What do you mean by '4th Uart'?
USB uses UART1 . . . did you mean that?
I didn't put jumpers on it because, if you use the USB (such as for bootloading) while sending other data to it, you can fry USB.
What are you using the other three UARTs for? If one of them doesn't need a high baud rate, you can easily create a software-based UART on any pin.
WebbotLib works with the Axon, and can do that for you easily.