompile", line 434, in parse
f = open(filename).read()
^^^^^^^^^^^^^^
FileNotFoundError: [Errno 2] No such file or directory: 'matrixkins.comp'

find / -name matrixkins.comp
is null

pardone, -
wget github.com/LinuxCNC/linuxcnc/blob/master...ents/matrixkins.comp
--2025-11-21 12:20:08-- github.com/LinuxCNC/linuxcnc/blob/master...ents/matrixkins.comp
Распознаётся github.com (github.com)… 140.82.121.3
Подключение к github.com (github.com)|140.82.121.3|:443... соединение установлено.
HTTP-запрос отправлен. Ожидание ответа… 200 OK

halcompile --install matrixkins.comp
Traceback (most recent call last):
File "/usr/bin/halcompile", line 1553, in <module>
main()
File "/usr/bin/halcompile", line 1523, in main
process(f, mode, outfile)
File "/usr/bin/halcompile", line 1363, in process
a, b = parse(filename)
^^^^^^^^^^^^^^^
File "/usr/bin/halcompile", line 441, in parse
a, b = f.split("\n;;\n", 1)
^^^^
ValueError: not enough values to unpack (expected 2, got 1)

Thank you, of course, I'm a hat and stupidly downloaded the html page. We have advanced

halcompile --install matrixkins.comp
Compiling realtime matrixkins.c
Linking matrixkins.so
cp matrixkins.so /usr/lib/linuxcnc/modules/

start abort -
4.hal:22: parameter or pin 'matrixkins.C_xy' not found

4.hal file -
setp matrixkins.C_xy 0  # Skew Y axis towards X axis
setp matrixkins.C_xx 1  # X axis scale
setp matrixkins.C_xz 0  # Skew Z axis towards X axis
setp matrixkins.C_yx 0  # Skew X axis towards Y axis
setp matrixkins.C_yy 1  # Y axis scale
setp matrixkins.C_yz 0  # Skew Z axis towards Y axis
setp matrixkins.C_zx 0  # Skew X axis towards Z axis
setp matrixkins.C_zy 0  # Skew Y axis towards Z axis
setp matrixkins.C_zz 1  # Z axis scale

Bravo, thank you!
The interface immediately changed - before home, a choice of individual motors is now available!
There was an error in the perception of the hal file configuration when I tried to write down the parameters
setp matrixkins.C_xy 0