Changelog

All notable changes to this project will be documented in this file.

The format is based on Keep a Changelog, and this project adheres to Semantic Versioning.

[UNRELEASED]

[10.?.?] - 2026-??-??

[10.0.0] - 2026-05-25

Added

EnsureAACommServerRunning(): New method on IMotionController / MotionController that ensures the AACommServer is running and ready to accept connections. Launches the server if not already running, with proper path resolution.

Deprecated

AAMotionConfig.UseAsyncCommTransport: in AAComm 13.0.0 both flag values produce equivalent observable transport behavior for callers using a single path serially (false → CommAPI.SendReceive over the sync flow; true → CommAPI.Send + an internal wait-handle over the async flow — see issue #32 history). The flag is therefore a no-op for typical usage and will be removed in a future release.

Changed

DataLogger StartDataRecording: AGD155 and AGD155-EC now use ARecStart[1] command syntax (firmware v2.3+); other controllers continue to use ARecStart without index.
Refactored DataLogger and SlowLogger to route all communication through CommAPIInterface.SendAndRecieve() instead of directly calling CommAPI.SendReceive(). This ensures consistent behavior when AAMotionConfig.UseAsyncCommTransport is enabled (async) or disabled (sync).

[9.1.1] - 2026-04-17

Changed

Packaging: picks up AAComm 12.1.1 sidecar change. AACommServer sidecar is now selected by consumer OS rather than TFM: Windows consumers (net48 or net8.0) get the WPF AACommServer.exe; non-Windows net8.0 consumers get AACommServerNetConsole. AAMotion consumers inherit this transitively — no code or reference changes required.

[9.1.0] - 2026-04-15

Fixed

ScanController / ScanControllerDetailed: Replaced unreliable TCP probe (TcpPortReachable) with ARP-based discovery via ARPTools.GetSubnetActiveIPs. This uses the same multi-NIC ARP scan as PCSuite's Discover Connections, ensuring controllers on all Ethernet interfaces are reliably found.
- Fixes: random discovery failures with multiple NICs on the same subnet (OS routing picked one interface only)
- Fixes: NullReferenceException in TcpClient.EndConnect when scanning IPs with no controller (disposed socket from dangling ConnectAsync task)
- Removed TcpPortReachable private method (no longer needed)

[9.0.0] - 2026-04-03

Changed

Decoupled nuget from direct AAComm dependency: AAComm is now resolved via nuget

[8.4.1] - 2026-03-27

Added

Added LockSrcZeroSupported() method to ISingleAxis / SingleAxis, exposing Identity[62] bit 0x10 (ControllerIdentityFeature_02.LockSrcZero_Supported). When lockSource = 0 is passed to the three multi-step homing methods on an unsupported controller, NotSupportedException is thrown.
Added ControllerIdentityFeature_02.IDENTITY_NEW_FEATURES_2_LOCKSRC_ZERO_SUPPORTED = 0x00000010 constant.
Added three extended multi-step homing methods to ISingleAxis / SingleAxis:
- HomeToHardStopThenIndex — motor on → arm Lock → hard stop on high following error → jog to hardware index → move to Locked position → disarm Lock → wait → set position → end. Accel/emer decel auto-computed (×10 and ×100 of velocity); all timeouts fixed at 15000 ms. Populates HomingDef as PCSuite step types 8, 14, 10, 15, 16, 14, 7, 6, 0.
- HomeToIndex — motor on → arm Lock → jog to hardware index → move to Locked position → disarm Lock → wait → set position → end. Accel/emer decel auto-computed; all timeouts fixed at 15000 ms. Populates HomingDef as PCSuite step types 8, 14, 15, 16, 14, 7, 6, 0.
- HomeToLimitThenIndex — motor on → arm Lock → jog to limit switch → jog to hardware index → move to Locked position → disarm Lock → wait → set position → end. Accel/emer decel auto-computed; all timeouts fixed at 15000 ms. Populates HomingDef as PCSuite step types 8, 14, 1, 15, 16, 14, 7, 6, 0.

[8.4.0] - 2026-03-25

Added

Added FastReadCache high-performance cached read mechanism:
- New FastReadCache class in Shared/FastReadCache.cs for low-latency parameter reads.
- Supports caching both single-value keywords (e.g., Speed, Pos, MotionStat) and array elements (e.g., AInPort[1]).
- Uses a background timer to batch-refresh all registered values via bulk commands at configurable intervals (default 1ms).
- Built-in events: RefreshStarted, RefreshCompleted, RefreshError for monitoring.
- Methods: Enable() / Disable() to activate/deactivate, RegisterKeywords() / RegisterArrayElements() to specify what to cache, GetCachedValue() / GetCachedArrayValue() to read, RefreshNow() for forced refresh, GetCacheAgeMs() to check staleness.

