Explaning linuxcnc implement kinematics of a new robot

Can any one tell me what is .ini and .hal files do, and if i want to make my own robot configurations and kinematics from scratch, from where should i begin and what are the things i should know to make or implement my kinematics of my robot to linuxcnc, then make a simulation using Vismach?
I believe the answers will be useful to a lot of people just like me who don't know how to implement there robot into linuxcnc and make it move like the original examples in linuxcnc

ini is the Joint configuration UP to 12 Joints ISO and 24 more are posile
HAL is the connection from pins to interpreter

the Kinetics is just a translator

you shoudt start With a DOF6 or a scara Hexapot kinetics depending on where you want to go

can you give us a image if the ROBOT so we will tell you best options

Thank you so much for your time....

my robot is a hyprid 5DOF consisting of a tripod and a 2DOF serial arm at the end of the tripod, iam also gonna use a Break out board for that.
can i also ask what is the difference between ISO and posile?
and how to configure both .ini and .hal, is it written in python or what and how to verify i write it correctly ?

iso are XYZABCUVW AXIS
posible are JOINT_0 - JOINT_16
this is run eighter by internal matrix ISO or a PID loop at Joint mode

so you can mix up your need

in your case i woudt run the tripod as a XYZ
the arm is a Rotary with UVW ofset

Thank you so much for these info, it really helped my out,,,
Now i can pretty much know what are .hal and .ini and joints in the .ini do,
but now i want to ask is the kinematics has a file or extension for itself so that i can go there and change it.
Also i saw the vismach hexapod example, and i saw about 6 files including .ini and .hal and another ones, but i didn't see .py for python file, so i wonder where the visualization of the hexapod came from in the (tk) window?

thank you so much Andy,
i have a question on another thing, now i have a .STL file for my CNC and i want to implement it to vismach using python code
linuxcnc.org/docs/html/gui/vismach.html
now i can draw some basic shapes like spheres and cylinders etc, even i didn't fully understand the code particularly the function Capture(), however i have another problem when implementing from cad exported as .STL like i said, the problem is that the model doesn't appear like the sphere does, also the orientations or define the rotation or movement of each part relative to each other or even assembling the model will be so impossible as is see it becouse i have to position each part relative to another ....

Yes, this idea of assembling the cad model then importing it to python is alot easier but the problem is that how to define the joints so that i can make each joint move by itself?