Changes

* Announcement of our Latest Production Release(5.3.6) on the [https: //www.dynomotion.com/forum/viewtopic.php?f=4&t=1796 Dynomotion Forum]* [httphttps://dynomotion.com/Software/Download.html Full release download page (includes link to signed Windows Drivers)  Latest Release] Note:to use For Windows 7 64bit signed Drivers for W7 64bit Drivers from V4.34a or later are required.  Also to work, all Windows Updates should be performed for the chain of trust to work properly].

  Archive of Test Releases: * Latest Previous Test Release: 09/16/2024: [https://dynomotion.com/Software/KMotion5.3.5.exe KMotion.exe 5.3.5], See the release notes for this test version here: [https://dynomotion.com/Software/KMotion%20Released%20Version%205.3.5%20Changes.pdf 5.3.5 release notes (pdf)] * Previous Test Release: 08/13/2024: [https://dynomotion.com/Software/KMotion5.3.4.exe KMotion.exe 5.3.4], See the release notes for this test version here: [https://dynomotion.com/Software/KMotion%20Released%20Version%205.3.4%20Changes.pdf 5.3.4 release notes (pdf)] * Previous Test Release: 04/04/2024: [https://dynomotion.com/Software/KMotion5.3.3.exe KMotion.exe 5.3.3], See the release notes for this test version here: [https://dynomotion.com/Software/KMotion%20Released%20Version%205.3.3%20Changes.pdf 5.3.3 release notes (pdf)] * Previous Test Release: 02/01/2024: [https://dynomotion.com/Software/KMotion5.3.2.exe KMotion.exe 5.3.2], See the release notes for this test version here: [https://dynomotion.com/Software/KMotion%20Released%20Version%205.3.2%20Changes.pdf 5.3.2 release notes (pdf)] * Previous Test Release: 11/20/2023: [https://dynomotion.com/Software/KMotion5.3.1.exe KMotion.exe 5.3.1], See the release notes for this test version here: [https://dynomotion.com/Software/KMotion%20Released%20Version%205.3.1%20Changes.pdf 5.3.1 release notes (pdf)]* Previous Test Release: 09/19/2023: [https://dynomotion.com/Software/KMotion5.3.0.exe KMotion.exe 5.3.0], See the release notes for this test version here: [https://dynomotion.com/Software/KMotion%20Released%20Version%205.3.0%20Changes.pdf 5.3.0 release notes (pdf)]* Previous Test Release: 06/30/2023: [https://dynomotion.com/Software/KMotion5.1.0.exe KMotion.exe 5.1.0], See the release notes for this test version here: [https://dynomotion.com/Software/KMotion%20Released%20Version%205.1.0%20Changes.pdf 5.1.0 release notes (pdf)]* Previous Test Release: 05/01/2023: [https://dynomotion.com/Software/KMotion5.0.7.exe KMotion.exe 5.0.7], See the release notes for this test version here: [https://dynomotion.com/Software/KMotion%20Released%20Version%205.0.7%20Changes.pdf 5.0.7 release notes (pdf)]* Previous Test Release: 09/21/2022: [https://dynomotion.com/Software/KMotion435h.exe KMotion.exe V4.35h], See the release notes for this test version here: [https://dynomotion.com/Software/KMotion%20Released%20Version%204.35h%20Changes.pdf V4.35h release notes (pdf)]* Previous Version 4.35g was not released, but see the change notes for this version here: [https://dynomotion.com/Software/KMotion%20Released%20Version%204.35g%20Changes.pdf V4.35g change notes (pdf)]* Previous Test Release: 12/28/2020: [https://dynomotion.com/Software/KMotion435f.exe KMotion.exe V4.35f], See the release notes for this test version here: [https://dynomotion.com/Software/KMotion%20Released%20Version%204.35f%20Changes.pdf V4.35f release notes (pdf)]* Previous Test Release: 11/18/2019: [https://dynomotion.com/Software/KMotion435e.exe KMotion.exe V4.35e], See the release notes for this test version here: [https://dynomotion.com/Software/KMotion%20Released%20Version%204.35e%20Changes.pdf V4.35e release notes (pdf)]* Previous Test Release: 09/10/2019: [https://dynomotion.com/Software/KMotion435d.exe