@JoergS5 Hi, yeah I think it is AC. Gantry (and rotary axes) looks something like this (not final design):

I was not aware of your work on this, is it possible to do this configuration without modification, or would I need to change something for it to work?
And from what I see my configuration would be described Z_corexy(XY)AC or Z_corexy(XY)CA or something else?

@dc42 The best name I (or my team at my students' association) could come up with (and I have been working on this project for some time) is ABCoreXY. If someone has better name I would be more than willing to use it, but if not it is (semi)appropriate

@dc42 I need to take that into account, as I want GCODE to dictate the position of nozzle and it's rotation, not axes individually. This makes linear axes affected by target rotation, and I don't see how I could make that work with what is available now

Hi @dc42
I am in the process of building a 5-axis printer, with Core-XY linear kinematics with additional AB rotary axes mounted on the gantry. Could you reserve a kinematics type number for this purpose?
Thanks,
Blaise