emc2 (1:2.5.0-pre2) lucid; urgency=low * AXIS: dynamic tabs can embed other applications, including virtual control panels * AXIS: make the gcode readout resizable * AXIS: many speedups in preview generation * AXIS: new OpenGL preview with antialiased fonts * AXIS: optional blending in the program preview can make very complex programs easier to see * AXIS: prompt when homing a joint that's already homed * AXIS: Selectable tool touch off to workpiece or fixture * AXIS: show all offsets and rotation separately in the BIG DRO * AXIS: show G5x and G92 offsets graphically in the preview * AXIS: user-configurable MDI history file * Configs: many configuration updates for Smithy machines * Configs: update motenc sample configs for encoder index * Configs: add filtering (image-to-gcode etc) to hostmot2 samples * Configs: univpwm sample uses new encoder velocity for pid * GladeVCP: a new framework for making virtual control panels with the Glade screen designer * Gremlin: AXIS's program preview is now separated out as gremlin, for use with GladeVCP/Touchy/etc. * HAL: fix rare problem with freqgen output getting stuck "on" * HAL: gearchange component: support up to 32 gears * HAL: make commanded (unaffected by spindle override) spindle speed available on a pin, for gear selection etc. * HAL: make limit3 parameters into pins * HAL: new axis.N.motor-offset pins can be used to detect position loss between homings * HAL: new component bldc_sine: commutation for BLDC with encoder feedback * HAL: new mux16 component * HAL: new time comp, which converts seconds to hr/min/sec * HAL: new watchdog component * HAL: remove deprecated hal_m5i20 driver * HAL: new component for ShuttleXpress USB jog dongle * Halshow: add menu with load/save/exit * Halshow: fix the tree to not cut off after a certain depth * HAL: standardize on maximum hal name length * HALUI: allow direct-value input to spindle and feed overrides and max velocity * HALUI: handle the situation better when many command inputs change simultaneously * Hostmot2: fix a rare problem in stepgen mode setting * Hostmot2: fix stepgen moving VERY slowly when it should have been stopped * Hostmot2: handle failed card registration better * Hostmot2: support for multiplexed encoders like on the 7i48 * Hostmot2: support for onboard diagnostic LEDs * Hostmot2: support for three phase PWM * Interpreter: fixes to always use . for a decimal, no matter the locale * Interpreter: fix G83 peck retract to match fanuc * Interpreter: fix G98/G99 to match fanuc retract planes behavior * Interpreter: fix "run from line" when the start line is between a sub definition and its call * Interpreter: give correct errors when rotary axes are commanded to move in canned cycles * Interpreter: improve arc endpoint radius-mismatch error checking * Interpreter: maintain G5x and G92 offsets separately * Interpreter: make current position including all offsets and in the current program units available in parameters 5420-5428 * Interpreter: make EMC version available in named parameters _vminor, _vmajor * Interpreter: make G92 offset rotated coordinate systems correctly * Interpreter: make more errors translatable * Interpreter: many fixes to allow O-call of subroutines from MDI mode * Interpreter: many new tests in the test suite, including the ability to verify errors * Interpreter: new G10 L11 code for tool touch off to fixture instead of active work coordinate system * Interpreter: new unary function EXISTS tells whether a certain parameter exists * Interpreter: search path for subroutines: [RS274NGC]SUBROUTINE_PATH * Interpreter: search path for user M codes: [RS274NGC]USER_M_PATH * IOcontrol: make aborting tool changes work * Kinematics: several improvements to the general serial kinematics module * Motion: allow translations of more error messages * Motion: fix stuttering motion in NURBS * Motion: support for indexing/locking rotary axes * PID: accept external command-deriv and feedback-deriv connections to use a high quality velocity signal when it is available * PPMC: improve error messages when cards are not found * Probing: correctly abort motion when the probe trips during a non-probe MDI command * TkEMC: display and allow entry of all tool offsets * TkEMC: in Set Coordinates, display the correct axes * TkEMC: only display active axes * TkEMC: show coordinate system in offset widget * TkEMC: show work offsets for all axes * Touchy: add a spindle speed readout on the manual tab * Touchy: dynamic tabs can embed other