Gentlemen, I ask again would you peruse this file www.mpm1.com:8080/cinci/comps/5axhydrotelkins_work.c? This file does not have all the kinematics calculations in it. I simplified to allow me to verify small sections. The tool length calculations work. When I add the angle calculations the change between MDI and manual has problems. My angle calculations do not have the same value as what I get from my NCL program. This same calculation works just fine in NCL (my gcode programming system). My main question is 'where is my C problem' (besides between the chair seat and the keyboard). My second request is 'where do I find an application that allows me to run this C program interactively line by line so I can verify the code as I process?' I can do this in NCL but that doesn't help me in C. I have asked two local C programmers to look at this. I told them I do not want to use more libraries. Both of them have instructed me to add libraries to help make it work. Somehow I didn't communicate with them very well. :) thanks for your time and comments Stuart
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