multiple (four) parallel axis

Thank you Andy, and sorry for not replying for a longer time. We have been working on the project, and had several other problems to solve - and we still have loads to do. I finished working for today, and I don't have linux installed at home, but i will definitely check out your file tomorrow - once again, thank you very much for the vismach model.

As for homing, we will need a some sort of process, but it shouldn't be difficult, as we have absolute encoders (though we use incremental encoders for measuring, and the absolutes are only for the verification). This setup was already made, when we started upgrading the machine.

My LinuxCNC experience is definitely little, I only started working with it a few months ago. Could you tell me, what exactly custom kinematics files are?

pcsabi93 wrote: My LinuxCNC experience is definitely little, I only started working with it a few months ago. Could you tell me, what exactly custom kinematics files are?

Given that, I should perhaps say that you need to extract the archive into a folder in your linuxcnc/configs folder, and then you can pick the config from the config picker that is started from the CNC menu.

As for kinematics, it is what maps the XYZ etc commands in G-code to motor positions. In the case of a robot where the motors control all the elbows this involves non-trivial mathematics. For an XYZ cartesian milling machine it involves no maths at all.
linuxcnc.org/docs/2.7/html/motion/kinematics.html for more details.