Changed

AAMotionConfig now exposes FastReadEnabled (global on/off switch) and FastReadCacheRefreshIntervalMs (default 1ms).
MotionController now exposes FastReadCache property, EnableFastReadCache(), DisableFastReadCache(), RegisterCacheKeywords(), RefreshCacheNow(), and GetCacheAgeMs().
CommAPIInterface.HandleSingleValueAccessed and HandleArrayValueAccessed now check the cache first when enabled, falling back to controller reads.
InitializeFastReadCacheIfEnabled() is automatically called after successful Connect() — registers A/B/C axes' common keywords ( Pos, MotionStat, InTargetStat) and AInPort[1-4], then enables the cache if AAMotionConfig.FastReadEnabled is true.

Added

Added CommAPI property on MotionController to expose the underlying AAComm.CommAPI instance for direct low-level communication with maximum performance.

[8.3.0] - 2026-03-17

-AACommServer + API: Ethernet packet sniffer for debugging communication issues - Auto-captures traffic on Ethernet channel open/close - Session snapshots saved to Error/User/Marked folders on disconnect - UI: status indicator, statistics, enable checkbox, mark capture button - Ring buffer with configurable retention policies

[8.2.2] - 2026-02-26

Added

Added GenerateCsvFile(DataLoggerResult result, string filePath = null) in DataLogger API to export recorded data to a CSV file:
- Accepts a directory path or full file path; uses current directory when path is null or empty.
- Generates timestamped file name when a directory is specified.
- Writes UTF-8 with BOM for correct Chinese display in Excel.
- Includes metadata (export time, record length, gap, parameter count, data point count), parameter information (name, CAN code, user units), data rows, and statistics (Min, Max, Average).

Changed

DataLogger GetDataRecordingStatus: AGD155 and AGD155-EC now use keyword ARecStat (no array index); other controllers continue to use ARecStat[1].

[8.2.1] - 2026-01-14

Added

Added GetDataRecordingCapacity method to DataLogger API for querying the maximum recording capacity of the controller.

Changed

Improved auto-reconnect logic in IsConnected property:
- Enhanced reconnection mechanism to continuously retry when connection is lost
- Added thread-safe reconnection with lock mechanism to prevent multiple threads from triggering reconnection simultaneously
- Improved state tracking to ensure reconnection attempts continue even after initial failure
- Reconnection will retry every 2 seconds if connection remains lost, up to 4 attempts per cycle

[8.2.0] - 2026-01-10

Added

Added DataLogger high-speed recording API on MotionController:
- New partial implementation in Shared/DataLogger.cs wrapping AAComm RecData services.
- DataLoggerConfiguration to configure duration (sec), gap (ms), parameters list, and trigger position.
- DataLoggerTrigger to configure trigger type, source, value, mask and optional max value (for range triggers).
- DataLoggerResult / DataLoggerVector containers exposing recorded data, time vector, CAN codes and user units.
- High-level helper methods: ConfigureDataLogger, StartDataRecording, StopDataRecording, ForceDataLoggerTrigger, WaitForDataRecordingToEnd, UploadDataLoggerData, and one-shot RecordData.

Changed

Improved XML documentation for DataLogger trigger parameters with clearer English/Chinese descriptions to match PCSuite terminology (持续时间, 间隔, 触发器, 掩码, 最大触发值, 触发时刻).

[8.1.1] - 2026-01-09

Changed

Keyword filtering now relies solely on MessagesContainer (from AAbout command) instead of ControllerKeywordFilter
- Removed ControllerKeywordFilter class and all firmware version-based filtering rules
- Keyword availability is now determined directly from the controller's AAbout response, which contains the authoritative list of supported keywords
- This approach automatically supports any firmware version without requiring manual filter rule updates
- Keywords are filtered based on what the controller actually reports, ensuring perfect compatibility with any firmware version
- Simplified KeywordRegistry constructor by removing controllerType and firmwareVersion parameters
- Removed firmware version reading from AIdentity[26-28] during connection (no longer needed)

Removed

Removed ControllerKeywordFilter class and all keyword filtering rules
Removed firmware version detection code from CommAPIInterface.Connect() method

[8.1.0] - 2026-01-07

Change

Exclude the keywords of the CNCB group (except AGM800).

[8.0.9] - 2026-01-06

Fixed

Corrected CNC buffer clear routing so GroupA and GroupB send to their own CNC groups.

[8.0.8] - 2026-01-06

Added

Added CNCB (CNC Group B) keyword properties to ICiGroupAxis interface and CiGroupAxis implementation for AGM800 controller:
- Read-only properties: CNCBSpeed, CNCBAccel, CNCBDecel, CNCBJerk, CNCBEndSpeed, CNCBAbsTrgt, CNCBPosRef, CNCBdPosRef, CNCBStatus , CNCBVel
- Read/Write properties: CNCBEmrgDec, CNCBPercents , CNCBSpeedPer , CNCBPause
- These properties allow full access to CNCB parameters and status, enabling complete control and monitoring of CNC Group B operations on AGM800 controllers.

[8.0.7] - 2026-01-06

Changed

IsCNCCompleted now supports AGM800's GroupB (AxisRef.B). For GroupB, it reads {axis}CNCBStatus[10] instead of CNCAStatus[10].
ControllerType enum values now reference ProductTypes constants to eliminate duplicate definitions and ensure single source of truth for product type IDs.

