I don't have an AR5 model but I am working on software version 3.0 which will support 3 additional axis. The current software supports only 1 additional axis which is referred to as "track" in the software. I'm changing it to J7, J8 and J9. There are many people who have been asking for more external motor control for things like grippers, tracks, turn tables and for focus and aperture control for cameras. I've also refined the close loop functionality. There were some bugs previously related to the selection buttons to use open loop mode only ignored the encoders on the software side which caused some issues when using motors with no encoders at all so I've moved the open loop functionality to the teensy board so the software actually commands the teensy to not try to monitor encoders. Version 3 will also address a bug with the live cartesian jogging where some drift in the Ry rotation of the tool was happening.
Very cool Chris! I would love to add a turn table to the robot! Looking forward to seeing 3.0 release!