2.4.x releases here: Released 2.4.X

March 3, 2010 EMC 2.3.5 released

• fix jog increments for mini
• interpreter: detect gouging in last corner before turning off cutter comp
• interpreter: fix another case of a skipped full-circle arc
• task: fix toolchange at quill-up and g30 positions (SF#2941688)
• stepconf: fix direction of 2nd and 3rd parports
• configs: add smithy 516 sample configuration
• image2gcode: respect current TLO and fixture settings
• image2gcode: "extend image" crash on non-square image (SF#2947390)
• documentation improvements
• hostmot2: Accept "idrom v3" firmwares. these are the firmwares that will be released with emc 2.4.x.
• axis: mitigate a memory leak each time a program is loaded or reloaded

October 25, 2009 EMC 2.3.4 released

• Fix two constant surface speed bugs
• Allow M66 timeout to be a fractional number
• 'comp --print-modinc' prints the location of Makefile.modinc, which eases building components that use Makefiles
• stepconf: make the screen fit on 800x600; use expander widgets to access some advanced items.
• fix cooltool configs by adding missing emc.nml reference.
• serport: don't print errors at startup
• fix hang for M1xx code that cannot be executed (SF#2836077)
• rotatekins: Fix forward kinematics (SF#2870683)
• fix saving the direction setup time (SF#2870131)
• improve initial threading synchronization
• hostmot2: sample configuration improvements: the line required for home-to-index is now shown in the samples
• smithy: include sample configuration files for a number of smithy cnc systems (1240, 6130, 622, 924)
• fix spurious extra G0 in the active gcode readouts

July 26, 2009 EMC 2.3.3 released

• Stepconf: fix error "global name 'machinename' is not defined"
• comp: fix building userspace .comps
• interpreter: Reject bad values of I, J, K in G76 (SF#2817324)
• interpreter: show error instead of silently continuing for certain rejected forms of G76
• documentation improvements
• hm2 bugfix: avoid occasionally filling the system log when stepgen.maxvel is too high for the timings
• tkemc: when running a program, the line following the currently executing line is now visible

July 5, 2009 EMC 2.3.2 released

• pyvcp: New "-g" flag to specify window size and position
• classicladder:Fix crash from clicking on comparison objects
• halshow: fix overlap of pin name and value with long values
• calibration now works with hostmot2-style hal files
• documentation improvements
• documentation: fix User Manual menu item
• configure: fix obscure error 'source: not found'
• configure: check that tk and Tkinter versions match and is related to a compile issue on ubuntu 9.04 systems.
• configure: fix truncated output on some systems
• After an abort, DTG and velocity will now show as 0
• axis: improve max velocity slider default maximum for machines with rotary axes
• axis: when showing machine position, do not include TLO
• axis: in touch-off, show mm/in/degree, radius/diameter
• update CoolTool? config files
• stepconf: Fix second and third parport direction settings (in/out) not following the user request.
• stepconf: Fix creating shortcuts on systems where the Desktop directory is not called "Desktop"
• pickconfig: Fix creating shortcuts on systems where the Desktop directory is not called "Desktop"
• Increase the HAL shared memory area. This fixes problems loading complex configurations, such as those that use two mesa cards
• in AXIS, machine position no longer incorrectly shows the tool offset
• in AXIS, use [TRAJ]MAX_LINEAR_VELOCITY for the top end of the max velocity slider, instead of [TRAJ]MAX_VELOCITY which is inappropriate for machines with some linear and some rotary axes.
• hm2 stepgen .position-fb now has sub-step resolution (like the sw stepgen)
• hm2 stepgen now supports maxaccel=0, useful when a nice trajectory planner manages your acceleration for you
• hm2 stepgen now supports velocity mode
• hm2: new firmware 5i20/SVST2_4_7I47 (2 encoder + 1 pwm + 4 stepgen on one header)
• bugfix: the hm2-servo sample config now honors INPUT_SCALE and OUTPUT_SCALE from the .ini
• bugfix: much lower following error for the hm2 stepgen
• bugfix: hm2 encoder now honors .reset even when no encoder edges are coming in
• bugfix: (minor) the hm2 driver now uses double instead of hal_float_t for internal temporary variables
• axis: fix a bug that made axis lock up when clicking the "show hidden files" checkbox in the Open dialog
• motion: fix G95 G1 followed by G33

