5th axis offset for non intersecting axis configuration

[sportbikeryder]

I am working to get the 5th axis output functioning in a post for a machine with an offset 5th axis as shown below. The offset from the 4th (A axis) centerline to the 5th (B axis) centerline is -7.7602".

While this is technically a Table/ Table machine, is the method of attack for posting to assign the 5th axis as a Head axis and then use a HeadOffset variable to calculate a PivotDistance for Tool length compensation?

I have looked at the Thermwood post, however it appears most of the 5th axis info is relating to control for TCP use. 

This control is a Centroid (Fanuc based) control and does not have TCP functionality. 

I do have a pose that was provided by another user based on a HAAS post, however I have not been able to completely decipher what portions are actually necessary to add to the Centroid post for the 5th Axis offset. 

Thanks for any input,

John

[sportbikeryder]

Current output of the post for the sample geometry below gives X 9.4755, as it assumes the rotation of the B axis is at the origin. The desired output for X is rotated about an axis located 7.7602" below the origin (X 7.5981).   

This is Xdesired = X - (Sin B) * (Offset)

Sin B may need a conversion for Radians  / Degrees. 

Any input as to where a conversion function should be added to change the output by the axis offset amount as well as an example syntax for calling out the X value and B value would be appreciated. 

As posted elsewhere, the axis configuration "Offset" is non functional, however It seems the logic above or similar should achieve the desired result, at least for 3+2 positioning use. 

John

[sportbikeryder]

Through use of the Autodesk Post Processor Training Guide (Which I was unaware of previously) located here, along with some input form a fellow forum user with a similar machine, i was able to at least get a baseline post that should be suitable for testing. 

I have included the post below, for a Centroid control and a TRT-32 tilt table. It has not yet been tested. 

John