The EMC2 host control software is free and can be downloaded from this link:
http://linuxcnc.org/lucid/ubuntu-10.04-linuxcnc1-i386.iso
Burn a CD of the file and boot the CNC contol computer using it. The software can be run entirely from the CD or can be installed to the computer. Follow the directions shown on screen to complete those steps.
Once installed or running please download the default configuration file show below:
Unzip the files which should result in a folder called "orangecnc" . Start EMC2 on the host control computer, choose the 5 axis CNC option. Then close EMC2.
Move the orangecnc folder to the home folder for ubuntu into the emc configuration directory at the same level as the 5axis setup that was autocreated. You can delete the 5 axis folder as it is not needed for operation.