May 16, 2009 EMC 2.3.1 released

• hm2: fixed a bug that would cause the stepgen to oscillate by one step when the scale was negative
• hm2: use stepgen accel headroom in sample configurations
• configs: add GEOMETRY=AXYZ to Sherline4Axis so A rotates
• Fix hal_joystick 'HAL: ERROR: pin_new called after hal_ready'
• documentation improvements
• Fix User and HAL manual links in applications menu
• latency-test: fix illegible font on some systems
• comp: fix a compiler warning when array variables are used
• x86_64/rtai: fix a crashing bug reported by Michael Buesch
• ppc64/sim: fix a compilation error reported by Michael Buesch

April 19, 2009 EMC 2.3.0 released

• hostmot2: allow stepgen maxaccel=0 for 'no acceleration limit'. This is a slightly experimental mode, and using acceleration headroom in the hal file is probably still the best way to get a hostmot2 stepper system running.
• hostmot2: make each stepgen only use 2 pins instead of 6
• axis: in a non-trivkins machine in joint mode, do not display the joints that are not used
• stepconf: enable image-to-gcode and python g-code generators
• fix problem with full circles with G64P-
• make the center of rotation assumed by G96 include the g5x and g92 offsets, if applicable
• fix several obscure crashes and memory leaks
• update Polish, Italian, and German translations
• tweak firmware package building: not on sim, arch "all".
• rename sim's emc2-dev to emc2-sim-dev
• documentation improvements
• french translation improvements
• romanian translation improvements
• stepconf: fix limit signals
• stepconf: fix possible following errors on sherline systems (when the 'step length' setting is long)
• stepconf: fix import of emc2.2 stepconf files
• stepconf: fix finding certain files included in the sample configurations directories
• pickconfig: no longer display /etc/emc2/sample-configs as this directory is no longer used for that purpose
• halscope: fix crashing bug
• hostmot2: use same behavior as software stepgen for controlling velocity and acceleration
• freqgen: fix loadrt error for certain step types
• freqgen: note that it is deprecated (use stepgen ctrl_type=v
• smartprobe.ngc: write to a "ngc" file since the output is in the form of an ngc program
• halui: increase the maximum number of mdi commands specified
• configs: new sample config "cooltool"
• configs: remove OUTPUT_SCALE (unused item) from sherline sample configs
• application menu: new entries for "latency test" and "getting started guide"
• mdi: make it possible to use cutter comp in mdi
• install sample configurations to /usr/share/doc/emc2/examples/sample-configs/
• fix halui - MDI number limited to 10 (SF#2607450)
• halvcp has been removed, use pyvcp instead
• change motion.* and axis.* HAL parameters to pins
• M62/M63 P<xx> now work as intended
• add M61 Qxx - allows to change the number of the currently loaded tool
• add driver to control Automation Direct GS2 VFDs via serial MODBUS
• fix G33 moves without feedrate (SF#2011311)
• minor improvements for teach-in.py
• G38.x extensions allow for smart & fast probing
• probe protection: abort homing or jogging if the probe trips
• (debug,...) (print,...) comments for debugging gcode
• (logopen), (log), (logclose) for flexible logging of probed points and probably lots of other uses
• PID component's parameters changed to pins, for tuning with a panel
• M66 now reads analog inputs as well
• new simulated machines: 5 axis machines of various configurations
• new sample kinematics modules for several 5 axis machine configurations
• allow colors in vismach
• G73 drill cycle, like G83 but with short chip breaking motion instead of full retraction
• new O words: repeat/endrepeat for repeating some lines a specified number of times
• added drivers for Mesa Electronics' HostMot2 firmware on all "Anything I/O" boards: 7i43, 5i20, 5i22, 5i23, 4i65, 4i68
• AXIS: ability to zero G92 offset from the menu
• G28.1, G30.1 set the corresponding reference point to the current position
• increase the maximum number of axes (8) and buttons (32) in hal_joystick
• keystick: retry if emcsvr is not ready yet
• AXIS: fix very small tool display when the radius was very small
• user-configurable number of digital/analog I/O at insmod time
• semicolon now denotes a comment in gcode. the rest of the line after the semicolon is the comment. no closing character is needed.
• rising and falling edge detection in M66
• tool length can be along the W axis instead of Z. This is especially useful for 5-axis machines and XYZW machines (moving quill and table)
• update Classic Ladder to version 7.124
• new ability to unhome a joint
• named "O" words
• permit calling subroutines from MDI
• fix "sample every Nth time" function of halscope
• put RS274NGC_STARTUP_CODE in [RS274NGC]
• build against hardy package
• new HOME_FINAL_VEL setting can be used to slow down the last homing rapid
• eliminate requirement for unnecessary endpoint respecification for full circles (G2/G3 with only I/J/K words will give full circles)
• index-only homing for machines with no home switches
• new "mux8" eight-way multiplexor component
• halui now supports all nine axes
• python 2.5 compatibility changes
• new "toggle2nist" component for some pendant button configurations
