Changes

* Announcement of our Latest Production Release: [http://dynomotion(5.com/Software/Download3.html Full release download page]* Latest Test Release: Released 08/29/2015: [http://dynomotion.com/Software/KMotion433q.exe KMotion.exe V4.33q], See 6) on the release notes for this test version here: [httphttps://www.dynomotion.com/Softwareforum/KMotion%20Released%20Version%204viewtopic.33q%20Changes.pdf V4.33q release notes (pdf)php?f=4&t=1796 Dynomotion Forum]* [httphttps://dynomotion.com/HelpSoftware/KFLOPQuickStart/KFLOPQuickStartDownload.htm How html Latest Release] Note: For Windows 7 64bit signed Drivers to install KMotionwork, all Windows Updates should be performed.exe and KMotionCNC]* [[Updating KFLOP Firmware|How to update KFLOP FirmwareUpgrading from previous KMotion Versions]] - whenever a new version of software is installed, the firmware within KFLOP must be updated to match the new version

:: The KMotionCNC's Visual Studio Project Solution (\PC VC Programs\KMotionCNC\KMotionCNC.sln) is currently written for Visual Studio 2008 2015 Standard.  This version can be used for the simplest compatibility.  Projects can be upgraded to newer version of VS with minimal effort.  Including Microsoft's Free Visual Studio 2013 Community.  [[PC Example Applications|More info on PC Example Applications.]]:: Note Test Versions 4.34a and later have project solutions targeted for Visual Studio 2015 Community which is free for most Users.

:: Links to examples of projects that explain KMotionCNC customizations::: . Troy (tmday7) created some helpful documents listed on the Yahoo Group Files Section (PDF format):: :* [https://groupswww.yahoodynomotion.com/neoforum/groupsarchive/DynoMotionattachments/filesHow%20to%20Edit%20KMotionCNC%20Faces.pdf How to edit KMotionCNC faces]:* [https://www.dynomotion.com/forum/archive/attachments/KmotionCNCAdding%20Screen20External%20Customizing20Buttons.pdf Adding external buttons]:* [https:/ /www.dynomotion.com/forum/archive/attachments/Adding%20More%20User%20Buttons.pdf Adding more user buttons]:* [https://www.dynomotion.com/forum/archive/attachments/Adding%20Jog%20Percent%20Cell%20to%20Main%20Dialog%20Face.pdf Adding Jog Percent Cell to Main Dialog Face] ====<span style="text-decoration: underline;">KMotionCNC Screen Editor</span>====Introduces the capability of using Screen Script files to modify the look and function of KMotionCNC.<br />[[KMotionCNC Screen Editor|More information.]] ====<span style="text-decoration: underline;">KMotionCNC Geometric Correction</span>====Information regarding the powerful [https://dynomotion.com/Help/KMotionCNC/GeoCorrection.htm Geometric Correction capability] which allows calibration and distortion correction of the XY CAD space to Machine/Actuator Space as well as flatness in Z.  Simple 4 point correction tables can apply XY Scale, Rotation, skew, offset, tilt.  Larger tables can apply more non-linear corrections. Note the Geometric Correction is built into the KMotion Libraries and can be utilized by Custom Programs as well as with KMotionCNC<br />[[Geometric Correction|More information and Examples.]] ====<span style="text-decoration: underline;">KMotionCNC Linear Table Correction (Screw Mapping)</span>====Individual Axes can be corrected in a 1 dimensional manner referred to as Linear Table Corrections.  For more information See [[Linear Table Correction|here]]. 

Currently '''Note All the projects are compatible with VS 2008 Standard but later in KMotion Versions can upgrade the projects 4.34a and can be used including later have now been updated and should work out-of-the free Microsoft Version of VS 2013 Community.&nbsp; In some cases MFC capability needs to be added as a separate download-box with VS2015.'''

