Deva Electronic Controls Ltd.		     DEVA004 Issue 3.x software support
_______________________________________________________________________________

Directory inventory.

Drivers		:	Windows 32-bit / 64-bit driver support
Deva004 SDK	:	Win32 / WIn64 example software
Utils		:	Utility programs
_______________________________________________________________________________

Getting started.
________________

	The interface card should be installed as per the instructions given in
the operations guide. 


___________________________ New in Issue deva004pci50 ____________________________

1.	Improvement to queue system to stop the motion when there is not enough distance
        stored in the queue and so prevent overrun errors.

2.	New probe backoff type implemented whereby the probe retracts by a set distance from
	the probe point.

3.	Bug fix when model axis changes direction relating to model direction flag.

4. 	Additional 'probe triggered during backoff' error implemented.

5.	Datum cycles without limit switch implemented.

6.	Bug fix in model generation which prevents overshoot on final speed when blending.

7.	False trigger detection added to probe status.

8.	The model now waits for axes to reach target and checks for a pending probe before 
	retracting at the end of a probe retract or backoff move.

9.	Joystick control facility implemented with 'axis locks' which inhibits motion on
	individual axes.

10.	Bug fix in software overtravel when joystick enabled in Win32 simulation library.

11.	Function simulation_library added to detect when the Win32 simulation library is
	being used.

12.	Dedicate emergency stop input definition added to system configuration.

13.	Preset axis function now waits for user status to be updated before returning.

14.	Additional parameter to allow an axis to share the analog output of another channel.

15.	Additional parameters to allow an axis to monitor an auxiliary encoder channel.

16.	New backlash takeup axis type and parameters which allows an axis to use a motor 
	encoder to  takeup backlash before changing to the main axis feedback. 

17.	Legacy start_move and start_circle functions deleted.

	IMPORTANT !! - NT4.0 and MS-DOS driver release frozen at Version 4.x
	IMPORTANT !! - To move to this new release please rebuild applications.

___________________________ New in Issue deva004pci51 ____________________________

1.	Improvements in joystick control support
2.	Result queue size increased to prevent events being lost when blending
3. 	8255 compatible IO card support added
4. 	Updated driver code enables driver support for DEVA001 cards
5.	Axis input limits now implemented and configurable via axis.cfg file
6.	SYSTEM_STATUS structure improved and get_system_status function allows checking
	of emergency stop and watchdog status
7.	Axis reference request added to REAL_AXIS_CONTROL structure to allow reference
	operation for moves other than the standard library SEARCH_REFERENCE and 
	DATUM_CYCLE type moves.

___________________________ New in Issue deva004pci52 ____________________________

1.	New SYSTEM_ACTION facility permits operations with digital IO, events and control 
	flags to be configured in the system.cfg file. 
2.	JOYSTICK_CONFIG structure updated to include DisconnectMode which selects the 
	disconnect check method to be employed bythe joystick handler.
3.	Bug fix in Windows 98 driver for PCI card when sharing interrupts.
4.	Speed loop gain KS added to axis configuration for torque mode drive amplifiers.
5.	Skew axis facility added to permit control of gantry type axes with motor and 
	feedback on each side of the machine.
6.	MEASUREMENT_AXIS added to list of allowable axis types to permit configuration of
	an uncontrolled, measurement only axis.

	IMPORTANT !! - To move to this new release please rebuild applications.

___________________________ New in Issue deva004pci53 ____________________________

1.	Fix to allow shared axis to be configured in any order in the axis.cfg file.
2.	Fix to correct probe data for 3 axis machines with a skew axis pair. ( 4 axes in total ) 

___________________________ New in Issue deva004pci54 ____________________________

1.	Fix to correct referencing when the Home switch and a limit switch share the same input.

___________________________ New in Issue deva004pci55 ____________________________

1.	Added PICS signal handling for PPOFF,PDAMP.
2. 	PICS IO now available to use with system actions.
3.	Improved handling of SYNC and LEDOFF

	IMPORTANT !! -This release is recommended when using PICS to connect to a
	Probe Interface such as PI-200

___________________________ New in Issue deva004pci56 ____________________________

1.	Bug fix in driver for occasional missing probe points when blending.
2. 	AXIS_EMERGENCY_SYSTEM_TYPE added i.e. generate an estop and air off on servo error.
3.	AxisTuner updated with four user selectable traces, incremental and one way cycles.
4.	Bug fix in AxisTuner relating to axes with shared analog outputs and the 'force' button.
5.	Bug fix in AxisTuner to set the default axis overtravel limits for all configured axes.
6.	Revised method employed for backlash takeup axis with additonal parameters.
7.	Analog volts logged by fifo converted to double from long data type.
8.	Bug fix in search reference moves to ensure axis stopped after marker pulse.