• tkemc: allow user command file for customization
• extend the "naive cam detector" to handle tiny arcs too
• AXIS: allow display of rapids to be disabled
• UV/VW/WU (G17.1, G18.1, G19.1) plane canned cycles
• AXIS: configurable preview of gcode for multiaxis/rotational machines
• AXIS: honor Block Delete in the preview
• added 'vismach' directory to sample configs, with max5 configuration
• vismach improvements: trianglar plate and triangle mesh primitives, and ability to view model from all angles
• vismach improvement: allow loading of stl models
• added interpolated position to software encoder counter - allows threading with low ppr spindle encoder
• HALUI: new relative position pins show position with active offsets
• new realtime component: gearchange. selects between two scale factors, two min and max speed limits, and optionally reverses direction of spindle
• new realtime component: invert - outputs the inverse of a float (1/x)
• pyvcp: add rectangular LED widgets
• pyvcp: timer widget for things like timing a program run
• vismach; new arc primitive
• new driver for OPTO22 PCI AC5 adapter card
• AXIS: display error messages on the main screen instead of a popup
• PID saturation detector output pins for fault/runaway protection
• halscope: add a menubar for load/save configurations, logging, help
• honor [TRAJ]'s ACCELERATION settings when jogging/homing
• pyvcp: fix bug that required you to hold down buttons for them to work
• AXIS: configurable minimum jog speed value
• tkemc: separate sliders for linear/angular joints
• allow FPR/G95 canned cycles
• AXIS: optional large DRO font
• AXIS: new Polish translation
• new distance-to-go and current-velocity HAL pins
• AXIS: the jog increment now does not wrap with repeated 'i' keypress; using 'i' and 'I' prevents disaster when you press one too many times.
• FPR/G95 now works with the spindle going either direction
• AXIS: right clicking in the gcode window lets you "run from here"
• several new tool change configuration options: TOOL_CHANGE_WITH_SPINDLE_ON, TOOL_CHANGE_QUILL_UP, TOOL_CHANGE_AT_G30
• allow UVW to be specified in the TOOL_CHANGE_POSITION
• improve motion synchronization at the beginning of a threading pass.
• AXIS: continue to show the line where the program was aborted, in order to make it easier to know where to restart.
• allow setting of spindle, coolant, tool, tool length to persist across mode switches, to allow the user to set up the machine properly for a program restart.
• AXIS: do not display initial rapid moves after a tool change or tool length offset change. These were not useful to see and made the preview and extents display less useful.
• disallow MDI commands and program execution on an unhomed machine by default. The old behavior is still available with an INI change.
• improve the "move on line N would exceed limits" messages by telling which limit would be exceeded
• G10 L1 commands to set tool offsets, radius, orientation
• AXIS: "touch off" can now also set offsets in the tool table
• converted many parameters to pins for added flexibility. this does not require any configuration changes because setp works on both.
• new motion.spindle-at-speed pin can be used to cause motion to wait for the spindle to reach a newly-programmed speed at the beginning of feed moves.
• new component "near" which tells whether two values are roughly equal as determined by configurable parameters
• make hal_float a double precision type
• "maximum velocity" that can be changed during a run. This will slow down rapids and cap feed rates (except spindle synchronized motion) for dry runs. Currently only AXIS and halui allow you to set it.
• the Mesa firmware images are now in their own deb package, since they are large and many users don't need them
• several fixes and updates to the STG1 and STG2 drivers, including encoder index support for STG2
• G90.1/G91.1 let you select relative or absolute arc centers
• the save button in classicladder now works
• AXIS: recently-opened files are remembered and available through the File menu
• AXIS: replace the preview window with a tab set that lets the user select the original view or a huge DRO view
• "halcmd alias" lets you give pins alias names
• new cutter compensation algorithm handles inside sharp corners and does not require complicated entry moves
• new count-enable pins in halui allow the use of a MPG for more than one function
• new sample configurations for Sherline 3 and 4 axis mills and lathe
• lathe diameter mode (select with G7; radius mode G8)
• AXIS: block delete and optional stop buttons/indicators on the toolbar
• AXIS: save block delete and optional stop settings across runs
• fix g41/g42 in lathe mode. previously, right/left were swapped.
• fix deviation from commanded velocity due to differences between requested and actual servo-thread period (SF#2478266)
• maintain G92 setting, if any, across gcode runs and EMC restarts
• AXIS: allow the filename ~/.axisrc to be overridden by inifile [DISPLAY]USER_COMMAND_FILE
• AXIS: per-axis DTG readout
• Add Sherline lathe, 3- and 4-axis mill configurations from Heinz Reimer
• Fix several problems with CSS mode with reversed (M4) spindle, including bug #2467781
• More error messages are translatable

