EMC-EMC2 (Enhanced Machine Control - version 2) is a software that implements real-time control, but the Enhanced Machine Controller is a lot more than just another CNC machine (Computer Numerical Control) mill program; it can control machine tools, robots, or other automated devices. It can control servo motors, stepper motors, relays, and other devices related to machine tools. It runs in realtime under GNU/Linux with the RTlinux or RTAI patch. It provides a software PLC, and uses the HAL for flexibility. EMC2 is an offshoot of the original NIST Enhanced Machine Controller and the new version is (primarily) a GPL'd project. The major goals are:

• Make the project more friendly to new developers. This means a simpler build process;
• Reduce complexity by eliminating support for platforms other than GNU/Linux on x86, with either RTAI or RTLinux for realtime;
• Incorporate a Hardware Abstraction Layer that makes the realtime code more modular and allows pins and I/O devices to be reconfigured easily;
• Add some of the features, these include rigid tapping and single point threading, improved contouring, a built-in PLC using ClassicLadder, and others.

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