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There's an example of an electronic gearbox for a lathe, no gcode, just a custom GUI and some HAL connections.

Probably not a lot that you can use, but an example of what you can do.

My guess would be as long as you can get the data into linuxcnc and output any control values based on the input you should be fine. This would probably require some custom HAL written components to operate on the data and apply the output required. Oh yeah and maybe a gui.

The absolute simplest example I can think of is the parallel port tester, doesn't have any kinematics, but does allow you to control outputs and read the state of inputs.

Just throwing this out there.
MRO is another example. Maybe this could be a starting point, just start be reading data and displaying it, once you have that nailed, you could start with some simple HAL components to manipulate your data.
linuxcnc.org/docs/html/gui/mdro.html

Not an exact implementation but kind a simple example of what is achievable.

No doubt Andy will have a better idea and contradict everything Ive said, as he's way way more knowledgeable.

As long as the axis is only controlled by gcode (with no direct display/control from the GUI)
it should work.

You will have to do some hand editing of the hal file to add
the additional joints/axis and kinematics specifier.

Here is a suggestion:

forum.linuxcnc.org/plasmac/55286-servo-d...ofit?start=10#331245


( pncconf has more built-in QTPlasmaC/THCAD support  so may be an easier path)

If I hadn't already occupied all 5 axes I wouldn't have a problem.
Is it possible that my 7i85s card can't control any motors? Does this only work with the 7i85 (without S)? I can't find a clear answer online. Thanks.

At the moment i am testing with hal pins, because of the option 'start from current position' . To have the correct preview, it only worked with hal. The loaded file is just a translation file to call the subroutine. (The subroutine can be used standalone, in gcode or like here from the ui) It is working, i just have to rmember to reload, when parameter changed. Still pending, set a parameter eg  #<_RUNONCE> , which allows the routine to run only once, then have to start from  the panel with known parameter for further use. What i have done so far is mostly working as desired. The sidepanel is a stacked widget with 16 layers when completed