December 14, 2008 EMC 2.2.8 released

• Documentation improvements
• Fix rare incorrect movement for G2 and G3 arc moves
• partial swedish translation now under correct 'sv' language.
• hostmot2 improvements: encoder velocity and index mask. stepgen step types and bugfixes. better logging. improved device firmwares.
• Classicladder improvements- save button works after loading the GUI from AXIS. - Ladder program name displayed on top of section display window

November 12, 2008 EMC 2.2.7 released

• pop up a message when the right kernel isn't running
• halcmd will now show an error message instead of segfaulting when inadequate locked memory is available
• allow emc2-sim to be built on 8.04
• stepconf: fix "negative SCALE" problem reported by Christopher Purcell
• comp: fix bad C code generated from variable array declarations such as 'variable double output[8];'
• documentation improvements
• axis: "touch off" of rotary axis on metric machine
• hostmot2: Support all the PCI, PC/104-Plus, and EPP "Anything I/O" boards: 5i20, 5i22, 5i23, 4i65, 4i68, and 7i43. PCI users should switch from hm2_5i20 to hm2_pci driver.
• hostmot2 changes: Config changes required! pwmgen.scale now works as advertised; stepgen timing params are "u32 ns" instead of "float seconds"; and stepgens now have a .enable pin which needs setting.
• hostmot2 feature additions: Added PDM mode for pwmgen; PWM and PDM frequency are now settable by the user; implemented stepgen maxaccel and maxvel; support open-drain GPIOs; all GPIOs now have some representation in HAL (though the ones used by module instances are restricted); encoder improvements.
• Lots of hostmot2 bug fixes, mostly with pwmgen and stepgen. Thanks to all the brave testers!

August 10, 2008 EMC 2.2.6 released

• fix hal_input manpage
• Fix FTBFS on hardy (texlive-extra-utils)
• (incompatible change) make debounce cfg= match the documentation. If you use a debounce component with multiple groups (e.g., cfg="3 3") this must be changed to use commas instead of spaces: (e.g., cfg=3,3)
• hal_ax5214h: driver fixes from Dave Brink
• stepconf: fix spurious "application closed unexpectedly" messages (for this and other stepconf bugfixes, re-run stepconf and re-save your configuration file)
• stepconf: fix "following error" messages when the requested step rate cannot be attained
• stepconf: fix "following error" messages due to insufficient "stepgen headroom"
• stepconf: if an exception is encountered, show it to the user in a message box.
• stepconf: fix non-working configuration if "Onscreen prompt for tool change" was disabled
• stepconf: allow entry of step and direction timings up to 500000ns
• hal_ppmc: handle faster clock frequency for UPC 3.1 boards
• hal_ppmc: correctly return IO regions at exit
• software encoder counter: fix problem with negative velocity outputs
• Fix handling of G61/G64 after Machine Off (SF#2006736)
• new realtime component: gearchange. selects between two scale factors, two min and max speed limits, and optionally reverses direction of spindle
• new realtime component: invert - outputs the inverse of a float (1/x)
• new realtime component: ilowpass - scale and low-pass on integer values to smooth jog wheel action
• added hostmot2 driver for 5i20 and 7i43
• added sample configuration for the Tormach PCNC 1100

