Changes in EMC 2.2.0

• G41.1, G42.1, G43.1 to take tool parameters from gcode instead of tool table

• split libposemath and libemcini from libnml

• new inifile item: [HAL]SHUTDOWN, a .hal file run at a clean shutdown of emc

• new component: deadzone

• new component: tristate_float

• new component: random

• new components: clarke2 clark3 clarkeinv

• hexapod visualization

• scara robot sample configuration with visualization

• opengl machine visualization for several "robots"

• new m5i20 firmwares

• M66 - digital input control (wait & read external HAL inputs)

• userspace "comp"

• hal-8255 driver for a PCI multiple-8255 card

• tapered in/out on multipass threading canned cycle

• debug and print output from the interpreter

• named parameters in the interpreter

• puma robot kinematics

• sample configuration for a puma robot

• reduce quantization of the encoder module's velocity output

• MDI history manipulation and save in AXIS

• home to index on STG1

• number of samples in halscope can be specified at runtime

• add 'source' command to halcmd

• add tcl interface to halcmd commands (tcl/hal.so)

• add "-U" (force unload) to halrun script

• new component: lut5

• image-to-gcode: roughing passes

• rs274.author: automatic arc recognition (used by image-to-gcode)

• Filters can now show progress bars in the AXIS window as they run

• U,V,W linear axes with fully coordinated motion

• probing in A,B,C,U,V,W axes is now allowed

• AXIS: touch-off in any coordinate system

• AXIS: allow starting an editor on the loaded gcode or tool table from the File menu

• AXIS: A much better Velocity display

• AXIS: Preferences set on the View menu are saved for the next EMC run

• Rigid tapping G33.1

• Feed Per Revolution and Constant Surface Speed for lathes

• Index-only homing for configurations where homing on a switch is inconvenient

• G28/G30 now move only the specified axes to the home/reference point

• Improved error messages for incorrect arcs

• All combinations of inch/metric machines running inch/metric programs work correctly when using the tool table. The tool table is always in machine units.

• Now any combination of XYZABCUVW axes can be defined, and trying to move an undefined axis causes a proper error message

• Tool change position can have an ABC component. Previously rotary axes always moved to 0 for a tool change.

• Spindle speed override

• Optional stop

• Analog jogging in halui (for joysticks etc.)

• Fix several-second unresponsiveness when switching between two guis (even if one of them was halui)

• AXIS: Show machine limits with red dashed lines

• Pluto step/direction driver

• Halscope display now shows the trace name and parameters for each trace

• Halscope "roll" mode

• Halscope "AC coupling" of signals

• for SMP configurations, run EMC's realtime parts on the highest numbered CPU, since this can be isolated from the rest of linux using isolcpus=

• x86_64 port

• powerpc port (sim only)

• fixed a bug that caused helixes with a small circular component to have too low a feed rate