[8.0.6] - 2026-01-04

Added

Added CNC Begin(AxisRef axisRef) method to specify the axis for CNC operations.

[8.0.5] - 2026-01-04

Added

Added firmware version-based keyword filtering system in ControllerKeywordFilter:
- Unified configuration dictionary KeywordFilterRules for all keyword filtering rules (controller type and firmware version dependent)
- Automatic firmware version detection from AIdentity[26-30] during connection:
  - AIdentity[26] = Major version
  - AIdentity[27] = Minor version
  - AIdentity[28] = Patch version
  - Combined version format: Major * 1000 + Minor * 100 + Patch (e.g., 3.0.42.0.0 → 3042)
- Support for firmware version-dependent keyword filtering:
  - Keywords can be configured to require a minimum firmware version
  - If firmware version is unknown, version-dependent keywords are skipped by default (safe default)
- AGD301 controller: MapTableB, MapTableC, MapTableD, MapTableE keywords now require firmware version >= 3042 (3.0.42.0.0)
  - These keywords are automatically skipped for AGD301 controllers with firmware version < 3042
  - These keywords are available for AGD301 controllers with firmware version >= 3042

Changed

Refactored keyword filtering system to use unified configuration:
- Consolidated all keyword filtering rules (always-skip and version-dependent) into a single KeywordFilterRules dictionary
- Removed separate ControllerBlacklist dictionary in favor of unified configuration
- Improved maintainability: all filtering rules are now in one place with clear version requirements
Enhanced KeywordRegistry to accept firmware version parameter for dynamic keyword filtering
Improved CommAPIInterface.Connect() method to read and parse firmware version from controller during connection

Fixed

Fixed keyword filtering to properly handle firmware version-dependent keywords for different controller types
Improved keyword availability detection based on actual controller firmware version

[8.0.4] - 2025-12-22

Fixed

EventPulseRes now reports the correct value (previously always 0).

Added

Added Commutated and IsCommutated APIs.

[8.0.3] - 2025-12-17

Fixed

Fixed vector motion Begin behavior in SingleAxis.Vector* helpers to only send one Begin command for the currently selected axis, ensuring correct behavior when multiple member axes participate in a vector move.

[8.0.2] - 2025-12-12

Added

Added controller discovery helpers in AAMotionAPI:
- ScanController quickly probes a subnet for reachable controllers and returns their IP addresses.
- ScanControllerDetailed returns full ConnectionData entries for discovered controllers using parallel probing.

[8.0.1] - 2025-12-02

Added

Added global communication transport switch AAMotionConfig.UseAsyncCommTransport to control how AAMotion sends commands to AAComm:
- false (default): Legacy synchronous mode using CommAPI.SendReceive with internal locking for thread safety.
- true: Asynchronous queue-based mode using CommAPI.Send plus per-call wait handles for high-concurrency scenarios.
Added SendViaAsyncQueue implementation in CommAPIInterface to wrap AAComm's async Send API into a synchronous-style call at AAMotion level.

Changed

Centralized communication error handling in CommAPIInterface via unified ErrorHandlers(AACommEventArgs status) helper:
- All synchronous and asynchronous send paths now route errors through a single handler.
- MotionController.SendCommandString and SendBulkCommandString rely on CommAPIInterface.ErrorOccurred instead of duplicating error formatting logic.
Improved thread-safety and debuggability of communication:
- Synchronous mode uses an internal lock to serialize access to SendReceive, preventing "SendReceive is in progress" errors under multi-threading.
- Asynchronous mode avoids mixing AAComm's synchronous and asynchronous APIs while still providing a synchronous programming model to AAMotion callers.

[8.0.0] - 2025-12-01

Added

Deprecate .NET 4.0 target framework. The minimum supported .NET framework is now 4.8

[7.6.2] - 2025-11-25

Added

Added SlowLogger functionality for data logging and monitoring
- Added LoggerOn property to enable/disable slow logger (1 = enabled, 0 = disabled)
- Added LoggerGap property to set sampling interval (16 samples per group, approximately 1.0 ms per group)
- Added LoggerParams array property to configure up to 40 logger parameters (1-40, organized in 8 groups)
- Added LoggerFullMod property to control FIFO full mode (0 = pause logging, 1 = overwrite oldest data)
- Added LoggerStatus array property to monitor logger status and statistics
- Added LoggerAbout array property to get controller slow logger metadata
- Added convenience properties: LoggerFreeSpace, LoggerState, LoggerPushedPackets, LoggerLostPackets
- Added ConfigureSlowLogger() method to configure logger parameters in one call with flexible parameter specification:
  - Supports string parameters (e.g., "CPos", "AVel[2]", "Pos")
  - Supports int CAN codes (direct assignment)
  - Supports SlowLoggerParameter struct for strongly-typed parameter description
  - Supports eKeyword enum values
- Added LoggerUpload() method to upload slow logger data from the controller
- Added SlowLoggerParameter struct for strongly-typed logger parameter specification (Axis/Keyword/Array index)
- Added GetKeywordCANCode() method overloads to get CAN codes for keywords:
  - Base CAN code retrieval (without axis/array index)
  - Complete CAN code retrieval (with axis and optional array index)
  - Support for both eKeyword enum and string keyword names