	IMPORTANT !! - To move to this new release please rebuild applications.

___________________________ New in Issue deva004pci57 ____________________________

1.	Added 32 bit digital I/O access functions.
2.	The retract part of a probe move will come to a halt unless the probe is reseated, this
	reduces the chance of probe reseat errors.
3.	Probe protect will now bring the axes to a stop as before but will allow the move to
	continue if the probe becomes seated again within a predefined time. This will reduce
	problems arising from intermittent probe triggers during fast moves.
4.	Bug fix to ensure that the Deva001 card probe positions are reported correctly in the 
	user's axis status structure and not 1 tick later.
5.	Bug fix to queued moves causing occasional servo error.
6.	Joystick feedhold/override in control functions.
7.	Faster access wdm.
8.	DATUM_MANUALLY type added to list of DATUM_MODEs

___________________________ New in Issue deva004pci58 ____________________________

1.	Improvements to probe reseat checks.

___________________________ New in Issue deva004pci59 ____________________________

1.	Axis drive offset and drive scale parameters added to axis configuration.
2.	Facility to datum axes from a digital input.
3.	VP, VD, VI and AFF implementation for speed loop control of torque mode drives.
4.	Configurable overtravel limit switch modes.
5.	Drive disable timer added to system configuration to delay drive disable in emergency.
6.	The cntrl32.dll motion library now incorporates simulated system operation with or 
	without a card installed. The SIMULATION parameter addded to system configuration 
	to enable simulated operation.
7.	Joystick configuration enhanced to permit independent configuration of speed and
	throttle settings for each joystick axis.
8.	Control deadband facility implemented to minimise hunting at target position.
9.	Hardware event item system implemented to permit access to advanced motion control
	hardware features and high speed data acquisition.


___________________________ New in Issue deva004pci60 ____________________________

1.	Bug fix in ISA driver as the servo update timer did not honour the value set in the 
	system.cfg file.
2.	Axis tuner bug fix to prevent divide-by-zero error when VFF is set to 1.0 in the 
	axis.cfg file.
3.	Axis compare function counter roll-over bug fixed.
4.	CONDITION_EVENT_CONFIG param changed from short to long to permit collection of more
	than 65535 data items.
5.	Improvement in control deadband system to eliminate small kick in axis motion at 
	start of a move.
6.	SYSTEM_ACTION motion abort now takes an optional motion handle to allow specific moves 
	to be aborted.
7.	New axis.cfg parameter PREDATUM_MAXSPEED limits speed before a datum cycle is completed.
8.	New axis.cfg parameter FEEDBACK_MONITOR_FLAGS allows monitoring of axis errors such as 
	quadrature fail and disconnection to be enabled or disabled
8.	New functions added to read/write individual system configuration parameters from the 
	user application i.e. get_system_config_parameter()
9.	New functions to read/write digital IO that include a 'module' number 
	i.e. get_digital_input_by_module() to read the axis inputs 0..6 on a particular channel. 
9.	Axis servo enable output is disabled when an axis is simulated with SIMUL=1 in the 
	axis.cfg file.
10.	TTL IO, PICS IO and axis IO now displayed on AxisTuner application.
11.	Auto scale button added to AxisTuner graph, to inhibit/enable auto scaling of the graph.
12.	PCI Deva004.inf file modified to comment out the Deva001 support in order to prevent
	users inadvertantly loading the Deva004 driver when installing a Deva001.
13.	PCI Deva004.inf file no longer includes a driver version as this is not honoured 
	by Windows.