KMotion.exe V4.35d], See the release notes for this test version here: [https://dynomotion.com/Software/KMotion%20Released%20Version%204.35d%20Changes.pdf V4.35d release notes (pdf)]* Previous Test Release: 01/28/2019: [https://dynomotion.com/Software/KMotion435b.exe KMotion.exe V4.35b], See the release notes for this test version here: [https://dynomotion.com/Software/KMotion%20Released%20Version%204.35b%20Changes.pdf V4.35b release notes (pdf)]* Previous Test Release: 12/21/2018: [https://dynomotion.com/Software/KMotion435a.exe KMotion.exe V4.35a], See the release notes for this test version here: [https://dynomotion.com/Software/KMotion%20Released%20Version%204.35a%20Changes.pdf V4.35a release notes (pdf)]* Previous Test Release: 09/28/2017: [https://dynomotion.com/Software/KMotion434j.exe KMotion.exe V4.34j], See the release notes for this test version here: [https://dynomotion.com/Software/KMotion%20Released%20Version%204.34j%20Changes.pdf V4.34j release notes (pdf)]* Previous Test Release: 05/07/2017: [httphttps://dynomotion.com/Software/KMotion434i.exe KMotion.exe V4.34i], See the release notes for this test version here: [httphttps://dynomotion.com/Software/KMotion%20Released%20Version%204.34i%20Changes.pdf V4.34i release notes (pdf)]* Previous Test Release: 12/14/2016: [httphttps://dynomotion.com/Software/KMotion434h.exe KMotion.exe V4.34h], See the release notes for this test version here: [httphttps://dynomotion.com/Software/KMotion%20Released%20Version%204.34h%20Changes.pdf V4.34h release notes (pdf)]* Previous Test Release: 12/13/2016: [httphttps://dynomotion.com/Software/KMotion434g.exe KMotion.exe V4.34g], See the release notes for this test version here: [httphttps://dynomotion.com/Software/KMotion%20Released%20Version%204.34g%20Changes.pdf V4.34g release notes (pdf)]* Previous Test Release: 12/05/2016: [httphttps://dynomotion.com/Software/KMotion434f.exe KMotion.exe V4.34f], See the release notes for this test version here: [httphttps://dynomotion.com/Software/KMotion%20Released%20Version%204.34f%20Changes.pdf V4.34f release notes (pdf)]* Previous Test Release:  11/07/2016: [httphttps://dynomotion.com/Software/KMotion434e.exe KMotion.exe V4.34e], See the release notes for this test version here: [httphttps://dynomotion.com/Software/KMotion%20Released%20Version%204.34e%20Changes.pdf V4.34e release notes (pdf)]* Previous Test Release:  10/32/2016: [httphttps://dynomotion.com/Software/KMotion434d.exe KMotion.exe V4.34d], See the release notes for this test version here: [httphttps://dynomotion.com/Software/KMotion%20Released%20Version%204.34d%20Changes.pdf V4.34d release notes (pdf)]* Previous Test Release:  10/23/2016: [httphttps://dynomotion.com/Software/KMotion434c.exe KMotion.exe V4.34c], See the release notes for this test version here: [httphttps://dynomotion.com/Software/KMotion%20Released%20Version%204.34c%20Changes.pdf V4.34c release notes (pdf)]* Previous Test Release:  10/03/2016: [httphttps://dynomotion.com/Software/KMotion434b.exe KMotion.exe V4.34b], See the release notes for this test version here: [httphttps://dynomotion.com/Software/KMotion%20Released%20Version%204.34b%20Changes.pdf V4.34b release notes (pdf)]* Previous Test Release:  03/09/2016: [httphttps://dynomotion.com/Software/KMotion434a.exe KMotion.exe V4.34a], See the release notes for this test version here: [httphttps://dynomotion.com/Software/KMotion%20Released%20Version%204.34a%20Changes.pdf V4.34a release notes (pdf)]* [httphttps://dynomotion.com/Help/KFLOPQuickStart/KFLOPQuickStart.htm How to install KMotion.exe and KMotionCNC]* [[How to install KMotion.exe and KMotion in Windows 10|Preparing Windows 10 for driver installation]](no longer required)

