LinuxCNC (EMC2) hexapod parallel robot machine tool

LinuxCNC (EMC2) controlled 6-axis hexapod (Stewart platform) machine tool prototype. Components: 2.2 kW water-cooled 24000 rpm spindle with inverter, 60EM-DHT-36 motors and Dyn2-B drives from DMM Technology, 25x10mm ballscrews 1200mm long, needle bearings for upper joints, 32009 bearings for nut rotation, 26-5M-15 timing pulleys and belts. The base, the moving platform, all joints and struts are custom-built. The machine is pretty slow here, as it’s controlled via LPT port with limited step frequency. Lat