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Index: src/emc/task/emccanon.cc
===================================================================
RCS file: /cvs/emc2/src/emc/task/emccanon.cc,v
retrieving revision 1.86
diff -u -r1.86 emccanon.cc
--- src/emc/task/emccanon.cc	11 Jun 2007 00:46:29 -0000	1.86
+++ src/emc/task/emccanon.cc	11 Jun 2007 01:46:46 -0000
@@ -655,6 +655,46 @@
     see_segment(x, y, z, a, b, c);
 }
 
+
+void RIGID_TAP(double x, double y, double z)
+{
+    double ini_maxvel, vel, acc;
+    EMC_TRAJ_RIGID_TAP rigidTapMsg;
+
+    // convert to mm units
+    x = FROM_PROG_LEN(x);
+    y = FROM_PROG_LEN(y);
+    z = FROM_PROG_LEN(z);
+    
+    x += programOrigin.x;
+    y += programOrigin.y;
+    z += programOrigin.z;
+
+    x += currentXToolOffset;
+    z += currentZToolOffset;
+
+    rigidTapMsg.pos.tran.x = TO_EXT_LEN(x);
+    rigidTapMsg.pos.tran.y = TO_EXT_LEN(y);
+    rigidTapMsg.pos.tran.z = TO_EXT_LEN(z);
+
+    ini_maxvel = vel = getStraightVelocity(x, y, z, canonEndPoint.a, canonEndPoint.b, canonEndPoint.c);
+    if (vel > currentLinearFeedRate) {
+        vel = currentLinearFeedRate;
+    }
+    acc = getStraightAcceleration(x, y, z, canonEndPoint.a, canonEndPoint.b, canonEndPoint.c);
+
+    rigidTapMsg.vel = toExtVel(vel);
+    rigidTapMsg.ini_maxvel = toExtVel(ini_maxvel);
+    rigidTapMsg.acc = toExtAcc(acc);
+
+    flush_segments();
+
+    interp_list.append(rigidTapMsg);
+    canonUpdateEndPoint(canonEndPoint.x, canonEndPoint.y, canonEndPoint.z, 
+			canonEndPoint.a, canonEndPoint.b, canonEndPoint.c);
+}
+
+
 /*
   STRAIGHT_PROBE is exactly the same as STRAIGHT_FEED, except that it
   uses a probe message instead of a linear move message.
@@ -1124,12 +1164,12 @@
 
     if(css_maximum) {
 	if(lengthUnits == CANON_UNITS_INCHES) 
-	    css_numerator = 12 / (2 * M_PI) * spindleSpeed;
+	    css_numerator = 12 / (2 * M_PI) * spindleSpeed * TO_EXT_LEN(25.4);
 	else
-	    css_numerator = 1000 / (2 * M_PI) * spindleSpeed;
+	    css_numerator = 1000 / (2 * M_PI) * spindleSpeed * TO_EXT_LEN(1);
 	emc_spindle_on_msg.speed = css_maximum;
 	emc_spindle_on_msg.factor = css_numerator;
-	emc_spindle_on_msg.xoffset = currentXToolOffset;
+	emc_spindle_on_msg.xoffset = TO_EXT_LEN(currentXToolOffset);
     } else {
 	emc_spindle_on_msg.speed = spindleSpeed;
 	css_numerator = 0;
@@ -1152,7 +1192,7 @@
 	    css_numerator = -1000 / (2 * M_PI) * spindleSpeed;
 	emc_spindle_on_msg.speed = css_maximum;
 	emc_spindle_on_msg.factor = css_numerator;
-	emc_spindle_on_msg.xoffset = currentXToolOffset;
+	emc_spindle_on_msg.xoffset = TO_EXT_LEN(currentXToolOffset);
     } else {
 	emc_spindle_on_msg.speed = -spindleSpeed;
 	css_numerator = 0;
@@ -1242,7 +1282,7 @@
 	EMC_SPINDLE_ON emc_spindle_on_msg;
 	emc_spindle_on_msg.speed = css_maximum;
 	emc_spindle_on_msg.factor = css_numerator;
-	emc_spindle_on_msg.xoffset = currentXToolOffset;
+	emc_spindle_on_msg.xoffset = TO_EXT_LEN(currentXToolOffset);
 	interp_list.append(emc_spindle_on_msg);
     }
     interp_list.append(set_offset_msg);