applications, including virtual control panels * Touchy: macro capability that uses MDI O-call * Touchy: make single-block switch work like feed hold * Touchy: save maximum velocity (MV) value across runs * Touchy: Selectable tool touch off to workpiece or fixture * Touchy: show all offsets separately in the status information * Touchy: show the total number of lines in the loaded program * Touchy: show which tools are in which pockets * Touchy: support for metric configurations * Touchy: support panel indicators for status readout * Touchy: use appropriate jog and maxvel increments for metric and degrees * Touchy: turning the wheel during a continuous jog changes the current jog speed * add a G code language spec for gedit * add latencyplot, a strip-chart type display of latency test results -- Chris Radek Thu, 22 Sep 2011 10:50:38 -0500 emc2 (1:2.4.7) lucid; urgency=low * axis: fix problem removing a single notification * axis: fix jog after ctrl-alt-left or -right in mdi * classicladder: fix a problem when more than 8 modbus inputs are read * classicladder: fix possible crashes * comp: fix a problem with 'option userinit yes" * emcrsh: minor bugfixes * halcmd: fix a possible crash * halrmt: fix a possible crash * halmeter: fix a possible crash * hal_input: add names for new input events * hal_motenc: set outputs to 0 on exit * interpreter: fix spurious cutter comp error with tiny arcs in metric * interpreter: fix G10 L2 on the active coordinate system * interpreter: disallow changing coordinate system with cutter comp on * interpreter: fix incorrect handling of do-break-while (SF#3420655) * motion: fix spurious reversal in CSS mode with M4 and X=0 * motion: fix a problem with probing (SF#3040806) * pncconf: fix nameless 'addf' in HAL file * pncconf: changes spaces in configuration names to underscores * pncconf: fixes for 3i28 and 7i43-4 boards * pncconf: fix scale calculation * pncconf: fix scaled spindle speed display * stepconf: changes spaces in configuration names to underscores * stepconf: fix for spindle PWM on pin 17 * stepconf: fix name of "Z Both Limit + Home" pin * stepconf: fix scaled spindle speed display * stepconf: advice about how to use on an 800x600 display * thc: correctly remove offset after compensation disabled * documentation: various improvements * configs/smithy: various updates * configs/gantry: simulated XYYZ gantry configuration -- Jeff Epler Sat, 15 Oct 2011 12:23:30 -0500 emc2 (1:2.4.6) lucid; urgency=low * documentation: various improvements * estop_latch: make watchdog behavior match documentation. * hostmot2: make gpio pins behave when the value of the pin as an integer was not 0 or 1 * iocontrol: fix current tool information after reloading table * near: fix for negative inputs * pico/7i43/pluto: if the kernel does not report a base_hi address, make an educated guess (fixes the D510MO bug) * pico/7i43/pluto: show "linux parport does not support mode" as a warning, not an error * pncconf: fix spinbox limits on metric configurations * pncconf: fix jogging buttons on lathe configs * pncconf: add touchy gui choice * pncconf: fix spindle-at-speed code * pncconf: fix launchers on ubuntu 10.04 * pncconf: fix firmware directory names for 7i43, 5i22 * sample configs: add another smithy sample configuration * stepconf: fix launchers on ubuntu 10.04 * touchy: fix display of 3-digit active gcodes -- jepler Fri, 26 Nov 2010 11:34:57 -0600 emc2 (1:2.4.5) lucid; urgency=low * interp: fix bug that made axis "touch off" frequently crash * pncconf: make generated configuration files work better with tcllalib * pncconf: fix inverted encoder * pncconf: fix following error when inverting servo direction * documentation: small improvements -- Jeff Epler Sat, 09 Oct 2010 08:07:30 -0500 emc2 (1:2.4.4) lucid; urgency=low * axis: improve preview of programs that use tool length parameters * axis: disable "run from here" when machine is off / estopped * axis: improve treatment of errors at startup due to bad inifiles * documentation: many improvements * i18n: make 'emctop' translatable * i18n: update polish translation * interp: fix incorrectly scaling ABC tool lengths by 25.4 * interp: fix error handling for O-call in MDI * io: fix crash when tool table specifies impossibly high pocket number * io: fix current tool information when reloading tool table * motion: improve G38.4 error message * packaging: fix debian/configure script for Debian Lenny * packaging: fix src/configure.in script for Linux 2.6.34+ * packaging: do not