April 27, 2008 EMC 2.2.5 released

• Include license statement for the 'Togl' software, which is incorporated in emc2
• added m7i43_hm2, a driver for the Mesa 7i43 board with HostMot2 firmware
• axis: numeric keypad fix in prior version was incomplete
• various documentation improvements
• stepconf: do not allow axis acceleration to be set to zero during an axis test (SF#1938763)
• last move no longer discarded if it's a G1 and the file ends with % (SF#1937281)
• add a workaround which fixes pyvcp for hardy
• backport fix for #1929461 - halui stops reading inputs during a MDI
• Fix a bug that caused backplot to freeze during linear moves
• add serbian translation for AXIS/stepconf

March 16, 2008 EMC 2.2.4 released

• make xxxmach exit reliably with 'halcmd unload' (SF#1816781)
• hook up encoder index for homing in the motenc sample configuration
• axis: don't reset the interpreter during touch-off and reload. This fixes the loss of modal settings from MDI, including tool length offset, fixing SF#1825638
• stepconf: clarify that it is the ratio of teeth on each pulley that must be entered
• hal_input: fix 'ZeroDivisionError?' for absolute axes that report the same value for min and max
• fix various inaccuracies in the documentation
• halscope: fix the time displayed when mousing over a trace
• axis: fix ctrl and - or = starting an unstoppable jog
• axis: fix the numeric keypad with numlock on
• task: fix the initial coordinate system offset (SF#1895693)
• stepconf: fix "Both Limit"-type inputs (SF#1906640)
• stepconf: fix "HOME_SEQUENCE" problem without full set of home inputs (SF#1906641)
• stepconf: fix Z home and limit switches on lathes (SF#1910452)
• stepconf: fix 'offset' value calculated for spindle speed control
• stepconf: enable 'dither-pwm' for spindle speed control
• traj planner: fix velocity 'bobble' between 1st and 2nd consecutive synced moves
• halscope: fix 'sample every Nth time' function
• configs/univstep: fix external estop in this configuration
• pluto_step: fix for negative scale values (SF#1915407)
• pluto_servo: fix for pwm+direction mode
• stepconf: improve calculation of HOME_LATCH_VEL

27 January 2008 EMC 2.2.3 released

• gcode quick reference had G98, G99 transposed
• gcode quick reference had wrong links to G18, G19 documentation
• initialize all axes, including unused ones, to 0.00000. this fixes several problems:
  • g38.2 probe logs 0.000000 for axes that do not exist
  • several types of 'following error' messages. In particular, 4-axis code seemed to be affected by this.
• axis: make 'touch off' work when the loaded file uses percent signs
• stepconf: fix several problems with Test Axis button
• hal_input: make sure absolute axes are driven with the correct value at startup
• axis: show emc2 version number in title bar
• axis: show lathe tools with very small diameters better
• test suite: update expected results for several gcode tests
• fix sample configuration 'lathe-pluto'
• axis: fix incorrect line in the preview where tool length offset is changed
• fixed ferror problem when using start-from-line
• fix #1853953 M66 doesn't work with parport inputs
• temp fix preventing segfaults on bad M66 indexes
• pluto-step: fix a problem when the motor position went beyond +-2^20 counts
• fix NAN that appears when you move below the lower extent of a screw comp file
• pluto-servo: fix a problem with pwm+direction mode
• updates to romanian translation