:: 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.]]

:: 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/files/KmotionCNCHow%20Screen20to%20Customizing20Edit%20KMotionCNC%20Faces.pdf How to edit KMotionCNC faces]:* [https:/ here/www.dynomotion.com/forum/archive/attachments/Adding%20External%20Buttons.pdf Adding external buttons]:* [https://www.dynomotion.com/forum/archive/attachments/Adding%20More%20User%20Buttons.pdf Adding more user buttons]===KMotionCNC Screen Editor==='''Table of contents:'''* [https://www.dynomotion.com/forum/archive/attachments/Adding%20Jog%20Percent%20Cell%20to%20Main%20Dialog%20Face.pdf Adding Jog Percent Cell to Main Dialog Face]

# Introduction====<span style="text-decoration: underline;">KMotionCNC Screen Editor</span>====# Control styles# Control attributes# Main Window attributes# Bitmap types and Alpha Introduces the capability of using Screen Script files to modify the look and locationsfunction of KMotionCNC.<br />[[KMotionCNC Screen Editor|More information.]]

=='''<span style="text-decoration: underline;"><br /></span>''''''=<span style="text-decoration: underline;">1. IntroductionKMotionCNC Geometric Correction</span> '''==== Video: Information regarding the powerful [https://www.youtubedynomotion.com/watch?v=l6d_AYTptVQ https:Help/KMotionCNC/wwwGeoCorrection.youtube.comhtm Geometric Correction capability] which allows calibration and distortion correction of the XY CAD space to Machine/watch?v=l6d_AYTptVQ]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.

'''Features include====<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]].

* Show/Hide Controls===PC Example Applications===* Change Size and Position A number of Controls* Change LabelPC Applications using the KMotion Libraries are available in the Software download.&nbsp; Visual Studio should be used to modify/Button Text* International Character Support* Change Font/Text Size* Bitmap Buttons and Labels* JPG, BMP, PNG Bitmaps* Toggle Bitmap Labels (LEDs)* Customizable Keyboard Hotkeys* Customizable Button Tool Tips* Programmable DRO (Digital Read Output) Labels* Custom User Entry Controlscompile the applications.&nbsp;

The 6-axes default screen is changed to a 5-axes screen by deleting '''Note All the z-axis. We start by installing projects in KMotion Versions 4.34b or 34a and later. Note that if you don’t already have Dot Net version 4.62 or Visual Studio 2015 libraries installed, you will be prompted to load those. Create desktop icons for KMotion, KMotionCNC now been updated and KMotionCNC Screen Editor. Run KMotion and observe should work out-of-the default 3-axes resizable screenbox with VS2015.'''

[[File:3axes-resizable-screenPC Example Applications|More information.png|none|link=|504x286px]]

Close ===KMotion Libraries - GCode Interpreter - Trajectory Planner - Coordinated Motion - .NET===The KMotion Libraries are a series of DLLs (Dynamic Link Libraries) that reside on the G Viewer window and change PC that contain the dialog face common core motion control, I/O, and communication functionality for KFLOP.  These libraries permit PC Applications to Default Custom Screen be built using high level control without being concerned with no screen script specifiedthe underlying details of Interpreting GCode, Trajectory Planning, Coordinated Motion, Motion Buffering, USB Communication, etc. (Tool Setup):

[[File:DefaultKMotion Libraries -customGCode Interpreter - Trajectory Planner - Coordinated Motion -screen.pngNET|none|link=More information]].

This graphical representation allows you to select which controls you want to modify[[Kinematics|More information]].

Notice we can select ===KFLOP C Programs===C Programs provide a control powerful and immediately hide or show it over at KMotionCNCflexible capability to perform almost any sequence of operations within KFLOP. The controls    In most cases after you have tested and tuned all your hardware using the KMotion.exe setup program all the settings and initialization steps required for your system can be moved or resized. There is also unlimited undo/redo. Multiple controls placed into an Initialization C Program so that your system can be selected fully initialized simply by dragging the mouse over the graphical display. Click SHIFT to add more controls, or CTRL to remove from executing the selectionInitialization program.

Labels ===ModBus===Modbus can show be connected to the PC or toggle bitmaps based on an IO bitdirectly to KFLOP. As an example, we first we select bitmap 1, then bitmap 2. Increase the size of the label, so the bitmap shows properly. Then assign an IO bit number that   A PC connection will not be deterministically real-time but may work for basic speed control the bitmap displayed. Notice the bitmap turns green, because the bit is currently and on/off. Open KMotion and look at the state of IO bit #46 and see that it   Here is ona related Thread for interfacing KMotionCNC to Modbus using a [http://www.modbusdriver. Toggling the bit affects the bitmap on the screencom/modpoll.html free utility]:

[[Filehttps:Toggle-IO-bit//www.png|none|link=]dynomotion.com/forum/archive/sending%20ModBus%20msgs%20from%20KmotionCNC%20to%20a%20RS485%20port.html Sending ModBus msgs from KmotionCNC to a RS485 port]

