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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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If U33 is bad, that's a sign that there a problem with the 5V supply
(possible transient overvoltage) I doubt that the 24V supply is an issue.

this waveshare thing working fine with vivado:
www.amazon.de/dp/B00KM70UFG?ref=ppx_yo2ov_dt_b_fed_asin_title

if you only need to load the bitfile, you can use the installed linux-system.

i know that someone in this forum has running linuxcnc on an raspberry-zero 2 with sdl gui,
this is not so fare away from this cores.

## I actually like vivado. wouldn't it be nice to have cnc modules (step gens, counters, pwm etc) set as ip blocks in vivado so it can be just visual drug and drop to create configuration you need. File Attachment:

hmmm, maybe we can convert some rio plugins into vivado blocks
at the moment the complete rio part is shown as one block in vivado.