Kanalog ===ModBus===Modbus can be connected to the PC or directly to KFLOP.  A PC connection will not be deterministically real-time but may work for basic speed control and on/off.  Here is a related Thread for interfacing KMotionCNC to Modbus using a [[Kanalog Hardware Info|Hardware Info]http://www.modbusdriver.com/modpoll.html free utility]:

SnapAmp [[SnapAmp Info|Hardware Info]https://www.dynomotion.com/forum/archive/sending%20ModBus%20msgs%20from%20KmotionCNC%20to%20a%20RS485%20port.html Sending ModBus msgs from KmotionCNC to a RS485 port]

Place links to pages on wiring inputs and outputs specific to your experiences and projects.  Be descriptive with page titles and links.

 [https://groupswww.yahoodynomotion.com/neoforum/groupsarchive/DynoMotionJogging%20Pendant.html Jogging Pendant] [https:/conversations/messageswww.dynomotion.com/12287forum/archive/Connecting%20Keling%20MPG2%20pendant.html Connecting Keling MPG2 Pendant] [https://www.cnczone.com/forums/dynomotion-kflop-kanalog/349740-applying-acceleration-mpg-target-possible.html#post2119732 CNCZone Thread] on obtaining smooth filtered motion.

<div class="yiv2818182665class" style="color: #000000; font-size: 13.3333px; font-family: HelveticaNeue, Helvetica Neue, Helvetica, Arial, Lucida Grande, sans-serif; background-color: transparent; font-style: normal;"><span class="yiv2818182665class">The</span> KFLOP parameters are used for 3rd order motions.   These include things like:  Jogging, Homing, and GCode Rapids (G0).  The units in KFLOP are in counts or steps.<br /><br /><span id="yui_3_16_0_1_1445622719616_3320" class="yiv2818182665class">The KMotionCNC parameters are used for 2nd order (</span><span id="yui_3_16_0_1_1445622719616_3321" class="yiv2818182665class"><span class="yiv2818182665class">infinite </span>Jerk) coordinated motion paths.  These are GCode G1,G2,G3 continuous paths.  The units are in Inches (or in some cases degrees).<br /><br /></span><span class=   Note there is an Option in KMotionCNC "yiv2818182665classRapids as Feeds">Tests</span> to find optimal settings for both types of moves should be made using the Step Response Screen.  The Step Response Screen always performs 3rd order motion but 2nd order motion can be simulated by temporarily setting the Jerk to a huge value (1000X the acceleration value).  In general reducing the Jerk value where these parameters will result in longer times to perform motions, but often the improved smoothness will permit higher maximum accelerations and velocities to also be used resulting in overall shorter motion times.<br /><br /><span class="yiv2818182665class">Make</span> sure when testing the size of move is long enough for full acceleration and velocity are achievedRapids.  As a common mistake is to have Acceleration or Velocity Settings set to too high But this option should only be used for your system but when testing a short move there is no indication highly non-linear Kinematic Systems which can not take advantage of a problem.  The plot mode of Velocity Output  vs Time can be helpful faster/smoother 3rd order point to verify full Velocity is being achievedpoint straight line Rapids.<span id=".C2.A0" class="mw-headline"br /> <br /></span></div>