[7.6.1] - 2025-11-17

Added

Added EnumPropertyHelper static class to provide enumeration value description functionality
- Added GetDescription() extension method for all enum types to automatically retrieve friendly descriptions from resource files
- Added description retrieval methods for specific enumeration types:
  - GetMotionStatDes() - Get description for MotionStat (bit flag enum)
  - GetMotionReasonDes() - Get description for MotionReason
  - GetStatRegDes() - Get description for StatReg (bit flag enum)
  - GetHomingStatDes() - Get description for HomingStat
  - GetInTargetStatDes() - Get description for InTargetStat
  - GetConFltDes() - Get description for ConFlt
  - GetEncTypeDes() - Get description for EncType
  - GetMotionModeDes() - Get description for MotionMode
  - GetMapTypeDes() - Get description for MapType
  - GetOperationModeDes() - Get description for OperationMode
  - GetMotorOnDes() - Get description for MotorOn
  - GetInjectTypeDes() - Get description for InjectType
- Support for both bit flag enums and regular enums with automatic description combination for multiple set bits
- Automatic fallback to "Unknown" descriptions when enum values are invalid or not found in resource files
- All descriptions are retrieved from Descriptions.resx resource file using unified naming convention: {EnumName}_{EnumValue}

[7.6.0] - 2025-10-31

Added

Added global configuration class AAMotionConfig with UseNativeDataTypes property to control data type behavior
- UseNativeDataTypes = false (default): Backward compatibility mode - float parameters return int (rounded), long parameters return int if within int range
- UseNativeDataTypes = true: Native type mode - returns real float/double/long values with full precision
Added ParameterMetadataCache class for caching parameter type information to improve performance
Added ParameterTypeConverter static class to centralize type conversion logic for controller parameters
Added unified AASmartArrayWrapper class to automatically handle type conversion for array properties (int/float/double/long)
Added support for native float, double, and long data types with automatic type detection and conversion

Changed

Refactored parameter type conversion logic from SingleAxis.cs to centralized ParameterTypeConverter class
Enhanced array wrapper system to automatically detect and handle int/float/double/long types based on parameter metadata
Improved type conversion performance by caching parameter metadata on connection initialization
Refactored GetSmartValue and SetSmartValue methods in Node.cs to use centralized ParameterTypeConverter
Improved code organization in PropertyTypeSystem.cs with better method grouping and formatting
Enhanced backward compatibility: old code expecting int types continues to work without modification
Optimized KeywordMappings initialization in Connect() method to handle controller type detection failures gracefully

Fixed

Fixed type conversion errors when accessing float/double/long parameters in old code that expects int types
Fixed KeyNotFoundException when KeywordMappings was not initialized due to controller connection failures
Fixed missing error handling for controller type detection during connection

[7.5.5] - 2025-9-24

Changed

Add the retry reconnection mechanism. Method: TryReconnect()
Add the automatic connection mechanism. In the Connect() method, add the parameter enableAutoReconnect to enable/disable the automatic reconnection mechanism.
AGM800 supports linear and ARC movements for all axes.

[7.5.4] - 2025-9-12

Changed

Add CNC attributes ：CNCASpeed, CNCAAccel, CNCADecel, CNCAJerk
Add ECAM attributes: ECAMStart, ECAMStartCyc, ECAMEndCyc, ECAMEnd, ECAMGap, ECAMCycles, ECAMMasterIni, ECAMCycCount, ECAMInterp, ECAMMaster, StopECAM, ECAMTableNum
Increase the setting for communication timeout
Enhance ECAM functions

[7.5.3] - 2025-08-26

Changed

Added a check for relative motion to disallow zero distance.
Added IO_B for AGD20.

[7.5.2] - 2025-08-08

Changed

Change "Commutated" to "AutoPhase". Change "IsCommutated" to "IsAutoPhase"
Add the keywords CNCAEncFactNu, CNCAEncFactDn, CNCASpeedPer, CNCAEndSegMod,AccelFact
Add methods BulkCommandParser and BulkCommandParserInt

[7.5.1] - 2025-08-04

Changed

Add WriteGenData and ReadGenData to read and write GenData
A dynamic keyword shielding mechanism based on controller type has been implemented, which has enhanced the system's compatibility and maintainability.
Initialization and connection exception information optimization

Fixed

The issue of the AGD101-EC controller connection failure has been resolved.

[7.4.12] - 2025-07-30

Changed

Add the keyword "EventPulseRes"
Override MoveAbs to achieve position override

[7.4.11] - 2025-07-22

Changed

Add methods SetEventTableBeginIndex, SetEventTableEndIndex, SetEventTableSelect, and SetEventTableValue to be compatible with older versions of PEG
Modify the return type of ClearConFlt to be bool

[7.4.10] - 2025-07-18

Changed

Add method RunCNCProgramFromFile (use the CNC file generated by PCSuite to perform interpolation movement)
Add method IsCNCCompleted (determine whether the CNC movement has been completed)

[7.4.9] - 2025-07-17

Changed

Add the MotorOn and InjectType enumeration types along with the English descriptions of the parameters.
Added methods MoveAbsAndWait, MoveAbsRepetitiveAndWait, MoveRelAndWait, MoveRelRepetitiveAndWait. Return true after movement and positioning.

