How To Setup for 5 or 6 DOF Robot

I have a sim working based on the Melfa robot.  Mine is a 5-DOF, I'm just using axis 6 as a redundant axis for simplicity with the kinematics. Works well in the sim.

So now onto the real thing.  I'm running Master (2.9) with a Mesa 7i96S card and Mach3 BOB. 

The PnCConf wizard only sets up 4 axis XYZA.  How do you setup XYZABC to work with "genserkins"? 

Manual editing of the HAL and INI files is required right?  So is it best to start with a XYZ or XYZA generated config?  Or is there a way for the wizard to create a XYZABC config?

 

start out with a XYZA config, get those four axes working and then copy/paste/modify the A axis in the ini and hal files to create the B axis. Once you have that working,do the same to create the C axis.