___________________________ New in Issue deva004pci61 ____________________________

1.	Comments now permitted in axis.cfg and system.cfg file using ; and # characters.
2. 	Fix for problem when an axis datum position is outside the software overtravel limits.
3.	Individual axis directional inhibits added to joystick control.
4.	Bug fix in get_event_item_data_buffer where 1 data item was lost if the user buffer was
	smaller than the amount of data in the event buffer.
5.	Bug fix in fly radius calculation algorithm.
6.	WDM startup sequence modified to fix potential boot problem with certain systems.
7.	AxisTuner, bug fixed so that the scale needle works on negative direction moves.
8.	AxisTuner, drive enable buttons index bug fix.
9.	AxisTuner, added pop-up dialog box for IO display

	IMPORTANT !! - To move to this new release please rebuild applications.

___________________________ New in Issue deva004pci62 ____________________________

1. 	New application watchdog system implemented, to monitor user app is running.
2. 	Added support for fpga revisions 50f4 and 42f2  - no functional differences.
3. 	Modification to rounding in DAC_UV and DAC_MV functions.
4. 	hwdrv004.c and hwdrv004.asm synchronised with enclib definitions.
5. 	reset_control moved to end of dialog init in simple moves to clear any axis errors at start.

6.	IMPORTANT !! - The logic of the axis inputs nLim0 and nLim1 was incorrect and has
	now been inverted in the software. If signals are connected to these inputs on the axis connectors, 
	please take the appropriate steps to account for this inversion. 
	
	For example, if nLim0 and nLim1 inputs are defined as axis overtravel inputs in the axis.cfg file:
	POSOVERTRAVELIP=4,4,0 must be changed to POSOVERTRAVELIP=4,4,1 
	and: 
	POSOVERTRAVELIP=4,5,0 must be changed to POSOVERTRAVELIP=4,5,1 
	or vice versa. 

___________________________ New in Issue deva004pci63 ____________________________

1.	Support for Deva004 stepper motor controller support added
2.	Software overtravel status flags added to the REAL_AXIS_STATUS structure
3.	Modify driver load behaviour to fail start with unrecognised boards
4. 	Fix for driver load with updated Deva001 encoder boards
5. 	Fix for when close_control is called without a corresponding open_control
6.	Bug fix in add_to_path inserting an blend between colinear moves

___________________________ New in Issue deva004pci64 ____________________________

1.	New speed limit function addded to MODEL_AXIS_CONTROL to limit the speed of moves in progress.
2. 	To account for cases where axis speed/accel/decel/jerk parameters lead the controller to clip 
	speed around an arc, MODEL_AXIS_CONTROL speed override now acts on the original programmed speed.
3. 	New joystick mapping system allows the relationship between joystick and machine axis geometry 
	to be defined.
4.	New functions, check_compatibility and version_text, help check the compatibility between
	applications and the installed motion library driver stack.
5.	New functions get_axis_status_by_id & get/set_axis_control_by_id implemented. This simplifies operation
	as the control & status pointers previously generated by the alloc_control_ptr function are not needed.
6. 	Added new function get_motion_control to return current MOTION_CONTROL data.
7.	MS VB & VC examples updated with new functions get_axis_status_by_id & get/set_axis_control_by_id
8.	Add Borland 'C' import library 'def' file to issue.
9.	New axis.cfg parameter CONTROL_DEADBAND_FLAGS configures operation of the control deadband i.e. 
	whether to disable the axis drive and/or zero the analog speed reference when in the control deadband.
10.	New axis.cfg parameter DRIVE_ENABLE_FLAGS configures operation of the axis drive enable i.e.
	permits invert of servo enable logic.
11.	New axis.cfg parameters ANALOGCHANNEL_PITCH & ANALOGCHANNEL_COUNT configure stepper motor axis steps.
	Required if a close loop controlled axis with encoder feedback is positioned by a stepper motor on 
	a channel defined by ANALOGCHANNEL.
12.	Update so that probe system may be used when stepper card used in conjunction with a DEVA001 encoder
	interface.
13.	Bug fix, to clear 'move valid' flags in reset_motion
14.	Bug fix, joystick software limit auto-recovery now works correctly with additional check for models 
	that are not unhooked from motions.
15.	Bug fix, corrects problem when all axes in a move are POINT_TO_POINT and first axis is not moved.
16.	Bug fix, to ensure model is at target when zero length move is the last in the queue.
17.	Bug fix, prevents a crash on probe interrupt as stepper card hardware does not have a probe latch.

