Kinematic model for a 5axis mill with universal (nutating) head

Just wanted to say thanks for all the work on this.  I just got it working on my machine.  I don't have a nutating head, but settings the angle to 90 worked perfectly.  Also, since I have 2 c axis I edited the kinematics to pass through an additional W axis for the rotating table.    

Nice, thanks for reporting back.

Sorry, for all the questions, but I'm having a bit of trouble with TWP and was hoping I could get some help. TCP is working totally fine and it seems like TWP is partially working, but not quite correctly. Say I issue G68.2 X0Y0Z0 I0J-45K0 and G53.1, the spindle orients itself correctly and I can jog in X and Y, but not Z. Depending on the angles I use I get different axes I can jog. Using G68.3 I can see the plane set in the vismach, but I'm not able to jog at all.

I did mess with the kinematics file to make it work for my machine. TCP works great, so it seems to be working (I added a tandem Y axis and a W axis that isn't involved in the tcp math). Is there anything I could have messed up in the kinematics file? Also, I had to scale some things in the vismach since I'm working in inches. Is there anything in the twp remap files that I would need to scale? Thanks again for all the help.

Can you post your modified kinemaitics file and your ini file?

Aciera wrote:

Can you post your modified kinemaitics file and your ini file?
 

Here's all my files.  I've included .ini, .hal, and kinematics comp file.  

I've replaced the standard kinematic file with your modified version, added extra joints and changed the config to inches to test in the simulation but I cannot reproduce your jogging issue in TWP mode.
I'm afraid I'm a bit at a loss as to how to troubleshoot this further.