Begginer Questions and MESA cards

Hi everyone !

I'm a new user in linuxCNC and I've been looking for a way to control stepper motors using software that is already developed. My goal is to control a 6DOF robot arm that uses stepper motors. 

In my opinion the best way for that is to use linuxCNC as a reliable software but the problem is that I don't know what i could use between LinuxCNC and the stepper drivers. I've considered the MESA Cards as a good option but it seems too complicated for me to know how to set up everything.

I'm not a Linux user but i have programming knowledge. My question is wich MESA Cards do you recomend me for this purpose? I've been looking the MESA 7I95 because it can control up to 6 stepper motors. The problem is that i can not find a clear way for setting up the card with LinuxCNC. So, is there any other MESA Card configuration that i could use to control 6 stepper motors, having good documentation ?

Thanks everyone.

JT has written a 7i95 configuration tool:
(early but should make most of the basic hal /ini file boilerplate)

forum.linuxcnc.org/27-driver-boards/4496...5-configuration-tool