Figur 1. Linux based CNC mill.
The CNC based milling machine shown on the picture above, was designed and built by me in the period 1993-1996. The original version was controlled by a small realtime kernel I wrote on top of MS-DOS.
I have later ported the software, consisting of a trace program, 2.5D toolpath generator and realtime control program to Linux/RT-linux. The realtime control program is released under the GNU GPL, see below.