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but rio is much more than the bitfile generation, it creates the interfaces and linuxcnc configuration.

it would be nice to have a visual editor in rio-setup like the vivado block designer

It isn't that Linuxcnc doesn't do sychronized motion with rotoary axis. Rotary axis are sychronized just fine with linear. The problem is the incompatability of linear feed rate units with rotary feed rate units. The result is often (especially with inches) unexpectedly slow movements when a rotary move is mixed with a linear one. The problem is actually a G-code limitation, rather than a Linuxcnc one. For example you are milling along at F20 inches/min then you throw in a 40 degree move with the rotary. The rotary move is going to take 2 minutes to comple because of the F20, if the same line also includes a 1 inch move, the linear move will be limited to 0.5ipm so that it takes the same 2 minutes to complete. This is where the invers time mode comes to the rescue. it has no unit of measure involved just time. So if you want your 40deg 1inch combined move to move so that the linear component still moves at 20ipm you would specify F code on the line as 1/t or in this case 1/0.05min. or F20.0

You can add a daughter card to the 7I96S parallel expansion port.

You could  use a Mesa daughterboard (a 7I85S  or 7I78 would  add 4 step/dir axis).
You could also use an inexpensive parallel port breakout, like the common Sainsmart 
5 Axis breakout, either ST-V2 or ST-V3 or one of the many  similar parallel port
breakouts. 

easier than expected

blocks.tcl

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