Buttons can be assigned To connect Modbus directly to perform actionsKFLOP's [http://www. Select a script that can either be a screen script or an actiondynomotion. We select an action type to set bit 46 to 1com/Help/RS232/RS232. Notice that this is htm UART] see the script that indicated that. For the other button, we select an action which sets bit 46 to 0. Now pushing the buttons will perform these actions. Save your new screen as a screen script file. Screen script is under the KMotionCNC directory and the sub-directory“Screens”. Configure KMotionCNC to use this new screen at every new startup.Notice that tool setup screen can be accessed by right-mouse clicking on the KMotionCNC title (C Examples in “Tools/Setup files”). Select the screen you just created.\C Programs\RS232\ModBus\

===Linux Support===KMotion Motion Libraries are fully supported under Microsoft Windows. Some more advanced features include input fields, C program actions, label DROs. Load Users have ported the addition example in the screen editorKMotion Libraries to Linux. Example contains two user input controls and one DRO label control  Dynomotion will offer support where possible but can't offer full support under Linux. The input edit controls are associated with KFLOP persist variables 160 and 161. The DRO label is associated with KFLOP persist variable 162  Special Thanks to [https://github. The Add button is configured com/parhansson/KMotionX Par Hansson] for screen script action to run a C program in KFLOP. The C program is contained in the file “Add.c”. Test it by entering two values and pushing the Add button. Now open KMotion and look at the simple C code that is behind the function. (Open the file “Add.c”)initial Linux Port.

===Wiring Diagrams===[[httpsMedia://wwwKanalog_Connections.youtube.com/watch?v=eE2mSUXxN2M https://www.youtube.com/watch?v=eE2mSUXxN2Mpdf|Basic Kanalog DAC and Encoder Connections 3 Axis]]

Start KMotion CNC Screen Editor, [[Media:KanalogSchematic3Axis.pdf|Basic Kanalog DAC and click on the “Main” tab, then on “Read Script” and choose the file named MomentaryToggle.scrEncoder Connections 3 Axis #2]]

You will see two buttons, a Momentary button assigned to bit46 and a Toggle button assigned to bit 47[[Media:dyn4 kanalog KE1524 V1. You will also see two labels to display the status of bits 46 and 47 as LED bitmaps1. We also have KMotion displaying the status of bits 46 png|Basic Kanalog DAC and 47.DMM DYN4 Drive 1 Axis]]

[[FileMedia:MomentaryKflop-buttonKanalog_wiring_11-219-2018.pngpdf|none|link=Kanalog with Geckos G210 updated 11-19-2018]](Thanks to <span style="color: windowtext;">Joseph Mirocha</span>)

Clicking the Momentary button activates the bit; releasing it,deactivates it[[Media:Kanalog_to_Tree_Journeyman_325_by_Rick_B. Clicking the Toggle button once sets the bitpdf|Kanalog to Tree Journeyman 325.pdf]] (Thanks to <span style="color: windowtext; clicking it again releases it.">Rick_B</span>)

[https[Media://youtuKonnectTouchPlate.be/w-bKvqXCd0Q https://youtu.be/w-bKvqXCd0Qpng|Touch Plate Wiring to Konnect]]

Normally the feed rate indication in KMotionCNC shows ''average'' feed rate over 100ms, assuming straight line motion[https://easyeda. Here we use a C program to calculate a more instantaneous rate and display it on the KMotionCNC screen using the KMotionCNC screen editor. Here the C program samples two positions and timescom/350banshee/BreakoutBoard-93bdd16e3c3d48b98ae66c34f2436c40 User Created KFLOP JP7 Breakout/OptoIsolation Board] Schematic, computes the delta position and the delta timeGerbers, formats it to a string and displays it onto DRO label 162 in KMotionCNC and it performs this action roughly every one ½ seconds. Here is the screen script for the screen shown on the left, we’ve added a type DRO label in the screen editor, edited colors and it is connected to persist variable 162. This job consist of a rapid heal explore PCBs Publicly available (?thanks 350banshee) at a rate of about 6 revolutions per second. It shows the instant feed rate being more correct.

