Hello Everybody
I recently build a 5 axis conversion of open source printer Voron Trident 250 as a base and designed the 5 axis module with new printhead what is also Z axis.
Project 5 axis Voron Trident.pdf
If you would like to see it in a movement and indicator clock testing here is my
YouTube channel
https://www.youtube.com/channel/UCL7oZxzQpKNU-jJnElbkT3w
Now I am already testing some full 5 axis printing still work in a progress 
Hi @JoergS5 and @OttoJiang, thank you for your replies. Joerg you are right, my homing of x and y was wrong in the homeall file, also I reflashed both firmware's on the printer and now the homing is taken from the homeRobot.g file as it should. Then I corrected the homing of X and Y.
G91 ; relative mode
G1 H1 X240 Y240 F3000 ; coarse homing X or Y
G1 H1 X240 ; coarse home X
G1 H1 Y240 ; coarse home Y
G1 X-4 Y-4 F600 ; move away from end stops
G1 H1 X10 ; fine home X
G1 H1 Y10 ; Fine home Y
G90
(My homing sensors are at the back right of the printer)
But homing with M669 K13 B"CoreXY5AC" had the same results, the printer first homed X, then the Y went diagonally forward to the right and crashed. I then tried using M669 K1 as advised by @OttoJiang and the X and Y axis homing was fine without any problems. After a bit of testing homing the with both kinematics M669 K1 and M669 K13 B"CoreXY5AC" I made my homeRobot.g in a way that the printer will start homing first under M669 K1 and home all axis then follows M669 K13 B"CoreXY5AC" and home all axis again without any problems.
My G92 values are also working and the robot kinematics are working absolutely fantastic!!! with all axes moving as they should.
I will attach the homeRobot file.
@JoergS5 big thanks for your robot kinematics, the printer works fabulously with it, and now I am going to measure the machine accuracy if there is any adjustment required to tune, but so far I need to mount indicator finger clock to check the accuracy.
I have got some good ideas from testing 5 axis cnc machine centres.
Thank you all very much for your help and support and for the fantastic robot kinematics firmware, there has definitely been a huge amount of work behind all of this!!!
Homing:
https://youtube.com/shorts/ZaVPK-iH3sQ?si=MTcbL_gMd6V_0Oqx
Short kinematics test video:
https://youtube.com/shorts/k_G0fK1Lo9g?si=XwcDXoe3mVyjbMt2