==Dynomotion Software Topics==
Production Release: [http://dynomotion.com/Software/Download.html Full release download page (includes link to signed Windows Drivers) Note: to use signed Drivers for W7 64bit Drivers from V4.34a or later are required. Also all Windows Updates should be performed for the chain of trust to work properly]
* [[Upgrading from previous KMotion Versions]]
* Latest Test Release: 09/28/2017: [http://dynomotion.com/Software/KMotion434j.exe KMotion.exe V4.34j], See the release notes for this test version here: [http://dynomotion.com/Software/KMotion%20Released%20Version%204.34j%20Changes.pdf V4.34j release notes (pdf)]
* Previous Test Release: 05/07/2017: [http://dynomotion.com/Software/KMotion434i.exe KMotion.exe V4.34i], See the release notes for this test version here: [http://dynomotion.com/Software/KMotion%20Released%20Version%204.34i%20Changes.pdf V4.34i release notes (pdf)]
* Previous Test Release: 12/14/2016: [http://dynomotion.com/Software/KMotion434h.exe KMotion.exe V4.34h], See the release notes for this test version here: [http://dynomotion.com/Software/KMotion%20Released%20Version%204.34h%20Changes.pdf V4.34h release notes (pdf)]
* Previous Test Release: 03/09/2016: [http://dynomotion.com/Software/KMotion434a.exe KMotion.exe V4.34a], See the release notes for this test version here: [http://dynomotion.com/Software/KMotion%20Released%20Version%204.34a%20Changes.pdf V4.34a release notes (pdf)]
* [http://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]]
* [[Special Case for Windows 8.1 Industry Embedded Enterprise]]
* [[Updating KFLOP Firmware|How to update KFLOP Firmware]] - whenever a new version of software is installed, the firmware within KFLOP must be updated to match the new version
[[Rigid Tapping G84 Setup and Use]]
====<span style="text-decoration: underline;">Customize KMotionCNC</span>====
: '''General Information'''
: Compiling KMotionCNC
:: The KMotionCNC's Visual Studio Project Solution (\PC VC Programs\KMotionCNC\KMotionCNC.sln) is currently written for Visual Studio
2008 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.
: '''KMotionCNC Customization Examples and Applications'''
:: Links to examples of projects that explain KMotionCNC customizations
::: Troy (tmday7) created some helpful documents listed on the Yahoo Group Files Section [https:// groups. yahoo.com/ neo/ groups/ DynoMotion/ files/ KmotionCNC% 20Screen% 20Customizing/ here].
====<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.]]
===PC Example Applications===
A number of PC Applications using the KMotion Libraries are available in the Software download. Visual Studio should be used to modify/compile the applications.
Currently the projects are compatible with VS 2008 Standard but later Versions can upgrade the projects and can be used including the free Microsoft Version of VS 2013 Community. In some cases MFC capability needs to be added as a separate download.
[[KMotion Libraries - GCode Interpreter - Trajectory Planner - Coordinated Motion - .NET|More information]].
===KFLOP C Programs===
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 [http://www.modbusdriver.com/modpoll.html free utility]
groups. yahoo.com/ neo/ groups/ DynoMotion/conversations/topics/7941
To connect Modbus directly to KFLOP's [http://www.dynomotion.com/Help/RS232/RS232.htm UART] see the C Examples in \C Programs\RS232\ModBus\
==Dynomotion Hardware Topics==
===General Hardware Information===
KFLOP [[KFLOP Hardware Info|Hardware Info]] KStep [[KStep Hardware Info|Hardware Info]] Kanalog [[Kanalog Hardware Info|Hardware Info]] SnapAmp [[SnapAmp Info|Hardware Info]] Konnect [[Konnect Hardware Info|Hardware Info]]
[[Media:dyn4 kanalog KE1524 V1.1.png|Basic Kanalog DAC and DMM DYN4 Drive 1 Axis]]
Kanalog_with_Geckos_G210.pdf|Kanalog with Geckos G210]] (Thanks to <span style="color: windowtext;">Joseph Mirocha</span>)
[[Media:Kanalog_to_Tree_Journeyman_325_by_Rick_B.pdf|Kanalog to Tree Journeyman 325.pdf]] (Thanks to <span style="color: windowtext;">Rick_B</span>)
[https://easyeda.com/350banshee/BreakoutBoard-93bdd16e3c3d48b98ae66c34f2436c40 User Created KFLOP JP7 Breakout/OptoIsolation Board] Schematic, Gerbers, PCBs Publicly available (thanks 350banshee)
Place links to pages on wiring inputs and outputs specific to your experiences and projects. Be descriptive with page titles and links.
MPGs (Manual Pulse Generators) should be connected directly to KFLOP for guaranteed real-time 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 axis, speed, and so forth. See the MPG C Program Examples. Here is a Discussion with other links.
groups. yahoo.com/ neo/ groups/ DynoMotion / conversations/ messages/ 12287
==<span id="Axes_Servo_Tuning_and_Trajectory_Planner" class="mw-headline">Axes Servo Tuning and Trajectory Planner</span>==
===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.
===<span id="Velocity.2C_Acceleration.2C_and_Jerk" class="mw-headline">Velocity, Acceleration, and Jerk</span>===
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 /><br />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 /><br />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 /><br />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 /><br />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.
[http://dynomotion.com/Help/BodeScreen/BodeScreen.htm See here for more information].
==Problems and Resolutions==
===Hardware-Specific Problems and Resolutions===
:* Place links to pages explaining resolutions to problems that are largely hardware-related
loose 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]]====
[[Part Zero & Tool Height Touch Plate|Part Zero & Tool Height Touch Plate]]
[[Driving Hobby Servos]]
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