Hexapod with LinuxCNC on Beaglebone Black

First test of tabletop hexapod (Stewart platform) running by LinuxCNC on BeagleBone Black. NEMA17 step motors with A4988 drivers, 8x8mm leadscrews. The machine is doing -90mm XYZ moves and -30degree rotations, then begins. Max velocity is near 5000mm/min. I used ubc3-joints_axes4 branch on Machinekit