Changes KFLOP and KMotion Released Versions 4.29 -> 4.30  03/03/2013


KFLOP
-----

- FPGA, FPGAW New Console Commands allows PC to write directly to FPGA  

- Fix Backlash Compensation issue with Slaved axis

- Added Global ResolverFactor to allow other resolutions than 1000 counts/cycle

- Fix Open Collector mode on Step/Dir Generator outputs when muxed to JP4 and JP6 
  (IO24 IO25 and IO34 IO35)

- Fix bug with Spline curve with non-Zero KLP coordinated motion smoothing

- Fix Slave functionality broken in previous test version

- Allow open loop Step/Dir Slave to proper follow Closed Loop Master



 
KMotion.exe
-----------

Added Clear button on Console



KMotionDLL
----------

- Math options changed from "precise" to "strict" to allow use with Apps like
  Borland Builder that use different FPU rounding modes

- Fixed support for multiple boards




KMotionCNC/CoordMotion/GCode Interpreter
----------------------------------------


- Allow assigning GCode File to a User Button by *.ngc file extension

- Avoid USB Starvation when Continuously zooming GCode Viewer on large files

- Fix erroneous placement of Simulate Control after certain re-sizing of screen

- Execute/Halt toolbar buttons replaced with larger Cycle Start/Halt button which
  can also be triggered with F5 (or spacebar if currently selected)  
  
- Fix Trajectory Planner Bug where break angles near limit would initally exact stop, 
  not be rounded, then later not stop resulting in discontinuous velocity change

- KMotionCNC Stop Button no longer Kills Thread #1 which allows disable watchdog loop
  in Thread #1 to work properly after Stop 

- Added WaitBitBuf/WaitNotBitBuf commands to allow coordinated motion to be syncronized 
  with external signals or C programs

- Add GCode Block Delete

- GeoCorrection Table Fixes (non unity grid size) and now includes Table Offset for User defined origin

- Zero and Set buttons now update 5211-5216 (G92.3 now works properly)

- Fix offset shifts when swithing between units

- prev_dest variable added (Limit Switch direction now works with User Generated motion) 

- Allow external GCode Restart vis KFLOPtoPC.c Commands 

- Add Actual Feed rate Display near FRO

- Fixed Halt during M Code issue





CoordMotion & Trajectory Planner
--------------------------------


- Added 6 axes callbacks of Trajectory Planned Motion

- Fix issue with corner rounding for when A axis is involved

- Fix bug with very low feed rates (0.1mm/min) where entire lookahead distance is less 
  than Collinear Tolerance

- Fix Motion Buffered IO commands issues with Collinear Tolerance and Corner Rounding 





KMotion_dotNet_Interop
----------------------

- Many Updates

- Fix six Axis Coordinated Motion callback issue



KMotion_dotNet
--------------

- Many improvements and features

- Help file updated C:\KMotion430\KMotion_dotNet\Docs\Help\KMotion.Net.chm 

- Set/Get UserData floats and doubles

- Removed all warnings

- Fix GCode MCode Call Back return code

- Added CheckCoffSize

- Added access to PreviouslyStopped State that must be considered or cleared after a Halt

- ConvertAbsoluteToMachine and ConvertAbsoluteToInterpreterCoord Conversion functions Added

- Fixed GetStatus / WaitToken bug







Simple C# Forms Example
-----------------------

- Shows with proper exception handling, status, connect, disconnect

- Console Callbacks, Script Command entry

- C Program Compile/Download/Execute

- Added Test USB Speed Example



DynoMotion VB.net Example
-------------------------

- Updated with proper exception handling, status, connect, disconnect



VB6 Jogger Example
------------------

- Fixed and updated



VB VS2008 Jogger Example
------------------------

- Fixed and updated



C# TeachMotion Example
----------------------

- Added new C# example demonstrating capturing/teaching a motion path
  generated manually with a Joystick.  A Boundary can be read in and offset
  to form a "keep out" region where the Operator will not be allowed to
  cross into while teaching.  The Operator can teach the motion using an 
  on-screen joystick, Gamepad, or a Microsoft sidwinder Force Feed back Joystick.
  The force feedback joystick will feedback resistance as the Operator approaches
  the Keep out boundary.  

  The captured motion can be written to a file as a GCode Path

  Also demonstrates an OpenGL Graphics Window




Mach3 Plugin
------------

- Fix Bug where Parabola fit to Mach3 points that does an exact reveral and results in a 
  Coordinated motion segment with beginning equal to end.

- Probe G31 results are now returned as GCode Coordinates rather than Machine Coordinates


User C Programs
---------------

- ModBus Master and Slave examples added

- MPGSmooth.c  - remove 2nd call to WaitNextTimeSlice()

- SpindleMach3JogGear.c added Mach3 Spindle message handler and sets virtual bit based on RPM Range

- MPGSmoothHardwareEnc.c added similar to MPGSmooth.c but uses hardware encoder input

- AutoPhaseFindFast.c works with brushless motors with narrow index pulses

- MPGSmoothHardwareEnc.c similar to MPGSmooth.c but uses hardware encoder input

- SoftLimits3AxisV2.c Soft limits trip and re-enable to allow motion away from limits

- New example to us toggle switches on a jog panel with analog pot to set speed
  (JogWithTogglesAndPot.c)

- New example showing how to implement external pushbuttons for FeedHold, Cycle Start,
  Halt, Restart, etc... to work with KMotionCNC
  (ExternalButtons.c)

- More KSTEp Init Examples: InitKStep3AxisNoDisable.c InitKstep4Axis.c







On-line Help
------------

- Updated

- Add KMotionCNC Buffered IO Commands Description