	IMPORTANT !! - To move to this new release please rebuild applications.


___________________________ New in Issue deva004pci65 ____________________________

1.	Bug fix in circle centre adjustment routine.
2.	Update to joystick freeze detection, now works in units of x0.1 secs and need to re-centre before restart.
3.	Probe damping operation now selectable from auto/off/on via PROBE_CONTROL structure.
4.	Support for hardware events triggered by axis digital inputs.
5.	Hardware event system updated to include AXIS_INPUT_EVENT_TYPE

	IMPORTANT !! - To move to this new release please rebuild applications.


___________________________ New in Issue deva004pci66 ____________________________

1.	Bug fix in probe emergency retract to start of move.
2. 	Bug fix in timing of move complete status flag.

___________________________ New in Issue deva004pci67 ____________________________

1.	Axis connection create and delete, slaves an axis position to one or more master axes.
2.	Virtual axis create and delete functions, software controlled axes without any physical connection.
3.	After multple revolutions, clear_axis_rollover function may be used to rewind axis position so that it
	lies in the rollover range without moving the physical axis.
4.	Range of physical axis counters extended from 32 to 64 bit.
5.	Position calculation tolerance paramater added to system config.
6.	Support for Deva028 camera system auto focus and focus measure.
7.	Vista 32 bit drivers folder added to release.
	
	IMPORTANT !! - To move to this new release please rebuild applications.

__________________________ New in Issue deva004pci68 ____________________________

1.	General update and maintenance

	
	IMPORTANT !! - To move to this new release please rebuild applications.

___________________________ New in Issue deva004pci69 ____________________________

1.	Rebuild to operate with updated Deva028 release

___________________________ New in Issue deva004pci70 ____________________________

	deva004.sys	- 	Updated to V7.0
	cntrl32.dll		- 	Updated to V7.0

1.	Added support for Deva001 D42F3 FPGA.
2.	Bug fix for using axis inputs as hardware event trigger.
3. 	Bug fix for problems starting very small moves and spurious velocity spike at end of moves.
4	Stretched output mode for pulse generator.

___________________________ New in Issue deva004pci71 ____________________________

	deva004.sys	- 	Updated to V7.1
	cntrl32.dll		- 	Updated to V7.1

1.	Updates for systems with multiple deva004/deva001 cards in multi-core/processor PCs
2.	Bug fix for motions with small move distances that occasionally fail to complete
3.	Bug fix for datum cycles that use limit switches ensures that the switch is fully debounced
	and the axis stopped before reversing and searching for the datum position.

___________________________ New in Issue deva004pci72 ____________________________

	deva004.sys	- 	Updated to V7.2
	cntrl32.dll		- 	Updated to V7.2

1.	Bug fix for position tolerance error detection 
2.	Changes to initialisation code to assist restart after a forced process termination.

___________________________ New in Issue deva004pci73 ____________________________

	deva004.sys	- 	Updated to V7.3
	cntrl32.dll		- 	Updated to V7.3

1.	Bug fix, to sort out speed override during backoff of probe moves.
2.	Estop input variable cleared on load of system.cfg.
3.	Shared axis flags reset on close loop request.
4.	Save axis config function fails if no axes are loaded to avoid blanking the axis.cfg file.

___________________________ New in Issue deva004pci74 ____________________________

	deva004.sys	- 	Updated to V7.4
	cntrl32.dll		- 	Updated to V7.4

1.	First Deva030 servo amplifier and Deva031 joystick compatible driver release.
2.	New PROBE_PROTECT_ATTRIBUTES flags to permit moves with PROBE_PROTECT probe mode types
	to operate with probe not seated.
3.	Updates to emergency stop sequence logic with respect to faults detected internally and signalled 
	via user digital inputs.
4.	Deva004 watchdog output now turned off as part of emergency stop sequence logic.
5.	Bug fix as speed override was inoperative during the retract phase of a probe move.
6.	Bug fix as reset_control and reset_axis failed to clear soft limit status flags.
7.	Skew axis and reference marker information added to AxisTuner.exe
8.	General maintenance.

