linuxcnc with a custom robot

I don't think there is a ready made kinematic component for a palletizer in LinuxCNC. So you would need to create that first.
Maybe this document can help you with it (together with the assistance of an online translator like deepl) as the mechanics of the robot seem to be quite similar:
dspace.cvut.cz/bitstream/handle/10467/11...uence=-1&isAllowed=y

As for how to implement it in LinuxCNC, I would suggest to install debian bookworm and install linuxcnc using the synaptic package manager. Then you can have a look at the simulation configurations that come with it and ask more specific questions once you have the system installed.
Development of the kinematic module can be done as a pure simulation, preferably using a vismach simulation file (like the one found in 'configs/sim/axis/vismach/' folder of a linuxcnc installation)
Hardware implementation in LinuxCNC using EtherCAT will be a separate part of your project that will depend on the kind of motor drives you are using.

I have installed China made palletizers that actually use LinuxCNC with a custom GUI, Delta drives and motors with absolute encoders, i did make a failed attempt to copy it to USB, but it was a no go.
Since i had no reasonable reason to open them, i could not do much, but i did go into settings (after many attempts at password it did not lock ) and it used plain hal and some gcode routines to work.
It was named LCNC.
If any of those break, i just might have the chance to do something, but for now not much help.

tommylight wrote:

If any of those break, i just might have the chance to do something, but for now not much help.