New motion control project

[Garyhlucas]

I started a new job last month and my first project is a an adhesion tester where it looks like I need 6 motion axis.  I have BRX36 and a high speed module, so I believe that gives me the six axis. So I have two questions.
How many axis can operate in coordinated motion along a path?
Can axis on the expansion module do coordinated motion with the ones on the BRX36?

If I can coordinate the X,Z, and A rotary axis I am good to go. The Y and 4th are step position only.
Then I would like to coordinate the X and the fifth axis for a move. Any deal breakers I should be aware of?

[franji1]

I can answer the obvious one.  Coordinated motion behaviors are limited to a BX MPU or a HSIO module.  You can't do it inter-module/MPU.

There are 3 physical I/O Axis on the MPU and 3 on the HSIO module.  There is also a virtual Axis with each one.  I have used that one to generate the input to a transformation function for 2 other real axis to generate a circle where $Axis0 (Virtual) was the Master Axis to real-world $Axis1 and $Axis2 with a couple of AXCAM instructions for each emulating SIN and COS paths.

You could also utilize a High Speed Y output on the MPU (there are 8 on -36, so 2 non-axis ones would be available) to feedback to a High Speed X input on the HSIO module for some synchronization, and/or vice versa.