==Problems and Resolutions=Arc "faceting" - Trajectory Planner - Collinear Tolerance===<div class="yiv2818182665class" style=General===="color:* [[Noise #000000; font- Typical Problems and Resolutions|Dealing with noise on inputs]].  If you experience issues with inputs misreading, the issue may be noise.  This page provides examples on what might be causing noise issues and examples of how to possibly deal with noisesize: 13.:* Other===Software3333px; font-Specific Problems and Resolutions===family:* Place links to pages explaining resolutions to problems that are largely softwareHelveticaNeue, Helvetica Neue, Helvetica, Arial, Lucida Grande, sans-related here===Hardwareserif; background-Specific Problems and Resolutions===color:* Place links to pages explaining resolutions to problems that are largely hardwaretransparent; font-relatedstyle: normal;"></div><div class="yiv2818182665class" style=Applications and Projects=="color:* Place links to pages that explain how you accomplished your particular project#000000; font-size: 13.  Write clear explanations that provide 3333px; font-family: HelveticaNeue, Helvetica Neue, Helvetica, Arial, Lucida Grande, sans-serif; background on what you did and how you did it.====[[Tool Changer - router linear 4 Tools color: transparent; font- C Program]]style: normal;">[[File:LINEAT+ATCArcsTrajectoryZoomXTol.0005.jpgpng|none|link=|246x178px526x460px]]</div><div class="yiv2818182665class" style==="color: #000000; font-size: 13.3333px; font-family: HelveticaNeue, Helvetica Neue, Helvetica, Arial, Lucida Grande, sans-serif; background-color: transparent; font-style: normal;"></div><pre div class="brushyiv2818182665class" style="color:c#000000; font-size: 13.3333px; font-family: HelveticaNeue, Helvetica Neue, Helvetica, Arial, Lucida Grande, sans-serif; background-color: transparent; font-style: normal;">#include [[ArcFacetingColinearTol|See Analysis and Solution]]</div><div class="KMotionDefyiv2818182665class" style="color: #000000; font-size: 13.h3333px; font-family: HelveticaNeue, Helvetica Neue, Helvetica, Arial, Lucida Grande, sans-serif; background-color: transparent; font-style: normal;"></div>#define TMP 10 ===I Gain// which spare persist Max Limit Integrator===I (Integrator) Gain can be used to use eliminate persistent errors.  In fact any Integrator Gain at all guarantees the average error over infinite time is zero.  Without I Gain a system might have a small error that does not create enough output to transfer data#include "overcome stiction to make a correction.  In such a case the error could persist forever.\  Not so with any Integrator Gain.  Any error will be integrated and ramp the output higher and higher until eventually there will be a correction.\KflopToKMotionCNCFunctions  That assumes the Integrator or Output doesn't saturate or reach their programmed limits.  The rate the output ramps (or sums) is dependent on the size of the error and the I Gain value.  The Error x I Gain is summed every servo sample (90us).  This is why I Gain values are often small numbers (0.0001 - 0.01 typical range).  There is no guarantee that the position doesn't over shoot the target Destination.  In fact it is likely as as any error (area) under the trajectory will always be balanced by an equal area over the trajectory.  Too high of I Gain will make the system unstable.c"

//---------Absolute position Another case where I Gain is useful is when moving at high speed with a Velocity Amplifier.  To move at high speed a significant amount of tool holders#define HOLDER_X_1 100#define HOLDER_X_2 200#define HOLDER_X_3 300#define HOLDER_X_4 400#define HOLDER_Y 1300#define HOLDER_Z -200// absolute position output is required.  Without I Gain a significant amount of error could be required to provide this Output (ie Error x P Gain = Output).    With I Gain the tool height setting plate#define TOOL_HEIGHT_PLATE_X 50 #define TOOL_HEIGHT_PLATE_Y 50 Integrator will eventually ramp up to provide any Output necessary to move at the desired speed driving the error to zero.

#define AXIS_SAFE_DISTANCE_Y 100 // distance in mm Integrators have an issue often referred to approach tool holder//--------as "Integrator Wind Up".  This issue usually doesn't arise under normal conditions.  However if something is preventing the servo from making a correction such as forcing the position away from the target for a sustained amount of time, or disabling the amplifier, the Integrator will integrate to a huge unlimited value.  When the force is removed or amplifier re-enabled, the Integrator will likely cause a violent motion and overshoot.  Max Limit Integrator can help to minimize this issue by limiting the amount the Integrator can ramp up to.  So the Max Limit Integrator Value should be set at the minimum value that can still allow the Integrator to function in normal circumstances.

// Tool changer Last tool loaded is saved globally in this Var#define LAST_TOOL_VAR 8 // -1=Spindle emptyThe amount of output expected to be required to overcome any stiction, 0=unknownfriction, 1-4 Tool Slot loaded into Spindleor other forces (cutting, gravity, etc...).  This is often not a large value and can be estimated or can be observed from the Step Response Screen (green plot right side scale is the output) when making a move.#define TOOL_DISK_FILE "c:\\Temp\\ToolChangerDataThe amount of output required to provide the output needed to move at speed.txt"  It is important to note that D Gain provides a damping or drag effect on the Output.  So the Integrator must be able to ramp up to a sufficient level to overcome the damping or drag effect and still provide enough output to move at the commanded speed.  For example:

#define SAFE_HEIGHT_Z 100 /Commanded speed of 500,000 counts/ relative distance in mm to move to clear the top sec# D Gain of the tool taper35#define TOOL_RETRACT_SPEED_Z 5000 //speed in counts/second Output required to move spindle up after tool has been ejectedat speed is 1800 DAC Counts# Servo Sample Time of 90us

main(){ int ToolSlot = persist.UserData[TOOL_VAR]; // Requested tool So to load (value stored provide some margin an integer) Max Limit Integrator Value of 3500 might be used.

if (GetCurrentTool(&CurrentTool)) return 1; // -1=Spindle empty, 0=unknown, 1=Max Limits -4 Tool Slot loaded into SpindleError===Max limits error can be helpful to have your system respond less violently in the abnormal event where an excessively large error occurs.  Normally with a properly tuned system following errors should be small.   Setting a Max limits error can cause the servo to treat errors beyond a specified limit as if they were only the size of the limit and therefore respond less so than they would otherwise.  The max limits error is normally set to a value so it is not limiting under normal circumstances.

// - Engage new tool // After increasing the max limits error the Output (green - CLAW_EJECT and SPINDLE_CLEAN bits are currently high from tool removal operation // - Turn off CLAW_EJECT and SPINDLE_CLEAN bits right scale) now goes to engage tool ClearBita much higher value (CLAW_EJECT900); ClearBit, and the Position (SPINDLE_CLEANred);follows the Command (blue) to a much better degree.

// - Leave tool holder by moving Y axis by Increasing the negative value of Y_AXIS_SAFE_DISTANCE // - Move P Gain to position of requested tool // - Rapid move to absolute position of new tool only in X and Y if (MoveXY(ToolPositionX(Tool),HOLDER_Y+AXIS_SAFE_DISTANCE_Y,SlowSpeed)) return 1;.6 also applies more Output sooner and the Position follows the command still better.

// - Rapid to Z home if (MoveZ(0[[File:Move1000_p1.0,SlowSpeed)) return 1;6.png|none|link=|667x432px]]

