EMC performs real-time control of equipment such as machine tools, robots, and coordinate measuring machines. It runs in realtime under Linux with the RTlinux or RTAI patch. It provides a software PLC, and uses the HAL for flexibility.
Platform: All POSIX (Linux/BSD/UNIX-like OSes), Linux; License: GNU General Public License (GPL), GNU Library or Lesser General Public License (LGPL)
Reference: https://sourceforge.net/projects/emc/