q from very beginer

How many axes and what type is each one?

Is what like mach3?

LinuxCNC reads G code from a file.

The Getting Started manual is a good place to start.

JT

Robots are a bit out of my expertise...

The Stepconf Wizard is for setting up simple stepper machines like a mill or lathe. I would suggest looking at some of the sample configurations when you start LinuxCNC.

There is a chapter on kinematics in the integrators manual you should read. Kinematics and G code are separate items. LinuxCNC can have custom kinematics but the G code is the same for any machine.

There is a ton of information on the wiki and in the manuals.

JT

makymaky wrote:

1- i'll need nearly 6 axes ( stepper motor ) all rotaors

That is too many for a parallel port (just not enough pins for 6 x step + 6 x direction). So you will need at least some extra hardware.

2- in the mach3 there are a menu for configuration in ===> motor output =====> step / dir ( for define the pins of LPT)

LinuxCNC has Stepconf for this, but it only handles up to 4 axes, as far as I know. But once you have a few axes working it is just a case of editing a text file to configure the rest.

3- if the linux deal with the robot arm kenmatics ( the g-code contains j1/j2/j3/j4/j5/j6)

It can, certainly. If you boot from the LiveCD you can experiment with the Puma360 simulator to get a feel for how it works. You need to start the program then home the joints. At that point you can move each joint independently. Then you can switch to "World mode" and the axes move in a coordinated way, so that an X-move moves the tool point in a straight line, moving all the joints together.

makymaky wrote:

dear andy
i hope you provide me or refer to any documentation to re-begine my research

www.linuxcnc.org/docs/html/

But more specifically:
www.linuxcnc.org/docs/html/quickstart/stepper_quickstart.html
followed by
www.linuxcnc.org/docs/html/config/stepconf.html

The Puma simulator looks like this: wiki.linuxcnc.org/cgi-bin/wiki.pl?Vismach