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/* ModBus */
==Dynomotion Software Topics==
===Installation Topics===
* Announcement of our Latest Test Release (V4.35a35b) on the [https://www.dynomotion.com/forum/viewtopic.php?f=4&pt=1314#p1314 742 Dynomotion Forum]
* [http://dynomotion.com/Software/Download.html Latest Stable Release] Note: For Windows 7 64bit signed Drivers to work, all Windows Updates should be performed.
* [[Upgrading from previous KMotion Versions]]
Archive of Test Releases:
* Previous Test Release: 12/21/2018: [http://dynomotion.com/Software/KMotion435a.exe KMotion.exe V4.35a], See the release notes for this test version here: [http://dynomotion.com/Software/KMotion%20Released%20Version%204.35a%20Changes.pdf V4.35a release notes (pdf)]
* Previous 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)]
: '''General Information'''
: Compiling KMotionCNC
:: 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.
: '''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 (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:/ here/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.]]
===PC Example Applications===
A number of PC Applications using the KMotion Libraries are available in the Software download.&nbsp; Visual Studio should be used to modify/compile the applications.&nbsp;
 
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.&nbsp; In some cases MFC capability needs to be added as a separate download.
===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 [http://www.modbusdriver.com/modpoll.html free utility].:
[https://groupswww.yahoodynomotion.com/neoforum/groupsarchive/DynoMotion/conversations/topics/7941sending%20ModBus%20msgs%20from%20KmotionCNC%20to%20a%20RS485%20port.html Sending ModBus msgs from KmotionCNC to a RS485 port]
==Dynomotion Hardware Topics==
===General Hardware Information===
KFLOP ====[[KFLOP Hardware Info|KFLOP specific Hardware Info]]==== KStep ====[[KStep Hardware Info|KStep specific Hardware Info]]==== Kanalog ====[[Kanalog Hardware Info|Kanalog specific Hardware Info]]==== SnapAmp ====[[SnapAmp Info|SnapAmp specific Hardware Info]]==== Konnect ====[[Konnect Hardware Info|Konnect specific Hardware Info]] ====
===Wiring Diagrams===
 
 
[[Media:KFLOP3D_Step_IGS_Chris.zip.txt|KFLOP3D_Step_IGS_Chris.zip.txt]] STEP and IGS models - Thanks to Chris
 
[[File:KFLOP_3D.png|none|link=|413x296px]]
===Wiring Topics===
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.
https://groups.yahoo.com/neo/groups/DynoMotion/conversations/messages/12287
[https://groupswww.yahoodynomotion.com/neoforum/groupsarchive/DynoMotion/conversations/messages/331 https://groupsJogging%20Pendant.yahoo.com/neo/groups/DynoMotion/conversations/messages/331html Jogging Pendant]
[[Filehttps:MPG4_from_cnc4pc//www.jpg|none|link=|83x169px]dynomotion.com/forum/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.
[[File:MPG4_from_cnc4pc.jpg|none|link=|83x169px]]
====Interfacing NPN Devices to KFLOP IO====
[[File:NPN_Interface_to_KFLOP.png|none|link=|544x544px]]
 
 
 
====Multiplexing Encoder Inputs to KFLOP JP4 and JP6====
If KFLOP JP7 and JP5 are used for other purposes the encoder inputs can be multiplexed to KFLOP JP4 and JP6. There is an option to multiplex encoders 0-3 from JP7 to JP4 and another option to multiplex encoders 4-7 from JP5 to JP6. See the MuxEncoders.c for an example.
 
Note the JP4 and JP6 IO are 3.3V inputs and shouldn't be driven hard (more than 10ma) above 3.8V. This is not usually an issue as most encoders or RS422 drivers don't do this. The inputs also have 150 ohm termination.
 
The following line of code might be added to your Initialization C Program. 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 #0 will appear on JP4 IO16 (Pin5) and IO17 (Pin6)
 
<pre class="brush:c">
// Mux encoder inputs from KFLOP JP7 & JP5 to JP4 and JP6
FPGAW(ENC_NOISE_FILTER_ADD) = ENC_0_3_JP4 + ENC_4_7_JP6 + ENC_NOISE_FILTER_DEFAULT_VAL; </pre>
 
JP4 and JP6 have +5V available on Pin1 and GND on Pins 8 and 9 that might be used to power 5V encoders.
==<span id="Axes_Servo_Tuning_and_Trajectory_Planner" class="mw-headline">Axes Servo Tuning and Trajectory Planner</span>==
[[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 (or 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/Slave 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.