[7.4.8] - 2025-07-04

Changed

Add enumeration types and English descriptions for parameters to enhance usability.
After the vector motion parameters are configured, the "Begin" command is automatically sent.

[7.4.7] - 2025-06-26

Fixed

Modify the array length of HomingDef.

[7.4.6] - 2025-06-16

Changed

The AAValueArray array starts from index 1.
Add the keywords MapTableB, MapTableC, MapTableD, and MapTableE.

[7.4.5] - 2025-06-11

Changed

Add the method ClearConFlt() to clear ConFlt.
Add the methods GetDOutPort and GetDInPort to obtain the IO status of the specified bit.

[7.4.4] - 2025-06-05

Changed

Add annotations to methods and attributes.

[7.4.3] - 2025-06-03

Changed

Add method and attribute annotations.

Fixed

Add the minimum axis judgment of the VectorLinear method of Vector.

[7.4.2] - 2025-05-30

Changed

Change IsHomed to IsHoming and determine whether the return to home is complete.

[7.4.1] - 2025-05-29

Changed

Add Home() to set HomingOn=1.

[7.4.0] - 2025-05-29

Changed

Add the Vector function.

[7.3.13] - 2025-05-23

Changed

OpenAACommServer increases the return value ConnectResult.

[7.3.12] - 2025-05-23

Changed

The Amotion API of CiGroup adds operations on GroupB.

[7.3.11] - 2025-05-21

Changed

The MoveRel and MoveAbs of the AAMotionAPI add MotionController (different controller instances can be used).

[7.3.10] - 2025-05-20

Changed

Commutation success added judgment 200: Not required, 300/400: Successfully completed (using Hall), 500: Successfully completed (parameters have been modified).
Adding a judgment to return to zero completes IsHoming().

[7.3.9] - 2025-05-06

Changed

Add GroupB to AGM800.

[7.3.8] - 2025-04-24

Changed

Add force control function.
Add attributes "RptMode", "RptCycles", and "RptCounter".

[7.3.7] - 2025-04-16

Changed

Added axis properties CurrDir, RevPLim, FwdPLim, MaxPosErr, MaxVelErr.

[7.3.6] - 2025-04-03

Changed

Adapt to AAComm.StartAACommServer() return type change from 'string' to 'ConnectResult'.

[7.3.5] - 2025-04-03

Changed

PEG and Lock do not need to specify an axis when using an axis object.

[7.3.4] - 2025-03-27

Changed

Increase the Commutate method commutate and determine whether commutation is complete.

[7.3.3] - 2025-03-27

Changed

The fourth parameter of SetMotionProfile is double.

[7.3.2] - 2025-03-21

Changed

Add the SetLock method to set the Lock function.

Fixed

Delete the attribute array VecPosFDef. This attribute is not in the dictionary.
Make four connection attempts while making a connection in AAmotion.

[7.3.1] - 2025-03-20

Changed

Repair Group can set the specified bit of the specified axis.
Add PEG methods, SetSingleEventPEG and SetEventFixedGapPEG.
Maintain the AAMotionAPI and do not need to specify an axis when using Group.

[7.3.0] - 2025-03-18

Changed

Implement AAValueArray's foreach method.
Add and implement the Java language call AAMotion project. AAMotionJava.

Fixed

Fixed VecPosFDef attribute being AAValueArray.
Adds the undefined attribute int UserPWMDiv. AAValueArray MapTable. int EventOn.

[7.2.4] - 2025-03-05

Changed

Add the method CiGroupDOutSetBit, CiGroupDOutClearBit, CiGroupDOutToggleBit. When using CNCGroup, can set, clear, and switch the specified axis (AAMotionAPI also add).
AAValueArray CNCAStatus, added to the registry.

Fixed

Fixed the return value error of MotionReason, ForceCmdValVecArcDir, VecSpeed, VecType, LoggerFullMod.

[7.2.3] - 2025-02-18

Changed

Add Home(filepath) to return to zero based on the zeroback file.

Fixed

Fix the Group API method using GetGroup.

[7.2.2] - 2025-02-12

Changed

Add the noAck parameter of Connect.
Deleted the directory "\AAMotion\Implementations\Central_I\Core".
Update yaml.net nuget version to 16.3.0.

[7.2.1] - 2025-02-11

Fixed

Fix AAMotion MoveAbs by adding Begin().
Fix MoveAbs() of AAMotionAPI; MoveAbs is called instead of MoveRel.

Changed

Improve the AAMotionAPI and add the API of IGroupAxis, ICiSlave, ICiGroupAxis and IGroupAxis interfaces.

[7.2.0] - 2025-02-10

Changed

Add the bit operation of Group on IO output (GroupDOutSetBit, GroupDOutClearBit, GroupDOutToggleBit).

