motion channels for robotic atc library

So i had a craaazy idea for a little robot tool library.
Wondering how you would implement it in linuxcnc.

So we have our XYZA on our cnc. lets reserve B just in case we ever need a 5th.

That leaves 4 more axes available.
Our little tool robot will have an x2 y2 z2, and a x3 (fixed motion, likely air) and C do pivoting the gripper - again fixed motion.

Basically it is a cnc of its own, and needs to operate while the main machine is cutting so it can sort and stage tools. This is different from using C for an atc platter that is actually coordinated with the main machine.

How could we do this?can we decouple these new axes from the main motion as a "channel" ?



 

LinuxCNC has a single realtime motion module (motmod).
All coordinated motion and joint updates go through that one trajectory planner and queue.
Even if you configure additional axes (U/V/W etc.), they still belong to the same motion instance.
There is no concept of a second independent motion channel inside one LinuxCNC process.

Industrial controllers sometimes give the impression that this should be possible because they support true multi-channel motion. For example, platforms like Omron Sysmac can run multiple independent motion groups or program contexts in parallel within the same controller. That capability is built directly into the motion kernel.

LinuxCNC, however, is architected around a single motion instance per process.

If you need the tool robot to move while the main machine is cutting, the practical solutions are:

• Run a second LinuxCNC instance / second controller for the tool robot and handshake via IO/fieldbus.

• Use an external PLC/MCU/drive sequencer for the robot and trigger it from LinuxCNC via M-codes or IO.

A “HAL-only second planner” is technically possible, but then you own all the safety, limits, interlocks and coordination logic yourself — and it tends to become fragile fast.

Thanks, that's basically what I thought