02 December 2007 EMC 2.2.2 released

• move hal_unlink manpage to development package
• make gcode quick reference link into our own full gcode reference instead of the outdated nist document
• fix stepconf 'pulley' numbers: the 'motor' and 'leadscrew' fields were transposed
• fix stepconf 'charge pump' pin
• fix stepconf 'external estop' pin
• fix homing in stepconf-created configurations
• fix halshow 'watch pin'
• restore cone rotation when the A-axis moves
• fix 'scara' sample configuration
• fix display of home and limit switches on XYZBC machines
• improve legibility of running line in text area
• additional french documentation translation, including gcode quickref
• improve time estimate in gcode File > Properties: it paid no attention to requested feed rates
• fix ZX-plane (G18) arcs in the AXIS preview window
• fix tripod kinematics example configuration
• fix "arc in mdi takes forever" bug (SF#1834576)
• fix gcode documentation of toolchange
• fix comp311 examples to program Z position
• fix stepconf for negative and fractional axis SCALEs
• implement M66 E- (read analog value from gcode)
• add missing dependency on python2.4-glade
• fix problem where metric image-to-gcode would go to the safety height before setting metric units
• fix stepconf so that axis doesn't display an 'unknown letter' error when starting a lathe configuration
• fix stepconf 'pin 'motion.spindle-speed-in' was already linked' for machines with spindle speed control and spindle feedback
• fix stepconf: don't allow arbitrary text to be entered in comboboxes
• fix stepconf: coolant pins
• stepconf: add parker oem750 timings
• fix stepconf: spindle feedback

07 November 2007 EMC 2.2.1 released

• fix packaging of stepconf.glade
• german translation improvements
• package additional new-in-2.2.x programs (pumagui, scaragui, hexagui, tracking-test, teach-in)
• fix problems using v2.1 var file -- it's silently upgraded with the new entries used by v2.2 instead of issing weird errors at startup
• fix problem with probe_parport on certain machines
• fix problem with non-integer INTRO_TIME

05 November 2007 EMC 2.2.0 released

• 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
• Classicladder has optional signed integer (S32) HAL Input/output pins (default is 0 of each)
• Classicladder shows HAL signal names for %I, %Q variables.and S32 pins in preference of symbol names
• Classicladder auto assignment of symbol names for %I, %Q, and S32 pins.
• Classicladder many changes to improve the GUI.

29 July 2007 EMC 2.1.7 released

• additional PPMC indexing fixes
• motenc indexing fixes
• mesa 5i20 indexing fixes
• french translation improvements from Francis TISSERANT
• fix out-of-order scheduling of motion and custom M-codes
• fix leadscrew error compensation
• fix bug #1734309, M2, M30 in MDI sometimes caused an error
• fix uncommon incorrect path problem while using tolerance mode
• fix incorrect automatic hiding of flood/mist buttons in AXIS gui

7 June 2007 EMC 2.1.6 released

• fix TkEMC? jog increment/continuous doesn't show on screen
• fix ppmc index polarity and HAL hookups
• fix some incorrect comments in hal files
• print a warning when a common hal 'net' error is made
• improve documentation for R format arcs

6 May 2007 EMC 2.1.5 released

• fix for bug 1701900 - spindle does not turn off when going into machine-off state
• set default gains in sum2 component to one instead of zero, so by default it sums its inputs
• AXIS: pass ini file name along to POSTGUI_HALFILE
• pickconfig: make keypad enter key work like main enter key - issue "OK"
• halmeter: fix bug that caused slowdown or freeze if "select" is clicked while the selection dialog is already on-screen
• revert "AXIS: fix changing axes with keyboard while jogging with the jog button", it caused more problems than it solved
• add 'enable' pin to charge-pump component
• fix holecircle
• fix constraint violation right after a probing move
• abort if the probe does not trip before a probing move ends
• index handling fixes for the ppmc series
• improve the initial viewpoint in perspective mode in AXIS preview
• fix mini's jog speed popup

26 Mar 2007 EMC 2.1.4 released

• fix image-to-gcode
• fix jog wheel moves that were stopped too soon
• fix bug for the Mini GUI. Simultaneous jogging of multiple axes caused runaways.
• give the axisui hal pins correct initial values so the jogwheel axis matches the screen initially
• fix M51 (spindle speed override enable/disable)
• add "velocity mode" for jogwheels - axis stops immediately when wheel stops, even though that loses position sync between the wheel and axis
• fix occasional warning 'invalid command name "-1211088452callit"'
• fix changing axes with keyboard while jogging with the jog button