[7.1.0] - 2025-02-07

Changed

Increase the usage methods of the keywords, ProgHalt, ProgRun, AutoExec, ProgHaltAll and ProgReset.
Reload connect and add the port number.

[7.0.5] - 2025-01-16

Fixed

If connection fail due to FwInfoMismatch, retry connection with ForceAboutData set to true.

[7.0.4] - 2025-01-16

Changed

Reduce AAMotionAPI overloading: use methods with optional parameters.
Add the calling method of the AAMotionAPI.

[7.0.3] - 2025-01-09

Fixed

Add a timeout mechanism to the initialization loop in the CommAPIInterface constructor to prevent infinite waiting. Set the maximum wait time to 3 seconds (30 ticks of 100ms).

[7.0.2] - 2025-01-09

Fixed

Make sure the dictionary's life cycle is permanent.

[7.0.1] - 2025-01-08

Fixed

Include controller parameters eKeyword.cs file.

[7.0.0] - 2024-12-30

⚠️ Major Release

Introduction of AAMotionAPI, a functional programming style API interface for users more familiar with C++ style programming. This interface is incomplete.
AAMotion infrastructural level has been cleaned and redesigned:
- There are no more status updates.
- There are no more settings updates.
- There is a new type called AAValueArray which functions exactly like an array.
- All keywords are now accessible as a property.
- Some keywords are more like functions, in which case they are exposed via the API as methods.
- Hooking onto errors is now done via EventOccurred action in MotionController class.
- Documentations have currently all been removed, due to a large effort to clean the code base and remove code bloat, unify and to standardize the code style. Since there is now a direct link to keywords of the controller, it may be better to centralize efforts in documentations first.
- All design considerations are in an effort to speed up the performance of the API usage, as well as to simplify the overall design. It is now extremely straightforward to add support for new keywords.

[6.0.4] - 2024-11-20

Fixed

Fixed indexing bug for ForceCurr_SetForceCmdSource() and ForceCurr_SetCurrCmdSource() methods.

[6.0.3] - 2024-07-01

Fixed

Setting and Querying the MotorOn keyword in PCSuite is 20 seconds, so here we do the same thing at the communicator interface.

[6.0.2] - 2024-06-16

Fixed

.NET 4.0 YamlDotNet reference 4.2.2.

[6.0.1] - 2024-05-31

Fixed

Set motion mode when MoveAbs is called.

[6.0.0] - 2024-05-08

Added

Reference AAComm 7.0.0.

[5.13.0] - 2023-12-20

Added

Added support for interpreting user program variable names via AdaptUserProgMessage.

[5.12.3] - 2023-11-30

Fixed

AllStatInterpreter now supports 12 axes to compliment changes in 5.10.0.
VectorMotion Pause Continue Fix, Added Enum for Vector Motion.

[5.12.2] - 2023-11-27

Changed

AACommServer: Allow "retrying" socket init. upon process start.

[5.12.1] - 2023-11-22

Changed

Added support for on-the-fly target/speed/accel change for MoveAbs().

[5.12.0] - 2023-10-31

Changed

Add .net 6.0 and 7.0 targets. (nuget 5.11.0 is wrongly built and deprecated).

[5.11.0] - 2023-09-08

Fixed

Fix the errcode of 'FailAboutData' when connecting.

[5.10.0] - 2023-08-04

Fixed

AllStatUpdate to query for all 12 axes (instead of 8) such that the auxiliary ports will be updated too.

[5.9.0] - 2023-08-03

Fixed

AllStatUpdate to include AGD155_EC_ID as well.

[5.8.0] - 2023-04-13

Fixed

CRITICAL! AAComm RecUpload and "continuous" messages related bug.

[5.7.0] - 2023-04-13

Fixed

Add YamlDotNet nuget dependency.

[5.6.10] - 2023-04-13

Changed

Add vector motion methods.

[5.6.9] - 2023-01-12

Changed

Added gcode analysis methods.

[5.6.8] - 2023-01-12

Changed

Added methods to cigroup-axis class to do 6-axes linear motion and write doutport value related to axis to buffer.

[5.6.6] - 2023-01-12

Changed

Move params and methods of event class to single axis class.

[5.6.5] - 2023-01-12

Changed

Added params of gantry.

[5.6.4] - 2023-01-12

Changed

Added params and methods of error map.

[5.6.3] - 2023-01-12

Changed

Added params of userpwm.

[5.6.2] - 2023-01-12

Changed

Added params and methods of group9(userparam).

[5.6.1] - 2023-01-11

Changed

Added params and methods of position lock.

[5.6.0] - 2023-01-03

Added

Added override for Home method to do homing based on sequence stored in memory.

[5.5.0] - 2022-08-17

Changed

Communicator interface, AllStat Instantiation is cleaned to used feature_1 integer directly.

[5.5.0] - 2022-08-03

Added

All the Move commands in Single axis motion is now updated to include speed, accel, decel parameters.