===Lead Compensator vs Derivative Gain===Derivative (D) Gain is often used to help stabilize a system.&nbsp; It helps to think in the Frequency Domain to help understand how the two forms of compensation help.&nbsp; Please read below and [http:// - Move only dynomotion.com/Help/BodeScreen/BodeScreen.htm this] for more information on the Frequency Domain.&nbsp; Both Compensation methods add positive phase to help stabilize the system.&nbsp; Unfortunately both methods increase gain at higher frequencies possibly causing the system to go unstable at higher frequency.&nbsp; A Lead Compensator provides the benefit of positive phase but without as much gain increase at higher frequencies.&nbsp; This figure shows a simplified Gain Plot comparison:  [[File:DGainvsLead.png|none|link=|593x593px]] Here is a Bode Plot of a P=0.5 D=20 Compensator.   Note the KMotion.exe Bode Plot Screen has the capability of plotting the Frequency Domain Response of the PID+Filters Compensation.  Assume we desire positive phase to be added at 40Hz.  Notice the positive phase of 40 degrees at 40Hz which is good.  However the Gain increase in Y position until current position matches tool holder position the 1KHz region of about 21db which is bad. [[File:P.5D20Annotate.png|none|link=|621x460px]]  Here is a Bode Plot of a P=0.5 N1=N2=25Hz D1=D2=70Hz Compensator.   Assume we desire positive phase to be added at 40Hz.  We choose N1 N2 and D1 D2 to surround the frequency where the positive phase is desired.  Moving them further apart will increase the amount of positive phase but also increase the added Gain.  Notice the positive phase of 60 degrees at 40Hz which is good.  However the Gain increase in the 1KHz region of about 12db which is bad.  However both are improvements over the D Gain compensator.   [[File:PoleZeroFilter.png|none|link=|210x319px]]   [[File:P.5D0N25D70Annotate.png|none|link=|644x478px]]   ===Tuning Master/Slave Configurations===Master/Slave [http://dynomotion.com/Help/ConfigurationScreen/ConfigurationScreen.htm#Master/Slave_Settings Configurations] allow two (maybe disable Xor more) motors to drive the same axis?.  Slaves are configured to follow a Master Axis.  For example two lead screws on both sides of a gantry. Tuning slaved axes is kind of a catch 22.  In order to tune one axis the other axis must be tuned well enough to follow and vice versa.  If possible, disconnect any mechanical linkage between the Master and Slave and test them separately without Slaving the Axes together to verify each axis Servos (can hold a position), moves at least somewhat properly, and moves in the same direction (assuming a positive [http://dynomotion.com/Help/ConfigurationScreen/ConfigurationScreen.htm#Master/Slave_Settings Slave Gain] will be used). It is usually possible to incrementally tune each axis, at first moving slowly, then later at higher speeds, accelerations, and gains.  Only the Master Axis can be tested with the [http:// ???dynomotion.com/Help/StepScreen/StepScreen.htm Step Response Screen].  This is because the Slave will follow any movement of the Master, but the Master will not follow movement of the Slave.  So if the Master Axis is moved all is well as both axes will move together, but if you try to move the Slave axis the two axes will fight.  The Master fighting to stay where it is, and the Slave fighting to move. To test/tune the Slave axis temporarily reverse the Master/ - Eject toolSlave roles to make it the Master and then test it as the Master. Note: only the Master Axis should be included into the Coordinated Motion System.   ===Bode Plots===A Bode Plot is a powerful tool for characterizing and providing insight into a dynamic system. It can help determine closed loop stability, bandwidth/performance, resonant frequencies, and more. It is entirely based on the system being linear. Linear in the sense that if the amplitude of some input signal is changed then the output signal will change proportionally as well. Unfortunately most systems are not entirely linear. Stiction, backlash, encoder quantization, amplifier saturation, and other effects are non-linear. For example driving a system with a signal too small to overcome stiction will result in no output at all whereas a larger signal will result in some output. This is clearly non-linear behavior. It would be nice to use a technique that handles non-linear systems but basically none are known.<br data-attributes="%20/"><br data-attributes="%20/">A Bode Plot is made injecting a stimulus to the system and observing how the system responds. For the reasons of non-linearity it is very important to perform a Bode Plot measurement using a representative level of stimulus similar to what the system will actually have during normal operation. If the Stimulus is not adjusted properly the result is likely to be completely invalid. Additionally the system should be reasonably tuned and stable so that it is responding in a reasonable way to the stimulus. If the system is unstable or very poorly tuned the result is likely to be completely invalid.<br data-attributes="%20/"><br data-attributes="%20/">You might think of it somewhat like shaking a box to determine what is in it. You should shake it with enough intensity and at frequencies to get some reaction, but not so high of intensity to break or distort the object inside.<br data-attributes="%20/"><br data-attributes="%20/">To create a Bode Plot use the KMotion.exe Bode Plot Screen. First select Plot: Time domain - Command, Position, Output vs Time and adjust the Amplitude and cutoff Freq until there is small but significant Position (EjectToolred) changes (ie 50 encoder counts), at a frequency low enough that the Position at least somewhat attempts to follow the Command (blue) return 1, and where the Output (green) is not near saturation for the Drive being used.<br data-attributes="%20/"><br data-attributes="%20/">After the Stimulus/Noise Injection settings are set switch to Plot: Open Loop - Magnitude and Phase vs Frequency. Set the number of Samples to average (ie 20) and perform a Measurement.&nbsp;[http://dynomotion.com/Help/BodeScreen/BodeScreen.htm See here for more information]. ===Links to other Information on Tuning and Bode Plots===[http://ctms.engin.umich.edu/CTMS/index.php?example=Introduction&section=ControlFrequency umich.edu Introduction section Control Frequency] [http://www.motiontech.com.au/assets/pdf/Kollmorgen%20Use%20Control%20Theory%20to%20Improve%20Servo%20Performance%20230712.pdf Kollmorgen Use Control Theory to Improve Servo Performance 230712.pdf] ==Problems and Resolutions======General====:* [[Noise - Typical Problems and Resolutions|Dealing with noise on inputs]].  If you experience issues with inputs misreading, the issue may be noise.  This page provides examples on what might be causing noise issues and examples of how to possibly deal with noise.:* Other===Software-Specific Problems and Resolutions===:* Place links to pages explaining resolutions to problems that are largely software-related here[[KFLOP User C Programs Compiling/Launching Slowly because of Windows Defender]] ===Hardware-Specific Problems and Resolutions===:* Place links to pages explaining resolutions to problems that are largely hardware-related====[[Step/Dir Drives lose 2 Steps for each pair of Direction Reversals]]==== ==Applications and Projects==:* Place links to pages that explain how you accomplished your particular project.  Write clear explanations that provide background on what you did and how you did it.====[[Tool Changer - router linear 4 Tools - C Program]]====[[File:LINEAT+ATC.jpg|none|link=|246x178px]]More linear milling tools: https://www.ichome.com/ ====[[Part Zero & Tool Height Touch Plate|Part Zero & Tool Height Touch Plate]]========[[Driving Hobby Servos]]====[[File:HobbyServo.png|left|link=]]   

