4-axis control

EMC folks,

I'm working on 4-axis control for EMC. We are finishing up a version of
the G code interpreter that is configurable for variations of XYZABC. I
need to fix the motion planner to handle orientation control. This is
what will take the most time. The stepper motor interface can handle 6
axes (this is what I used for the hexapod) so that's done. Servos
already handle up to 8 axes.

For those of you who want four (or five) axes, what are your
configurations?

--Fred