compress files from sample configurations * packaging: install emctool.h * pncconf: add usb joystick jog option * pncconf: fix typos in mesa firmware names * pncconf: fix spindle-related signals in hal file * pncconf: other improvements and bugfixes * tkemc: fix appearance of radiobuttons on tk8.5 * tooledit: fix buggy behavior with 0 at start of comment * stg: fix incorrect negative DAC output -- Jeff Epler Sat, 18 Sep 2010 13:22:23 -0500 emc2 (1:2.4.3) lucid; urgency=low * axis: fix jogs after selecting increment (SF#3028917) * axis: fix high CPU usage with certain window managers * axis: fix keys while choosing jog increment * calibration: fix second and subsequent tabs * components: new bldc_hall3 component for commutation of BLDC motor with hall sensors * components: serport: improve error message when port cannot be registered * documentation: many improvements * pncconf: improve sanity checking for spindle drive control options * pncconf: honor invert motor/encoder settings when writing inifile * pncconf: fix firmware names for 7i43 and 5i22 * pncconf: add firmware names for 3x20 * pncconf: support spindle-at-speed logic * pncconf: support stepper as spindle * pncconf: create desktop shortcuts in right location * pncconf: additional bugfixes * task: Improve behavior when RFL line is between subroutine definition and use * sample-configs: use gedit, not vim, as default text editor * sample-configs: fix C axis behavior in configs/5axis * sample-configs: 622keyence configuration * sample-configs: smithy: pause the program when a guard is opened * tooledit: accept numbers with leading zeros (SF#3032618) * tooledit: display 6 significant digits * tooledit: add scrollbars * tooledit: other cosmetic improvements * touchy: "cycle start" resumes program if it was paused -- Jeff Epler Sat, 31 Jul 2010 12:41:10 -0500 emc2 (1:2.4.2) lucid; urgency=low * axis: fix crash when environment variable AXIS_NO_HAL is set * classicladder: modbus reliability and performance improvements * components: fix tan(), atan() implementations. Before, using these functions would make all math in realtime components behave unpredictably. * comp: fix repeated MODULE_LICENSE declarations * documentation: many improvements * emccalib: fix crash 'unmatched open quote in list' for lines like loadrt hal_parport cfg="0x378 out " * emcrsh: fix crash when invoked with a bad commandline * emcsh: report effect tool offsets on all axes * emcsh: enable emc_tool_offset to access all tool offsets * emcsh: fix wrong conversion of ABC axis values as though they were linear axes * gcode: fix a problem with inverse time mode and m66 leading to very slow moves * gcode: save state of g92 across runs. In the first run after upgrading to 2.4.2, g92 will be disabled. In subsequent runs, the state of g92 at startup will be the the same one stored in the var file at shutdown. * gcode: fix G1 followed by G5, G5.x * gcode: improve accuracy of NURBS paths. An important calculation of the direction of a NURBS path at a given point has been improved. This makes the resulting path more closely follow the mathematically precise NURBS curve. * gcode: improve accuracy of G5, G5.1 spline paths by converting them to NURBS paths. * gcode: detect missing P, Q words with G5 * gcode: avoid division by zero in NURBS * hal_input: fix keys and buttons with unknown names * image-to-gcode: fix crash when using lace bounding * mesa: fix failure to load firmwares on 7i43 * mesa: fix failure to load firmwares on 5i23, 3x20, and other PLX9054-based cards * mesa: fix stepgen slowly moving in negative direction, losing position * mesa: fix stepgen mode setting problem * motion: fix threading and tapping with spindle turning backward (M4) * pncconf: mesa 3x20 support * pncconf: write configuration files without "base thread". This may improve behavior on step&direction systems configured with pncconf. * pncconf: many additional bugfixes * pickconfig: fix icon for desktop shortcuts * pickconfig: fix permissions on desktop shortcuts * pickconfig: don't allow user to run sample configuration without copying. This has not worked right for a long time, so there's no value in offering the option. * ppmc: improve error message when no board is present * ppmc: fix board detection when cooperating with linux parport_pc driver * sample configurations: * ppmc: sample configs now use axis user interface * ppmc: hal samples for spindle speed display, pendant * smithy: 1240 and 622leadshine sample configuration improvements * sample gcode: * lathe_pawn: set radius mode in startup codes * stepgen: fix ctrl_type for kernels 2.6.30 and newer -- Jeff Epler Sun, 04 Jul 2010 14:00:38 -0500 emc2 (1:2.4.1) hardy; urgency=low * tooledit: fix display of angles for lathe tools * tkemc: fix "Tool Table Editor" menu item * tkemc: remove 'balloon' and 'emchelp' menu items which should not have appeared * parport: make it a warning, not an error, if EPP is not detected by Linux * pncconf: various improvements * configs: various improvements to the smithy configurations * axis: fix "touch off" when loaded program starts with "%" * axis: fix click-to-select in preview on Ubuntu 10.04 in focus-follows-mouse mode * axis: new splash screen * hostmot2: fix undesired motion of steppers immediately after enabling them * fixed several buffer overflows in error routines * NURBS: fix several bugs and document it * hal_joystick: remove as it no longer works. Use hal_input instead. * Documentation improvements * Remove several debugging messages and warnings * Change the default message level from ALL to ERR, which was the default in version 2.3.x. * Locked memory: improve locked memory setup and locked memory error messages * integ: new 'gain' pin -- Jeff Epler Sat, 29 May 2010 10:17:11 -0500 emc2 (1:2.4.0) hardy; urgency=low * configs: add GEOMETRY=AXYZ to Sherline4Axis so A rotates * configs: DOS-damaged inifiles are detected with a clear error * configs: A default nml file is used if it is not specified in the inifile * configs: new [AXIS_#]VOLATILE_HOME flag makes an axis unhomed after estop or machine off (for motors without feedback, such as steppers) * configs: updates to smithy configuration files * nml: enlarge status buffer in default emc.nml * nml: add machine delay time to status (works for G4Pxx and M66) * nml: unused fields removed from the status buffer * touchy: a new GUI for touchscreens that doesn't use a keyboard * tooledit: new GUI to edit tool table * axis: shift+jog for XYZ gives a jog at the traverse speed. * axis: the units (mm, inch, or degrees) are shown in touch-off; when appropriate, radius or diameter mode is indicated * axis: new "big dro" tab * axis: axis-remote --clear remotely clears the backplot * axis: axis-remote --mdi sends an mdi command * axis: new HAL pins such as axisui.set-manual-mode to take UI actions from a remote pendant or hard button * axis: improve (AXIS,stop) comment * axis: improve load time of programs, particularly those containing arcs * axis: inifile item [DISPLAY]ARCDIVISION trades preview generation speed for preview accuracy * axis: fix a memory leak on program reload * halui: new pins such as home-all, unhome * python: new methods such as emc.command.set_feed_override * pyvcp: leds have a 'disable' pin to select a third color * pyvcp: named widgets don't create gaps in numbered widgets (backwards incompatible change) * pyvcp: -g argument sets initial window size and position * stepconf: improve "test axis" for machines with long step length * pncconf: a new, alpha-release graphical configurator for hostmot2 systems. * interpreter: the .var file is automatically created if it doesn't exist * interpreter: many error messages are improved * interpreter: G5x coordinate system rotation * interpreter: additional G10 codes for coordinate system and tool offsets * interpreter: tool offsets can be applied on all 9 axes * interpreter: [TRAJ]TLO_IS_ALONG_W removed * interpreter: Incompatible change in G43.1 to support 9-axis tool lengths * interpreter: G64 P- Q- specifies motion and "naive cam" tolerances separately * interpreter: M67/M68 E- Q- to set analog outputs * interpreter: g90.0/g90.1 choose absolute/relative arc centers * interpreter: new "polar mode" using @ ^ notation * interpreter: new "wrapped rotary" mode * interpreter: #5400..#5413 hold information about loaded tool * interpreter: M1xx permitted with cutter radius compensation on * interpreter: Can negate a parameter, e.g., G0 X-#1 * task: Improve behavior of O-call from MDI * task: new "random" toolchanger for carousel systems which don't necessarily put the tool back in the same pocket it came from. * task: fix "step from first line" * task: improve "run from line" when next line does not specify all axis words * task: avoid undesired motion on "run from line" when next line is an error * motion: further improvements to spindle-synchronized motion * motion: improve blending of arcs with very low acceleration limit * hal: bump shared memory size to allow for