[https[File://youtukflop_kstep_render.be/VkBhYpyGpNU https://youtu.be/VkBhYpyGpNUJPG|none|link=|329x329px]]

[https[File://youtuKFLOP_3D.be/R44F0_upIoA https://youtu.be/R44F0_upIoApng|none|link=|413x296px]]

==<span style="text-decoration: underline;">'''2. Control styles'''</span>=='''<br /> '''Available style options:<br /> [[File:Style-optionsKonnect_Board.png|none|link=|339x292px]]

==<span style="text-decoration: underline;">'''3. Control ''''''attributes'''</span>=='''[[FileMedia:Control-attributesKonnectHoles.pngstp.txt|none|link=KonnectHoles.stp.txt]]'''

* '''Select ID'''<br /> Defines the name of the control on the screen.* '''Type'''<br /> Defines the type of control, e.g.: CONTROL, PUSHBUTTON, COMBOBOX.* '''Font'''<br /> Set the font type, size Kanalog Step Model with Mechanical hole and normal, bold, or italic.* '''BitmapFile1, BitMapFile2<br /> '''Select a bitmap image (.bmp, .gif or .png) for your buttons. BitMapFile1 will show the selected file when the button is in normal state, BitMapFile2 when the button pressed.* '''Colors''' <br /> Select two colors for on- and off-state (text).* '''Highlight''' <br /> Select two colors for on- and off-state (background).* '''Tool Tip''' <br /> Compose text to describe the button action. This text will be visible when the user hovers over the button.  * '''HotKey''' <br /> Assigns a keyboard key to perform an action. This field is by default set to “-1”. For example, select a control like “mm” and type “CTRL M” or select “in” and type “CTRL I” and click “Set”. The “x” button next to the field will restore the value back to “-1”.* '''Var<br /> '''Numeric variable attribute. Assigning a number toggles the corresponding bit in KFLOP (from 0 to 2047).* '''X, Y<br /> '''Changes the horizontal and vertical position of the control.* '''Width, Height'''<br /> Changes the size of the control.* '''Script'''<br /> Using this field, the user has three options:<br /><br />Pin locations

a) Selecting a screen script file from the library[[Media:Kanalog.stp.txt|Kanalog.stp.txt]]

[[File:Script-Option-1KanalogFromStep.png|none|link=|304x279px]]

cRoberto Gotti of Powertech) Selecting a Windows Message:'''<br /> [[File:Script-Option-3.png|none|link=]]'''

* '''Show/Hide'''<br /> Select a control and immediately show or hide it[[Media:KANALOG_BOARD.stp.txt|KANALOG_BOARD.stp.txt]]

* '''Move/Resize'''<br /> Move the position of the control or change its size.* '''Undo/Redo <br /> '''An unlimited number of undoes and redoes is available. * '''Copy/Paste <br /> '''The user can edit all three screens (Split, View, and Code) by clicking “Copy” after making an edit such as moving a button, then loading the next screen, clicking outside the editable area and selecting “Paste”.* '''General <br /> '''When selecting multiple controls, white fields are shown when all settings are the same, and grey fields when the values are different. In the example below note that we have selected the radio buttons labeled 1 through 7. While they all share the same font type, size, width and horizontal (x) position etc., “text” and “y-position” are grayed-out, since the radio buttons’ text labels and their vertical position are unique to each field. To override this, just click into the grayed-out field(s) and start editing.<br />[[File:GeneralKanalogWithConnectors.png|none|link=|311x286px]]

==<span style="text-decoration[[Media: underline;">'''5Kanalog_Terminals. Bitmap types, Alpha, and locations'''</span>==<br />The following bitmap types are supporteddxf|Kanalog_Terminals.dxf]] [[Media: Kanalog_Terminals.bmp, .gif, and.png. Out of these, only the png file type supports alpha channels, i.e. background transparencydwg|Kanalog_Terminals.dwg]]

Images are stored in the following “Resources” location[[Media:KStep_Terminals.dxf|KStep_Terminals.dxf]] [[Media:KStep_Terminals.dwg|KStep_Terminals.dwg]]

====KFLOP IDC Connectors and Cables====Cables that connect between Dynomotion boards are normally included when purchasing the boards together. They are also very common and easy to make. <br /><br />Use '''16-conductor or 26-conductor ribbon cable''' (0.05 inch pitch 26 AWG preferrably or 28AWG) and IDC sockets.<br /><br />[[PC Example ApplicationsFile:RibbonCable.png|More informationnone|link=]]16 conductor ribbon cable 3M part number 3801/16 100 <br />https://www.digikey.com/product-detail/en/3m/3801-16-100/3M156105-100-ND/1107501<br /><br />26 conductor ribbon cable 3M part number C3801/26 100 <br />https://www.digikey.com/product-detail/en/3m/C3801-26-100/C3801-26-100-ND/1107648<br /><br />Winford also sells ribbon cable (although only the thinner 28 AWG):<br />http://www.winford.com/products/rib.php<br /><br />Note you can usually tear off wires to reduce the number of conductors. For example from 26 down to 16. Tear off the conductors away from the red stripe that marks pin 1.<br /><br />The '''crimp tools''' are common:<br />https://www.amazon.com/Accessories-Crimp-Ribbon-Cable-Connectors/dp/B007R2JEM4/<br />[[File:RibbonCrimp.png|none|link=]]<br /><br />'''IDC Sockets 16-pin '''(pin pitch 0.1 inch)<br />https://www.digikey.com/product-detail/en/assmann-wsw-components/AWP-16-7240-T/HHKC16H-ND/5031953<br />Assman Part number AWP 16-7240-T[[File:16pinIDC.png|none|link=]]https://www.digikey.com/product-detail/en/assmann-wsw-components/AWP-26-7240-T/HHKC26H-ND/5011313[[File:26pinIDC.png|none|link=]]

