The motion controller firmware most popular with OpenPNP – Smoothieware – had problems with mixed primary (linear) + secondary (rotary) axis moves. I tried to fix that … read the saga about that in the Pull request ;-).

• See the Pull Request: Fix/Problems with mixed primary+secondary axis moves #1323
• Discussion in OpenPNP group.
• Later I built a firmware specially for PnP fixing this and other bugs:
  Smoothieware: New Firmware for PnP