Linux CNC ( EMC2) hexapod parallel robot machine tool

LinuxCNC (EMC2) controlled 6axis hexapod (Stewart platform) machine tool prototype. Components: 2. 2 kW watercooled 24000 rpm spindle with inverter, 60EMDHT36 motors and Dyn2B drives from DMM Technology, 25x10mm ballscrews 1200mm long, needle bearings for upper joints, 32009 bearings for nut rotation, 265M15 timing pulleys and belts. The base, the moving platform, all joints and struts are custombuilt. The machine is pretty slow here, as it s controlled via LPT port with limited step fr