===KMotion Libraries - GCode Interpreter - Trajectory Planner - Coordinated Motion - .NET=KFLOP KStep JR1 Molex Power Connectors====The KMotion Libraries KFLOP and KStep JR1 are a series standard Disk Drive Power Connectors. Possibly one of DLLs (Dynamic Link Libraries) that reside on the PC that contain the most common core motion control, I/O, and communication functionality for KFLOPconnectors.  These libraries permit Originally used on PC Applications ATX Power Supplies. Sometimes referred to be built using high level control without being concerned as Molex Connectors. They have 4 pins with the underlying details of Interpreting GCode, Trajectory Planning, Coordinated Motion, Motion Buffering, USB Communication, etc0.2 inch pitch with 0.083~0.084 inch socket pins. The mating cable will have female socket pins as shown here:

[[KMotion Libraries - GCode Interpreter - Trajectory Planner - Coordinated Motion - File:Molex_female_connector.NETjpg|More informationnone|link=|251x168px]].

Molex Series 8981 P# [[KFLOP C Programs|More Informationhttps://www.digikey.com/short/zjp329 0015244048]  using Molex Series 8980 Crimp Pins P# [https://www.digikey.com/short/zjp3ff 0002081201]

===ModBus=MPG Wiring and Interface====Modbus can MPGs (Manual Pulse Generators) should be connected to the PC or directly to KFLOP.  A PC connection will not be deterministically for guaranteed real-time but may work response (not USB based or connected to the PC).  MPGs are handled by a C Program that monitors the MPG and creates motion based on the MPG Encoder changes and switch selections for basic axis, speed control , and on/offso forth.  Here  See the MPG C Program Examples.  Here is a related Thread for interfacing KMotionCNC to Modbus using a [http://www.modbusdriver.com/modpoll.html free utility]Discussion with other links.

To connect Modbus directly to KFLOP's [httphttps://www.dynomotion.com/Helpforum/RS232archive/RS232Connecting%20Keling%20MPG2%20pendant.htm UARThtml Connecting Keling MPG2 Pendant] see the C Examples in \C Programs\RS232\ModBus\

==Dynomotion Hardware Topics=====General Hardware Information===KFLOP [[KFLOP Hardware Info|Hardware Info]https://www.cnczone.com/forums/dynomotion-kflop-kanalog/349740-applying-acceleration-mpg-target-possible.html#post2119732 CNCZone Thread] on obtaining smooth filtered motion.

KStep [[KStep Hardware InfoFile:MPG4_from_cnc4pc.jpg|Hardware Infonone|link=|83x169px]]

SnapAmp [[SnapAmp InfoFile:NPN_Interface_to_KFLOP.png|Hardware Infonone|link=|544x544px]]

===Wiring Diagrams===[[Media:Kanalog_ConnectionsNote the JP4 and JP6 IO are 3.pdf|Basic Kanalog DAC 3V inputs and Encoder Connections shouldn't be driven hard (more than 10ma) above 3 Axis]].8V. This is not usually an issue as most encoders or RS422 drivers don't do this. The inputs also have 150 ohm termination.