more complex configs * hal: now cooperates with the linux parport_pc driver. When parport_pc is enabled, parports may be specified by number (e.g., 0 for /dev/parport0) * halmeter: -g argument sets initial window size and position * halcmd: DOS-damaged files are detected with a clear error * internationalization: halscope and halmeter are now translatable * hal_parport: fix a problem with control pins in "x" mode * comp: components must now specify a license * comp: new "include" directive * joyhandle: new realtime component for analog joystick deadband, scaling, and exponential "acceleration" * pid: new index-enable pin eliminates thump during homing when connected to axis.#.index-enable (step change means feadforward calculation should be skipped in the cycle where index is seen) * integ: min/max windup limit pins * limit2/limit3/lowpass: "load" pin to preload value from input pin * hostmot2: firmwares are now shipped separately from emc2 in the hostmot2-firmware packages * encoder: better estimates velocity and provides an approximate "interpolated position" for low-resolution encoders * thc: new alpha-release component for torch height control * image-to-gcode: use numpy instead of numarray * documentation: many improvements * many more small enhancements and bugfixes -- Jeff Epler Sun, 09 May 2010 11:07:19 -0500 emc2 (1:2.3.5~pre) hardy; urgency=low * 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 * stepconf: fix direction of 2nd and 3rd parports * configs: add smithy 516 sample configuration * image2gcode: respect current TLO and fixture settings * documentation improvements -- Jeff Epler Sat, 06 Feb 2010 08:43:22 -0600 emc2 (1:2.3.4-1) hardy; urgency=low * Rebuild packages to get rid of spurious python2.4 dependency -- Jeff Epler Sat, 24 Oct 2009 18:52:16 -0500 emc2 (1:2.3.4) hardy; urgency=low * 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 -- Jeff Epler Sat, 24 Oct 2009 14:15:39 -0500 emc2 (1:2.3.3) hardy; urgency=low * 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 -- Jeff Epler Sun, 26 Jul 2009 08:39:44 -0500 emc2 (1:2.3.2) hardy; urgency=low * 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 * 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 -- Jeff Epler Thu, 02 Jul 2009 13:46:13 -0500 emc2 (1:2.3.1) hardy; urgency=low * 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 -- Jeff Epler Sat, 16 May 2009 19:52:54 -0500 emc2 (1:2.3.0) hardy; urgency=low * 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 -- Jeff Epler Sun, 19 Apr 2009 12:11:26 -0500 emc2 (1:2.3.0~beta2) hardy; urgency=low * 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 -- Jeff Epler Sun, 22 Mar 2009 13:40:43 -0500 emc2 (1:2.3.0~beta1) unstable; urgency=low * 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 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 -- Jeff Epler Sat, 28 Feb 2009 11:16:38 -0600 emc2 (1:2.2.9~cvs) hardy; urgency=low * 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 -- Jeff Epler Tue, 13 Jan 2009 19:13:30 -0600 emc2 (1:2.2.8) hardy; urgency=low * 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. -- Jeff Epler Tue, 11 Nov 2008 20:48:20 -0600 emc2 (1:2.2.7) hardy; urgency=low * 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 improvments * 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! -- Jeff Epler Tue, 11 Nov 2008 20:48:18 -0600 emc2 (1:2.2.6) hardy; urgency=low * 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 -- Jeff Epler Sun, 10 Aug 2008 09:30:15 -0500 emc2 (1:2.2.5) unstable; urgency=low * 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 -- Jeff Epler Sun, 27 Apr 2008 14:39:40 -0500 emc2 (1:2.2.4) unstable; urgency=low * 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 -- Jeff Epler Sun, 16 Mar 2008 12:15:28 -0500 emc2 (1:2.2.3) unstable; urgency=low * 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 -- Jeff Epler Sun, 27 Jan 2008 20:26:21 -0600 emc2 (1:2.2.2) unstable; urgency=low * 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 * -- Jeff Epler Sun, 2 Dec 2007 16:12:46 -0600 emc2 (1:2.2.1) unstable; urgency=low * 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 -- Jeff Epler Wed, 7 Nov 2007 20:18:34 -0600 emc2 (1:2.2.0) unstable; urgency=low * Bump version for release * 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 -- Chris Radek Sun, 5 Aug 2007 20:07:45 -0500 emc2 (1:2.1.8~pre) unstable; urgency=low * Fix SF#1772411: parameters incorrectly restored by O- endsub * Fix SF#1743942: MDI should not be allowed in