18 Mar 2007 EMC 2.1.3 released

• make 'load' button work in classicladder
• add french translation of axis
• improve italian translation of axis
• make 'milltask' not consume all CPU after 'run from line' has been used
• new userspace component: hal_input for all Linux-recognized input devices
• image-to-gcode: spindle speed and plunge feed rate can now be selected
• image-to-gcode: tool shape compensation bugfixes
• image-to-gcode: add documentation
• stepgen: revise core to eliminate 1 count deadband and resulting "bobbles"
• improve segment throughput for slow machines when using AXIS
• fix cutter compensation sticky words when using zero radius tool
• fix incorrect path in some circumstances after G40 in lathe mode
• in AXIS, unhighlight a program line that was chosen interactively when starting a program. this way, the highlight follows the running program.
• fix some misformatted/truncated error messages

11 Mar 2007 EMC 2.1.2 released

• change axis.N.homing from HAL parameter to pin, to allow external logic
• add russian translation of AXIS
• fix problem with tolerance mode and angular moves
• fix g28 and g30 to go to the saved position (which is saved in native machine units) regardless of the currently-active gcode units
• fix unreliable reading of encoders and digital inputs on pluto-servo board
• fix intermittent error "IOError: [Errno 2] No such file or directory: 'sim.var'"
• fix a pinout problem in the stepper-xyza sample configuration
• a few minor documentation updates
• in AXIS, entries on the File menu were enabled/disabled incorrectly. Now when a program is running, Exit is disabled but Properties is enabled.
• several fixes to tool compensation related to single-arc entry moves, relative (G91) mode, exit moves, use of sticky words from previous lines
• fix problem with MACHINE ON which was left active on shutdown
• fix circular move "task issue" debug output
• allow configuration of the max linear jog speed in AXIS with [TRAJ]MAX_LINEAR_JOG_SPEED - especially useful for mixed linear+rotary
• fix interactions between jogwheel, keyboard jogging, and homing
• add jogwheel support to 'max' 4-axis sample configuration

25 February 2007 EMC 2.1.1 released

• fix behavior of certain keys in the AXIS MDI entry field, particularly the numeric keypad arrows
• improve unclear error messages about exceeding limits
• change hal_joystick device to /dev/input/js0 which is standard on ubuntu
• internationalization/translation fixes
• fix problem running comp: ImportError?: No module named yapps
• fix bug that left the spindle on after abort
• angled entry and exit for the canned threading cycle: see g76.ngc
• fix halscope's trigger level when using an offset
• m5i20 driver fix: hal bits should be on for any nonzero value, not just 1
• remove outdated comments from several of the sample configurations
• pluto_servo and serport hal drivers
• in the AXIS touch-off window, accept the keypad's Enter key for OK

