This is another choice: https://rosettacnc.com/en/index.html#
RosettaCNC is an industrial CE certified CNC for multiaxis RTCP or TCP movements made totally in Italy with Fanuc G43/G43.4/G43.7 commands.
Also in this case you have only to connect to drivers, set axes parameters and RTCP pivot points.
You can use STEP/DIR drivers signals, EtherCAT drivers or old analogic/encoder drivers.
https://youtu.be/Z3eIsawFVQo?si=FP-XWhgXi9gSbnVi
Some video: https://www.youtube.com/@thoth2487/videos