[5.4.13] - 2022-08-03

Changed

MotionStat is added to the end of each Move Command. This should eliminate the timing issue that we experienced with the Taiwan customer.

[5.4.12] - 2022-08-03

Fixed

Removing MotorCurrent, Fixing MotorCurr and CurrRef Statuses in ISingleAxis.

[5.4.11] - 2021-10-04

Changed

Modify all Properties related to Force/Current/Position Mode Switch feature to be based on InternalProperies.

[5.4.10] - 2021-09-13

Changed

If packet number in a SlowLogger UpLoad is zero, jump to next UpLoad without processing.

[5.4.9] - 2021-09-10

Changed

Slow logger API StopSlowLogData: check the ID of the packet that was last logged, remove unwanted packet ID and contents from the main log list.

[5.4.8] - 2021-09-09

Added

Slow logger API functions: StartSLowLogProcess and StopSlowLogData.

[5.4.7] - 2021-09-07

Fixed

BuffTime and BuffPos command format must be array type.

[5.4.6] - 2021-09-06

Added

Add properties and methods for Spline buffer motion in CiSingleAxis.

[5.4.5] - 2021-08-04

Fixed

HomeToLimitThenIndex, Jog to index - 4, the first parameter is speed, argu 1.

[5.4.4] - 2021-06-30

Changed

Turn on AGMotion.
Open the CloseAACommServer API to the user.

[5.4.3] - 2021-06-08

Changed

Hide AGMotion for interim version release.

[5.4.3] - 2021-05-24

Changed

Do some Clearance works.

[5.4.3] - 2021-05-23

Added

Add Force/Current/Position Mode Switch feature.

[5.4.2] - 2021-05-20

Added

Add new AGMotion feature.

Changed

Eliminate all compilation Warnings.
AGMotion as an individual namespace.

[5.4.1] - 2021-05-12

Fixed

Default set time out as 2 seconds when send out packet.

[5.4.0] - 2021-04-16

Added

Add an option to set time out when send out packet, convenient for the user to debug for breakpoint.

[5.3.2] - 2021-03-24

Fixed

Corrected tag for CNC Arc Motion.

[5.3.1] - 2021-03-04

Fixed

Fix the bug on AIO Output Readback value incorrect.

[5.2.10] - 2021-02-17

Changed

Move VBus, VLogic, PwrTemp, MotorTemp into IMotionController to be used for all controller class.

[5.2.9] - 2021-02-17

Changed

Extend AGM400 Axes, IO, GroupAxis, PositionEventEx, full range from A to F.
Extend AGM800 Axes, IO, GroupAxis, PositionEventEx, full range from A to L.

[5.2.8] - 2020-10-29

Changed

AllStat for different controllers.

[5.2.7] - 2020-09-29

Changed

Change 4.6.2 target frameworks to 4.8 (remove redundancy).

[5.2.6] - 2020-09-29

Fixed

Updated calls to GetAllAxisStat within Group.cs.

[5.2.5] - 2020-09-19

Added

And multiple target frameworks support: .net 4, 4.6, 4.6.2.

[5.1.5] - 2020-09-18

Changed

Updated definitions and bug fixes for CNC Motion.

[5.1.4] - 2020-09-18

Changed

Call GetAllAxisStat using a new parameter to decide if AllStatAxisData group 10 is included.
Add DInPortHigh in AllStatAxisData group 10.
Add BoardTemp in AllStatAxisData group 10.
Clearance in IOMoudle.cs.

[5.1.3] - 2020-09-17

Changed

Array Type parameter index start from 1 for AAMotion user.
Rename and add elements in enum ControllerType.

Fixed

Instantiate eEventSetting dictionary for read.

[5.1.2] - 2020-09-16

Added

Add BiDirConfig feature.

[5.1.1] - 2020-09-15

Changed

Rename Class AG100 to AGD155.
Rename Class MAS02 to AGM800.
Rename Class MAS01 to AGM400.
Rename Class AG300 to AGC300.
Rename Class AGD301 to AGC301.

Added

Add DInLogHigh feature.

[5.1.0] - 2020-09-10

Added

Add AGD301 class.
Add TimerHandler in TimerEvent for internal debug from AAMotion user source code program.

Changed

Change the commands of GetAllSettingsDIOAG300, GetAllSettingsAIOAG300 to dynamic contents, initialize them in the CommandList and rebuild later dynamically.

Fixed

Dynamic Command fix the AGD301 system down after connection.
Add eIOSetting.DInMode in UpdatePropertyListIOSettingArray.
NumOfAOut for output array-type keywords.

[5.0.1] - 2020-09-09

Fixed

FIX nuget package.

[5.0.0] - 2020-09-09

Changed

Merge from 4.21.8.
ParseDIOSettings, ParseAIOSettings don't trigger event to write into Array-Type IO variables.

[4.21.8] - 2020-09-04

Changed

Replace PosEvent with PosEvent_A, PosEvent_B, PosEvent_C in AG300 class.

[4.21.7] - 2020-09-04

Fixed

Take CiStatus from AllStat returning data structure.

[4.21.6] - 2020-08-31

Fixed

Make AllStat "Continuous" message type.