[[Media:KanalogSchematic3AxisThe following line of code might be added to your Initialization C Program.pdf|Basic Kanalog DAC It needs to be executed once to multiplex the encoders after any power cycle. Encoders 0-3 will then be input on JP4 and 4-7 will be on JP6. Both JP4 and Jp6 have 10 IO bits. The 4 encoders will appear on the first 8 IO bits. 2 bits for each encoder's A B channels in order. So for example Encoder Connections 3 Axis #2]]0 will appear on JP4 IO16 (Pin5) and IO17 (Pin6)

[[Media<pre class="brush:dyn4 kanalog KE1524 V1.1.png|Basic Kanalog DAC c"> // Mux encoder inputs from KFLOP JP7 & JP5 to JP4 and DMM DYN4 Drive 1 Axis]]JP6FPGAW(ENC_NOISE_FILTER_ADD) = ENC_0_3_JP4 + ENC_4_7_JP6 + ENC_NOISE_FILTER_DEFAULT_VAL; </pre>

[[Media:Kanalog_with_Geckos_G210.pdf|Kanalog_with_Geckos_G210]] (Thanks JP4 and JP6 have +5V available on Pin1 and GND on Pins 8 and 9 that might be used to <span style="color: windowtext;">Joseph Mirocha</span>)power 5V encoders.

[[Media:KFlopSnapBrushMPG==<span id="Axes_Servo_Tuning_and_Trajectory_Planner" class="mw-headline">Axes Servo Tuning and Trajectory Planner</span>=====Basic Servo Tuning Overview===Once an axis is configured and proved capable of holding a position it is ready to be tuned and optimized. Most often a small value of P Gain only is used to show the servo is functional and can hold position. The Servo may be very weak and inaccurate but will be functional.pdf|KFLOP+SnapAmp DC Brush Motors with MPG]]

[[Media:Stepper_Wiring_Diagram_Step-Dir_on_JP5Every system is different and the tuning parameters are interactive in a manner that usually doesn't allow parameters to be determined one at a time.pdf|KFLOP JP5 Open Collector Step/Dir Connections Rather after one parameter is changed it may be necessary to Power Step PSD5042-2P Drives ]]revisit the other parameters.

[[Media:Matrika_V1_wiring_diagram_Rev1.pdf|KFLOP+KStep with VFD In general higher gains will reduce errors and NPN Limit Switches for Matrika Rev1]]improve accuracy, but tend to make the system more unstable.  So the general idea is to increase gains to reduce errors as much as possible but still have a stable system.

Often during tuning the system may go unstable. In fact, it is normally intentionally driven to instability to find its limits for a certain parameter. This can result in a violent oscillation or worse so one should be prepared to quickly disable the Servo. If an appropriate [[Mediahttp:KonnectTouchPlate//dynomotion.png|Touch Plate Wiring to Konnect]com/Help/ConfigurationScreen/ConfigurationScreen.htm#Max_Following_Error Max Following Error]is used the axis can be automatically disabled before the oscillation becomes too violent, yet not disable when performing a normal test.

[https://easyedaKMotion.comexe allows you to change any axis parameter on the Step/350banshee/BreakoutBoard-93bdd16e3c3d48b98ae66c34f2436c40 User Created KFLOP JP7 Breakout/OptoIsolation Board] SchematicResponse, GerbersConfig, PCBs Publicly available or Filters Screens then simply push "Move" to see the effect of the change.  Note that as performance improves the errors will become small and difficult to see on the Position Plot without Zooming in (thanks 350bansheeLeft click drag)so changing the plot type to plot the error is useful.

====MPG Wiring # Select a Test [http://dynomotion.com/Help/StepScreen/StepScreen.htm#Measurement Move Size] and Interface===[http://dynomotion.com/Help/StepScreen/StepScreen.htm#Motion_Profile Motion Profile].  [http://www.dynomotion.com/wiki/index.php?title=Main_Page#Velocity.2C_Acceleration.2C_and_Jerk See Also]MPGs (Manual Pulse Generators) should be connected directly # Select [http://dynomotion.com/Help/StepScreen/StepScreen.htm#max_limits Max Limits] to KFLOP allow for guaranteed realthe Test.  [http://www.dynomotion.com/wiki/index.php?title=Main_Page#Max_Limits_-time response _Error See Also]# Determine maximum level of [http://dynomotion.com/Help/StepScreen/StepScreen.htm#PID P Gain]# Determine maximum level of [http://dynomotion.com/Help/StepScreen/StepScreen.htm#PID D Gain] (not USB based or connected to the PCwith Low Pass Filtering)  See Also [http://www.  MPGs are handled by a C Program dynomotion.com/wiki/index.php?title=Main_Page#Torque_Servos_vs_Velocity_Servos here] and [http://www.dynomotion.com/wiki/index.php?title=Main_Page#Lead_Compensator_vs_Derivative_Gain here].# Determine new maximum level of P Gain now that monitors the MPG and creates motion based on the MPG Encoder changes D Gain increased stability# Add I Gain to improve accuracy and switch selections for axis, speed, and so forthremove steady state errors.  See the MPG C Program Examples  [http://www.  Here is a Discussion with other linksdynomotion.com/wiki/index.php?title=Main_Page#I_Gain.2FMax_Limit_Integrator See Also]# Add [http://dynomotion.com/Help/StepScreen/StepScreen.htm#Feed_Forward Feed Forward] to reduce errors