OFF, ESTOP, or ESTOP RESET states * Improve comp error reporting when the error was on the last line before ;; -- jepler Wed, 29 Aug 2007 09:26:39 -0500 emc2 (1:2.1.7) unstable; urgency=low * 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 -- Chris Radek Sun, 29 Jul 2007 19:26:46 -0500 emc2 (1:2.1.6) unstable; urgency=low * 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 -- Chris Radek Thu, 7 Jun 2007 19:48:45 -0500 emc2 (1:2.1.5) unstable; urgency=low * 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 -- Chris Radek Sun, 6 May 2007 14:48:22 -0500 emc2 (1:2.1.4) unstable; urgency=low * 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 * AXIS: fix occasional warning 'invalid command name "-1211088452callit"' * AXIS: fix changing axes with keyboard while jogging with the jog button -- Chris Radek Sun, 25 Mar 2007 21:50:59 -0500 emc2 (1:2.1.3) unstable; urgency=low * 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 -- Chris Radek Sun, 18 Mar 2007 01:38:52 -0500 emc2 (1:2.1.2) testing; urgency=low * 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 -- Chris Radek Sun, 11 Mar 2007 19:43:03 -0500 emc2 (1:2.1.1) testing; urgency=low * 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 -- Chris Radek Sun, 25 Feb 2007 19:28:58 -0600 emc2 (1:2.1.0) testing; urgency=low * Prepare for release * 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/emcinfo.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 -- Chris Radek Sun, 28 Jan 2007 16:11:12 -0600 emc2 (1:2.0.5) unstable; urgency=low * fix units problem with G92/G92.3 * fix typo in the license statement in a few files -- Chris Radek Sat, 2 Dec 2006 16:54:00 -0600 emc2 (1:2.0.4) unstable; urgency=low * 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. -- Chris Radek Fri, 20 Oct 2006 22:20:34 -0500 emc2 (1:2.0.3) unstable; urgency=low * stupid bugfix - I forgot to enable the loading of probe_parport. -- Chris Radek Wed, 2 Aug 2006 21:51:29 -0500 emc2 (1:2.0.2) unstable; urgency=low * add probe_parport module for machines with plug-and-play parports that require initialization before working * fix velocity and acceleration in teleop mode (non-trivial kinematics machines only) * fix G33's K word to use programmed G20/G21 units as appropriate * fix possible error when halcmd's output is piped to a program * move the Gnome menu entry for EMC from "Other" to a "CNC" group -- Chris Radek Mon, 31 Jul 2006 19:32:54 -0500 emc2 (1:2.0.1) unstable; urgency=low * several fixes for blending of very short segments * fix for occasional following error while decelerating after abort * stop jogs a bit short of the soft limits to make sure they are never reached * fix to honor [TASK]CYCLE_TIME which was being ignored * fix to remove spurious limit-exceeded warning when homing on a limit switch * double the size of the hal shared memory block for very complex hal configurations like on the Mazak at CNC workshop * fix some tmp file handling in classicladder * now stepper systems recover correctly after following errors (previously turning the machine back on often caused another following error) * fix a tkemc blocky font that appeared on some X servers * EMC now verifies that it has exclusive access to the parallel port. This solves many possible problems including overnight cron jobs that interfere with the parallel port. If EMC can't get exclusive access, it will now correctly abort with an error. THE 2.0.1 PACKAGE ALSO DISABLES THE parport_pc KERNEL MODULE, BY ADDING A FILE IN /etc/modprobe.d/. THIS WILL DISABLE PARALLEL PORT PRINTERS. -- Chris Radek Sun, 4 Jun 2006 19:37:05 -0500 emc2 (1:2.0.0) unstable; urgency=low * fix tkemc's help * halshow, a way to view the state of the running hal * emccalib now handles more than one hal command that refer to the same ini variable * many internationalization fixes * update some readmes in the sample configurations -- Chris Radek Sun, 7 May 2006 16:41:49 -0500 emc2 (TESTING-2006-05-02) testing; urgency=low * fix wrong center point position in XZ and YZ arcs while using tool length offsets * fix abort during spindle-synchronized operations and the subsequent run * fix cfg="config string with spaces" loading hal modules (especially important for hal_parport) * minor bugfixes to emccalib * the initial configuration picker defaults to the last-run configuration, so you can just hit Enter or click OK to start. * disable halconfig for now -- Chris Radek Tue, 2 May 2006 13:11:46 -0500 emc2 (TESTING-2006-04-29) testing; urgency=low * improvement to the validation of arcs using the R format (which fixes unnecessary errors about endpoint radii not matching) * fix following errors when restarting after hitting a limit switch during a jog * fix g28/g30 to send all axes, not just XYZ, to the specified point * fix spurious incorrect velocity and acceleration after an abort * fix a rounding error that caused some ABC-only moves to not move * a few missing translations in mini were fixed * fix error in the simulated encoder that caused the counts to be off by one in some cases -- Chris Radek Sat, 29 Apr 2006 18:27:11 -0500 emc2 (TESTING-2006-04-09) testing; urgency=low * Modified the motion control module to behave more like other HAL modules - it no longer adds its functions to threads automatically. All the sample configs have been changed to explicitly add the functions. USERS WHO HAVE CUSTOM CONFIGS WILL NEED TO DO THE SAME. * change all PERIOD specifications from seconds to nanoseconds. USERS WHO HAVE CUSTOM CONFIGS WILL NEED TO DO THE SAME. * Standardize on all drivers dividing counts by input scale. formerly, some divided by the scale and some multiplied. USERS MAY HAVE TO FIX THIS SCALE IN ANY CUSTOM CONFIGURATIONS. * A new pin "count" exists for freqgen. It is the same as the internal symbol "count" show in the hal introduction pdf. * A bug in the univpwm ini's fourth axis is fixed * There is a new sim_encoder hal object that takes as input a speed and generates simulated quadrature and index pulse output. * Fix misreporting of the current feed rate in the GUI: even though the machine still moved at the correct rate, the reported number was sometimes off by a factor of 25.4. * Add the beginnings of halui, an extensible way to run EMC using a real front panel (switches/knobs/encoders). * Standardize on an encoder index pulse being called phase Z, not I * Bugfix to make the STG dacs come up initially at 0v, not -10v, for the first msec * Support variable substitutions in the hal file from the ini. the format is [INI_SECTION]INI_VARIABLE * Logging of data from halscope (unfinished) * Some translation fixes for german * Enhancements to the editor in the mini GUI * emccalib, an online tuning editor * Sample configuration for a servo-driven etch-a-sketch using a very simple servo driver * Some fixes to the m5i20 sample configuration * Add new simulation configuration with simulated motors and encoders * Fix tool load loopback in the stg sample configuration * New hal joystick driver * New manpages for hal_joystick and halmeter * Very preliminary threading (spindle synchronized motion) support * Minor look-and-feel fixes in halmeter, halscope * Many internationalization fixes * Some copyright messages updated * New "max" sample configuration for experimenting with threading code * install i18n support for lots of the tcl programs including tkemc/mini -- Chris Radek Mon, 10 Apr 2006 21:08:37 -0500 emc2 (TESTING-2006-03-12) testing; urgency=low * make blend tolerance match the current program units (G20/G21) -- Chris Radek Sun, 12 Mar 2006 14:16:24 -0600 emc2 (TESTING-2006-03-11) testing; urgency=low * an entirely new trajectory planner with many, many bugfixes * new blend tolerance mode * sample hexapod configuration/kinematics * sample four axis stepper configuration * sample vti configuration -- Chris Radek Sat, 11 Mar 2006 21:56:24 -0600 emc2 (TESTING-2006-03-02) testing; urgency=low * the mini GUI has a fix in font handling (for the large XYZ readout) * M6 now correctly causes an error if there is no prepped tool (Txx) * the STG sample ini file had two mm axes and one inch; now they are all mm. * the STG driver multipiled by INPUT_SCALE instead of dividing like the rest of the HAL drivers; this is fixed. * a bug that allowed G1 with no feed rate after a G0 is fixed * support passing an initial program to load, for AXIS -- Chris Radek Thu, 2 Mar 2006 20:04:28 -0600 emc2 (TESTING-2006-02-26) testing; urgency=low * new emc(1) manpage that shows the usage and the config search path * the mini gui's startup is now much faster * fixes for trajectory planning at high velocity - fix bogus reversals * do not blend corners of 90 degrees or sharper * fix build of the vti driver on 2.4 kernels * fix make clean rule to not require generating dependencies -- Chris Radek Sun, 26 Feb 2006 20:05:58 -0600 emc2 (TESTING-2006-02-19) testing; urgency=low * enable the Mxxx commands * install M101 executable * update and install halcmd man page * fix minor build problem on BDI systems (related