[4.21.5] - 2020-08-27

Fixed

Increase Axis to L.

[4.21.4] - 2020-08-27

Added

Add CiStatus feature (Modified). Temporarily use .PropertyList[Axis].CiSlaveSettingsArray[eCiSlaveSetting.CiStatus][1] to replace .PropertyList[Axis].Statuses.CiStatus_1.

[4.21.3] - 2020-08-27

Added

Add CiStatus feature.
Temporarily disable CiSlaveRefreshRequired since AllStat[255] cannot work set.
Increase the AxisRef to Axis K.
Define GetAllCiAxisStat to replace GetAllAxisStatExtended1.
Add CiIdentity, CiStatus into eCiSlaveSetting.

[4.21.2] - 2020-08-06

Added

Optimize Array Properties Access.
Add new command GetAllSettingDIOCiMaster, GetAllSettingAIOCiMaster.

[4.21.1] - 2020-07-24

Added

Add MAS02 (AGM800) class, initial version.

[4.20.1] - 2020-06-30

Added

Add AG100 class, initial version.

[4.19.2] - 2020-06-30

Changed

Rename the property arrayStorage.

Fixed

Refresh takes after the communication OK with the controller.
VBus, VLogic, PwrTemp, MotorTemp updated valid only after the communication OK with the controller.

[4.19.1] - 2020-06-26

Changed

Set a flag called "AxisInternalPropertyUpdatedFromController" to true after the connection is OK, which prevent intermittently read PropertyList after connection but InternalProperty have not been updated.

[4.19.0] - 2020-06-23

Changed

Optimize the IO array properties update event handler.
Property read must occur after connected, otherwise default as "unreasonable" values.

[4.18.0] - 2020-06-19

Added

Replace the Set methods on "Array-Like" IO Features with direct "Array" format Read/Write Properties. These are DInMode, DOutMode, DOutSelect, AInFilt, AInOffSet, AInDB, AInGain, AInMode, AOutOffset, AOutShifts, AOutMode, AOutPort.

[4.17.0] - 2020-06-17

Added

Add dynamic allocation array size of Digital and Analogue input/output Mode, Filt, Offset, DB, Gain.

[4.16.0] - 2020-06-12

Changed

Upgraded AAComm DLL is upgraded from v3.0.0.2 to v3.0.0.18.

[4.15.0] - 2020-04-30

Added

AOutPort has additional option to change to openloop mode.

Changed

Clean up namespaces to use only one AAMotion namespace.

[4.13.1] - 2019-01-10

Fixed

Put back bulk command method which was removed in v4.12.0.

[4.13.0] - 2019-01-07

Added

MultiController.MoveAbs/MoveRel: Basic (Cross-controller) Multi-axis Synchronized PTP Method.

[4.12.1] - 2019-01-06

Changed

Changed [UpdateInternalStatus()] to type boolean.

[4.12.0] - 2019-12-30

Added

New method [UpdateInternalStatus()] on all MotionControllers which allow user to explicitly update internal status.

[4.11.0] - 2019-10-17

Added

New Homing method, which can take in sequence file .hseq file which is created from PCSuite.

[4.10.2] - 2019-10-13

Fixed

Edited summary of SendBulkCommandString method.

[4.10.1] - 2019-10-10

Fixed

Differentiated between internal and external bulk messaging.

[4.10.0] - 2019-10-10

Added

Support for bulk messaging.

[4.9.0] - 2019-08-26

Added

Support PositionEvents from AG300 Controller.

[4.8.0] - 2019-08-26

Added

LinearAbsolute: Generic CNC Method.
MultiSegmentOn: Multi-segment Option.

[4.7.0] - 2019-08-26

Added

Added InTargetTol, Added InTargetTime Keywords.
Added Arc functions in Group Axis to include Additional Cycles Input Parameter.

Fixed

Arc functions in Group axis was missing 1 parameter.

[4.6.0] - 2019-08-26

Changed

AAComm is now taken from nuget package.

[4.5.0] - 2019-08-26

Added

AllStat: Extension to be backward compatible and for supported MotorTemp.

[4.4.0] - 2019-08-26

Added

Controller has new constructor overload to allow configurable internal update rate.

[4.3.0] - 2019-08-26

Changed

Whenever motion method is called from either SingleAxis or GroupAxis, AllStat command is called immediately afterwards to update the statuses of the internal variables.

Planned features for next release

AOutPort - OpenLoop mode need to support changing to different Axis (or maybe not, maybe we will modify infrastructure so there will be no more need to support this feature in the future).
QC all the documentation.
Change Id and Iq according to the change in firmware version v1.3.0.
WPF support to all the properties to provide data binding functionality.
Updating status for all axes independent of what controller type is instantiated.
New options to homing method to home to hardstop.
Make it possible to load homing sequence file from PCSuite directly into AAMotion so that homing will be able to perform the exact steps defined by homing sequence file.
Update IGroup status property to link to eCncStatusParams enum in ParamCommon.cs.
Clean up code, clean references and namespaces (position events etc).
Deprecate PositionEvent.