===Torque Servos vs Velocity Servos===+/-10V Analog Amplifiers usually come in one of two varieties: '''Torque''' or '''Velocity'''. Torque mode amplifiers consider the input command as a Torque Command and work to generate the commanded Motor Torque. Velocity mode amplifiers consider the input command as a Velocity Command and work to generate the commanded Velocity.  Its important to understand what type of Amplifiers you have.  '''Velocity Mode Amplifiers''' need some form of feedback going to the Amplifier in order for the drive to know the current velocity. This might be a digital encoder or an analog tachometer. Its easy to tell if you have a Velocity Mode Amplifier by looking at a plot of a move on the Step Response Screen.  The Output (green plot with right scale) will be proportion to the motor velocity.  When moving at constant speed the output will be relatively constant.  See in the plot below the output (green) remains at a relatively constant ~1100 DAC counts while the position (red) ramps at a constant slope of the 90000 count/sec rate: [[File:VelocityAmp.png|none|link=]] Velocity mode amplifiers can be relatively easy to tune using only P (Proportional) Gain.  Additional Gains and filters can be used for best performance but using only P Gain will often result in reasonable performance and a stable system (unlike Torque Mode Amplifiers).  As an example consider controlling the speed of a car using only Proportional Gain as it approaches a target (Stop sign).  Consider a P Gain of 0.1 where at 1000ft from the stop sign we command 1000 x 0.1 = 100MPH.  Then at 100ft we command 10MPH.  Then at 10ft we command 1MPH.  This results in a nice, smooth, exponential approach, without overshoot. Contrast this with controlling the acceleration (torque) of a car using only Proportional Gain as it approaches a target (Stop sign).  At large distance we apply maximum acceleration.  Although as we approach the stop sign we reduce acceleration, we continue to accelerate and speed continues to increase until we pass the stop sign.  Torque mode servos are inherently unstable.  P only gain only works at all if there is some friction (the car is dragging a sled which slows us down with less torque).  '''Acceleration Mode Servos''' may or may not have any feedback.  If they have feedback it is usually used only to commutate a brushless motor.  In the plots the Output (green) will have large magnitude when the Position (red) is accelerating, where the plot has curvature (changing slope). Acceleration mode Servos are unlikely to work well or at all with only P Gain.  Some form of damping or lead compensation will usually be required to get a stable system.   D (derivative) Gain (or a lead compensator) should be included with the P Gain to help stabilize the system.  D Gain can be increased to make the system more stable up to a point.  After some point the additional D Gain will make the system more unstable. and should be reduced. When using D Gain (or lead compensation) the quantization noise (steps) in the encoder position can cause spikes in the output.  For example a D Gain of 100 will cause a spike of 100 counts in the output whenever the input changes suddenly by 1 count.  If the spikes are very high amplitude and short duration, the Amplifier may not handle them in the expected manner.  A low pass filter can be used to widen and reduce their amplitude allowing the amplifier to handle them more effectively.  Typically a 2nd order low pass filter of 500Hz Q=1.4 is used.  The last filter is normally used so it is applied to any Feed Forward. Such as: [[File:MPG4_from_cnc4pcLowPass400Q1p4.jpgpng|none|link=|83x169px680x439px]]

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 (red) changes (ie 50 encoder counts), at a frequency low enough that the Position at least somewhat attempts to follow the Command (blue), 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]

====[[Step/Dir Drives loose lose 2 Steps for each pair of Direction Reversals]]==== 

====[[Tool Changer - router linear 4 Tools - C Program]]====[[File:LINEAT+ATC.jpg|none|link=|246x178px]]====[[Part Zero & Tool Height Touch Plate|Part Zero & Tool Height Touch Plate]]More linear milling tools: https://www.ichome.com/

HiTec TypeApplied Science video that shows how to build an BAXEDM drilling machine using KFLOP and describes how it works:  {{#ev:youtube|https://youtu.be/rpHYBz7ToII|||||start=980}} ==How to convert a milling machine to a 3D printer in 3 easy steps==[[File:CNCto3DPrinter.png|none|link=]] More information [[How to convert a milling machine to a 3D printer in 3 easy steps|here]].