Custom signal output on LINUXCNC

I'm not very familiar with linuxcnc yet. I am in the progress of building a BLDC driven 5-axis CNC machine (I know it's not going to be easy, but its a challenge I'm willing to take on). Together with cycloidal reducers and a closed-loop system that uses absolute encoders feedback for a PID loop, I'm hoping to achieve some degree of accuracy.

As far as I know, linuxcnc doesn't have a native signal output for BLDC motors, it rather uses the step/dir interface (I've also seen servo's being used with signal output in degrees).

I would like to write my own piece of code so linuxcnc can interface with my custom BLDC controller. My question is: where do I start, which part of the documentation is relevant for this? I've looked around, but I'm not sure if it's before the trajectory planner or HAL.

What kind of control signal does your custom BLDC controler use?

Step/dir signals are just one of many control signals Linuxcnc is capable of generating. In fact it wasn't even one of Linuxcnc's original control methods (I believe Analog and PWM servo controls came first.)

hi

for a 5th axis build it is nessusary to start on a given CAM
this is the one and only issue to be build
if you cand controll it after the build it is useless

THE BEST to go for is setting a XYZ mashine on top of a AC or BC depending on where the user stands

some inspiration
postprocessor.su/machine_models_eng.html

Is this helpful?
linuxcnc.org/docs/2.7/html/man/man9/bldc.9.html

HAL is the thing to know for physical interfacing hardware.