if (!success) // invalid after power up, try to read from PC Disk File { // Try to open file FILE *f=fopen(TOOL_DISK_FILE,"rt");=Electrical Discharge Machining== if (f) [https:// did file open? { en.wikipedia.org/wiki/ read a line and convert it result=fscanfElectrical_discharge_machining EDM (f,"%d",&toolwikipedia); fclose(f); if (result==1 && ToolNumberValid(tool)) { printf("Read Disk File Value ] is a method of %d\n",tool); success=TRUE; // success if one value converted } } if (!success) printf("Unable cutting materials with high precision and detail.  Dynomotion Motion Controllers work well for EDM because of the ability for feedrate to open/read file:%s\n",TOOL_DISK_FILE); }be dynamically controlled including reversal along cutting path.

if (!ToolNumberValid(tool)) // check if invalid { char s[80]; sprintf(s,"Invalid Current Tool Number %d\n",tool); printf(s); MsgBox(s, MB_ICONHAND | MB_OK); return 1; } printf("Current tool = %d\n",tool); *ptool = tool; // return result Applied Science video that shows how to caller return 0; //success}build an BAXEDM drilling machine using KFLOP and describes how it works:

{{#ev:youtube|https:// save the tool number to KFLOP global Variable and to PC Disk file in case we loose powerint SaveCurrentTool(int tool){ persistyoutu.UserData[LAST_TOOL_VAR]=tool; FILE *fbe/rpHYBz7ToII|||||start=fopen(TOOL_DISK_FILE,"wt"); fprintf(f,"%d\n",tool); fclose(f); return 0;980}}

// check if Current Tool number Valid// -1 = no tool loaded// 1-4 = valid toolBOOL ToolNumberValid(int tool){ return tool How to convert a milling machine to a 3D printer in 3 easy steps== -1 [[File:CNCto3DPrinter.png|none| (tool>link=1 && tool<=4);}]]

// Move Axis XY at specified Speed ==International and wait until complete// return 0 other Languages== success, 1 if axis disabledint MoveXY(float x, float y, float Speed){ MoveAtVel(AXISX, x * CNT_PER_MM_X, Speed * CNT_PER_MM_X); MoveAtVel(AXISZ, y * CNT_PER_MM_Y, Speed * CNT_PER_MM_Y); while (!CheckDone(AXISX) || !CheckDone(AXISY)) { if (!chan[AXISX].Enable) { printf("Error X Axis Disabled\n"); MsgBox("Error X Axis Disabled\n", MB_ICONHAND | MB_OK); return 1; } if (!chan[AXISYRussian]].Enable) { printf("Error Y Axis Disabled\n"); MsgBox("Error Y Axis Disabled\n", MB_ICONHAND | MB_OK); return 1; } } return 0; //success}

// Move Axis Z at specified Speed and wait until complete// return 0 = success, 1 if axis disabledint MoveZ(float z, float Speed){ MoveAtVel(AXISZ, z * CNT_PER_MM_Z, Speed * CNT_PER_MM_Z); while (!CheckDone(AXISZ)) { if (!chan[AXISZ[Spanish]].Enable) { printf("Error Z Axis Disabled\n"); MsgBox("Error Z Axis Disabled\n", MB_ICONHAND | MB_OK); return 1; } } return 0; //success}</pre>