parallel kinematics in EMC

I finally took the plunge to install EMC on a partition of my hard
drive. The reason is to play around with parallel kinematics. The
installation went fine and I am slowly learning a little about Linux
from a friend.

I was wondering if anyone on the list has used EMC for a hexapod or
similar. I need to work out firstly the basics of getting EMC to move
my stepper motors but then I need to modify things so I can get the
kinematics to match my machine. I am not sure of this just involves
some ini files or reprogramming.

Just a bit lost, would appreciate a map.

Graham