Steeper motor control

can I control six stepper motors ( 3 for xyz and 3 for orientation) using the linuxcnc platform?

Yes. You can control up to 9 motors directly from G-code, and many more than 9 if you don't need coordinated motion.

Software stepping is limited to 16 motors (unless you recompile LinuxCNC). Mesa cards do not have any obvious limit on the number of stepgens supported, and I can't immediately see how many stepgen channels are supported by the Pico driver, but it seems to be 4 per parallel port.

yes linuxcnc can control up to 9 ( xyzabcuvw) other stepgens can be available
all depends on what your using to interface etc
what do you mean by orientation ? if you mean a,b,c axis then they are incorporated

but overall linuxcnc is fully configurable , to do many things