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You will likely need to  either merge some parts from a standard step/dir hal/ini file setup,
or use either pncconf's discovery option or MesaCT to create a working 7I77 + step/dir setup.

Hello again,

While checking availability, I noticed that in terms of cost and stock it might be more convenient to go with the 6i24, since it is currently available directly from Mesa USA. Otherwise, I would need to buy everything from Eurosurplus, which ends up being more expensive overall.

Could someone please confirm the main differences between the 6i25 and the 6i24? From what I see, the 6i24 has no limitations on its connectors, so in the future I could also leave an extra port available to add another servo control board if needed.

Thanks a lot for your help!

It is possible to use LinuxCNC to run cartesian (ie xyz) gcode on an industrial robot. However, since the planner has no information about the kinematics used and 'assumes' a cartesian joint/axes configuration you will not get uniform velocities over the robot's work space.
If accurate path velocities are important for your application then you are going to have a hard time using LinuxCNC with a manipulator.