to sudo/PWD) * add new VTI hal driver * process rtapi.conf with configure, instead of generating it with make * restrict allowable module extensions in emc_module_helper * remove some interpreter debug output. * build this deb with new version format that matches emc's version -- Chris Radek Sun, 19 Feb 2006 16:29:26 -0600 emc2 (2.0.0-alpha21) testing; urgency=low * Security enhancement: halcmd now loads modules using emc_module_helper, so it no longer needs to be setuid root. * many enhancements to pickconfig * add version numbering support, for display on axis and tkemc's help/about screens * clean up some debug output -- Chris Radek Tue, 14 Feb 2006 20:16:44 -0600 emc2 (2.0.0-alpha20) testing; urgency=low * /usr/lib/librs274.so in emc2, not emc2-dev -- Chris Radek Mon, 13 Feb 2006 10:03:00 -0600 emc2 (2.0.0-alpha19) testing; urgency=low * fix a few bugs in the config picker and emc script * speed up realtime tasks markedly (fix problem requiring large BASE_PERIOD lately) -- Chris Radek Sun, 12 Feb 2006 22:03:00 -0600 emc2 (2.0.0-alpha18) testing; urgency=low * new build system, new config picker -- Chris Radek Sat, 11 Feb 2006 22:25:02 -0600 emc2 (2.0.0-alpha17) testing; urgency=low * alex's fixes to tkemc, univpwm setup changes -- Chris Radek Tue, 7 Feb 2006 22:25:02 -0600 emc2 (2.0.0-alpha16) testing; urgency=low * rebuild for 2.6.12-magma_cjr10 -- Chris Radek Mon, 6 Feb 2006 21:00:00 -0600 emc2 (2.0.0-alpha15) testing; urgency=low * turn off debug output for sim-AXIS since the madly-scrolling gnome-terminal is rough on the x-server. -- Chris Radek Sun, 5 Feb 2006 13:47:24 -0600 emc2 (2.0.0-alpha14) testing; urgency=low * tkemc font fix (wasn't big enough) -- Chris Radek Sat, 4 Feb 2006 17:34:00 -0600 emc2 (2.0.0-alpha13) testing; urgency=low * tkemc help files -- Chris Radek Sat, 4 Feb 2006 14:41:00 -0600 emc2 (2.0.0-alpha12) testing; urgency=low * move doc files to the right location * move TkEmc to the right location * don't compress the pdf file! -- Chris Radek Wed, 1 Feb 2006 14:11:36 -0600 emc2 (2.0.0-alpha11) testing; urgency=low * -dev package -- Chris Radek Wed, 1 Feb 2006 14:11:36 -0600 emc2 (2.0.0-alpha10) testing; urgency=low * Fix Suggest due to renamed AXIS package * Source package build stuff and build cleanup, thanks jepler -- Chris Radek Wed, 1 Feb 2006 10:59:36 -0600 emc2 (2.0.0-alpha9) testing; urgency=low * AXIS sim configuration -- Chris Radek Mon, 30 Jan 2006 23:00:59 -0600 emc2 (2.0.0-alpha8) testing; urgency=low * cosmetic changes * fix tkemc resources (again?) -- Chris Radek Mon, 30 Jan 2006 18:08:56 -0600 emc2 (2.0.0-alpha7) testing; urgency=low * fix dependencies -- Chris Radek Mon, 30 Jan 2006 14:05:41 -0600 emc2 (2.0.0-alpha6) testing; urgency=low * fix tkemc resources, fix program path /usr/share/emc/ncfiles -- Chris Radek Mon, 30 Jan 2006 14:05:41 -0600 emc2 (2.0.0-alpha5) testing; urgency=low * finish removing sudo dependencies -- Chris Radek Sun, 29 Jan 2006 17:40:38 -0600 emc2 (2.0.0-alpha4) testing; urgency=low * fix sudo problems by using emc_module_helper -- Chris Radek Sat, 28 Jan 2006 18:42:00 -0600 emc2 (2.0.0-alpha3) testing; urgency=low * fix for bug 1205237 (getting stuck in MANUAL mode), thanks alex_joni -- Chris Radek Sat, 28 Jan 2006 12:14:00 -0600 emc2 (2.0.0-alpha2) testing; urgency=low * wizard image fix -- Chris Radek Sat, 28 Jan 2006 12:14:00 -0600 emc2 (2.0.0-alpha1) testing; urgency=low * udev fix -- Chris Radek Sat, 28 Jan 2006 10:52:57 -0600 emc2 (2.0.0-alpha0) testing; urgency=low * Initial build. * 2006.01.28 - fixed bug #1205237, mode switching sometimes hung * 2006.01.08 - M62/M63 digital outputs synchronous to motion M64/M65 digital outputs that get set right away * 2006.01.06 - work on halconfig.tcl, it is used to display/configure HAL data requires the BWidget package, realtime, and HAL to run. * 2006.01.04 - fix bug #1387740, a motion that goes nowhere clears feedrate * 2006.01.01 - the config picker has i18n support, a german translation exists * 2005.12.20 - a new config picker has been written, if you start just the runscript this one helps you choose a config to run * 2005.12.13 - new runscript, and config organisation work towards the first release of emc2 * 2005.xx.xx - emc2 now supports tool-changing in complex scenarios * 2005.xx.xx - classicladder now a HAL component, a software PLC * 2004.xx.xx - HAL (the Hardware Abstraction Layer) is used for adressing hardware drivers, and allows fir simple configuration -- Alex Joni Thu, 21 Jan 2006 22:50:00 +0200