To use the puma kinematics, you need to compile the complete development
version of emc2, not just pull a few files from the development version
and add them to your installed version.
You can compile the development version without disturbing any of the
files from your installed version. Instructions are located on our
wiki:
http://wiki.linuxcnc.org/cgi-bin/emcinfo.pl?Installing_EMC2#On_Ubuntu_5_10_and_6_06_from_source
Jeff
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