27 January 2007 EMC 2.1.0 released

• AXIS debug level dialog. Users can now choose verbosity directly from AXIS
• HAL driver & sample config for the pluto FPGA board
• AXIS home-all and pyvcp support
• 'unobtainable step rate' error message. when the user requests a velocity which is too high (improper config) this gets reported as a warning during startup.
• streamer (component for data passing from realtime to userspace)
• removed HAL types s8, u8, s16, and u16. HAL now uses float for analog values, bit for booleans, and s32 or u32 for integer values. The only users who will be affected are those with Universal Stepper Controller cards. See item 9 at http://wiki.linuxcnc.org/cgi-bin/wiki.pl?UpdatingConfigurationsForDevelopmentVersions
• merged classicladder 0.7.100
• added a feed-hold HAL pin. Added M codes to enable/disable feed override, spindle override, feed hold, and adaptive feed individually. Feed override is M50, spindle override is M51, adaptive feed is M52, and feed hold is M53. G50/51 are no longer used to enable/disable adaptive feed, use M52 instead.
• added support for block delete as defined by Section 2.2.2 in the RS274NGC_3 specs.
• added support for optional program stop as defined by Section 2.2.3 in the RS274NGC_3 specs.
• manpages have been created for most rtapi and hal calls
• added a userspace simulator which includes rtapi threads. Use "--enable-simulator" to enable this mode, which cannot be used to control real hardware
• added support to optionally save joint positions between runs ([TRAJ] POSITION_FILE = position.txt)
• added support to specify UNITS in literal in the ini. (e.g. [TRAJ] LINEAR_UNITS = mm )
• fixed bug #1384883, optional stop was not optional.
• AXIS is now a part of EMC2, not a separate source download.
• Added a spindle-speed override. This allows to override the spindle speed during a program run. The MIN_SPINDLE_OVERRIDE and MAX_SPINDLE_OVERRIDE in the ini assure that speed doesn't get reduced or increased too much. 1.0 is 100%, just like feed override
• Documentation can be built from source with the 'make docs' target
• added realtime support for jogwheels. Three HAL pins per axis: one accepts raw counts from the wheel, one sets the distance moved per count, and one enables that axis to move.
• added 'adaptive feed', a HAL pin that can be used to scale the feedrate in real time. Simular to feedrate override, but can only vary from 0.0 to 1.0, and reacts much faster. Intended for use with EDM and other applications that require closed loop control of feedrate.
• contouring performance is improved when using tolerance mode (G64 Pxxx)
• G76 multipass threading cycle for lathes
• lathe tool shape compensation and offsets
• AXIS gui draws the lathe tool shape as described in the tool table
• index pulse support for the PPMC family (for homing and spindle sensing)
• "extra DAC" support for some PPMC cards
• added FF2 (acceleration feedforward) to PID
• new sample configs including a torch height controller and lathes
• regression test infrastructure
• emcrsh, a telnet based user interface
• xemc and keystick user interfaces for low-powered computers
• kinematics are loaded as modules, eliminating the need for recompiling
• support for safe homing when several home switches to the same input pin
• a "home all" message that homes the axes together or in a particular order
• axis_manualtoolchange, which prompts the user to change the tool when the standard M6 is encountered in the program
• AXIS configurable filtering, where an input file can be run through a filter to create gcode automatically
• some example AXIS input filters for images and python code, and example inputs
• readline support in halcmd
• "net" HAL command which can simplify HAL files by replacing a "newsig" and several "link" commands with one command
• "pwmgen" HAL component to make PWM generation simpler
• leadscrew compensation
• improved backlash compensation
• many new inputs and outputs in halui
• parallel port "X mode" (control port as inputs) which works on some hardware. this gives a nice combination of 8 outputs and 9 inputs.
• many improvements in presentation and usability in halscope
• the configuration picker allows you to automatically copy a sample configuration to your home directory and/or create a launching icon on the desktop
• requires some minor configuration file changes, the list is at UPDATING
• since changes are required, update from 2.0.x is not automatic. To update, see UpdatingTo2.1

03 December 2006 EMC 2.0.5 released

• fix units problem with G92/G92.3
• fix typo in the license statement in a few files

Known problems with this release:

• ClassicLadder's GUI is unreliable when gtk2.0 is used (does not apply to the official Ubuntu packages, which use gtk1.2) (fixed in http://cvs.linuxcnc.org/cvs/emc2/src/hal/classicladder/classicladder_gtk.c.diff?r1=1.13;r2=1.14 -- backport needed)
• When given certain strange commandlines, halcmd may crash (fixed in http://cvs.linuxcnc.org/cvs/emc2/src/hal/utils/halcmd.c.diff?r1=1.88;r2=1.89 -- backport needed)

22 October 2006 EMC 2.0.4 released

• use scientific notation in halmeter only when really necessary
• fix a position jump on stepper machines when reenabling after estop
• fix moving to [EMCIO]TOOL_CHANGE_POSITION during M6
• detect and report to the user some realtime problems (unexpected delays) that reflect a problem with the hardware or realtime subsystem.
• fix step sometimes moving significantly past the end of a segment.
• fix bug where hitting step too quickly in a row could cause a resume.

6 August 2006 EMC 2.0.3 released

• see [Changes at sourceforge]

1 August 2006: EMC 2.0.2 released

• bugfixes and new features:
  • In EMC 2.0.1, the Linux parallel port driver must be completely disabled for EMC's hal_parport driver to load. However, as we learned after the release of 2.0.1, this disabled certain parallel ports that are "PNP" (plug and play) devices. The new 2.0.2 probe_parport realtime module performs the probing for one type of PNP port. If probe_parport doesn't allow your card to work, please contact the EMC developers.

5 June 2006: [EMC 2.0.1] released.

• bugfixes and new features:
  • ?
  • ?

8 May 2006: [EMC 2.0.0] released.

• this was the first release of EMC2