___________________________ New in Issue deva004pci75 ____________________________

	deva004.sys	- 	Updated to V7.5
	cntrl32.dll		- 	Updated to V7.5

1.	Bug fix for probe false trigger counter reset
2.	New flag permits optional watchdog when configuring estop system action.
3.	New OEM defined messages 101..110 added to the message.txt file may be used with system actions.
4.	New error message reports when more than one application started.
5.	Improvements to open_control() and close_control() functions.
6.	Cam motion functions can now work with motion id of 0 if interaction with motions not required.
7.	Bug fix for axis positions latched by cam motion now consistent with 64 bit positions.
8.	New power status system implemented user-configurable in system.cfg.

	IMPORTANT !! - To move to this new release please rebuild applications.

___________________________ New in Issue deva004pci76 ____________________________

	deva004.sys	- 	Updated to V7.6
	cntrl32.dll		- 	Updated to V7.6

1.	New drivers compatible with Mach3 plug-in
2.	Update to work with latest 031 joystick drivers

___________________________ New in Issue deva004pci77 ____________________________

	deva004.sys	- 	Updated to V7.7
	cntrl32.dll		- 	Updated to V7.7

1.	Bug fix to reset the power status variables when loading the axis.cfg file
2.	Bug fix for systems with multiple cards so that the channels on each board are latched
	correctly by the board's probe interrupt.
3.	Jogger.exe utility updated to include joystick throttle invert checkbox.
4.	Signed driver package.

___________________________ New in Issue deva004pci78 ____________________________

	deva004.sys	- 	Updated to V7.8
	cntrl32.dll		- 	Updated to V7.8

1.	New probe point attribute  PROBE_POINT_NO_PROBE_STOP added.
2. 	Bug fix for stepper card generating probe events when probe is enabled even though the card 
	does not have a probe input.
3.	Bug fix for board and channel input events to eliminate extra data in fifo at start of logging with the
	event input already high.
4.	Bug fix so that channel input event data is stored in the fifo with current timestamp value.
5.	Update to channel input event servicing in order to improve fifo logging rates.
6.	Bug fix for stepper card to avoid crash if programming axis compare and pulse generator.
7.	Updates to allow automatic backoff if probe collision detected during camera focus and measure.
8.	Bug fix fort applications that call open_control / close_control without unloading dll.
9.	SYSTEM_STATUS structure now includes max_interrupt_time memmber
10.	LOG_PERFORMANCE_PARAMETER added  to SERVO_LOG_FIFO_TYPES for logging interrupt time data.
11.	Bug fix to in power management prevents crash when PC sleeps in Windows 7.

__________________________ New in Issue deva004pci79 ____________________________

	deva004.sys	- 	Updated to V7.9
	cntrl32.dll		- 	Updated to V7.9

1.	Additional information added to axis status structure for connected axes.
2.	Bug fix in driver code when board is not recognised correctly.
3. 	Bug fix to clear application watchdog timer value if not configured in the system.cfg file.

__________________________ New in Issue deva004pci80 ____________________________

	deva004.sys	- 	Updated to V8.0
	cntrl32.dll		- 	Updated to V8.0

1.	Bug fix in add to path function if the order of axes in the move blk not consistent with order of axis ids.
2.	Execute move function rejects circular 3d moves if centre is the same as the start or target coordinate.
3.	Bug fix in internal cross product routine.
4.	Emergency acc/dec/jerk params correctly overrride the normal values if defined in the axis config file.
5.	Bug fix to prevent unexpected axis motions if probe reseats following a probe protection.
6.	Probe diagnostics counters added to probe and motion status structures.

__________________________ New in Issue deva004pci81 ____________________________

	deva004.sys	- 	Updated to V8.1
	cntrl32.dll		- 	Updated to V8.1

1.	Minor update to validation of accel and decel parameters when loading the axis.cfg file.

____________________________ New in Issue deva004pci90 ____________________________

	deva004.sys (32-bit) 	- 	Updated to V9.0
	deva004.sys (64-bit) 	- 	Introduced V9.0
	cntrl32.dll			- 	Updated to V9.0
	cntrl64.dll			- 	Introduced V9.0

1.	New 64-bit deva004.sys driver to support operation on Window 7 64-bit
2.	Corresponding maintenance and updates to 32-bit deva004.sys driver
3.	Updated cntrl32.dll for compatible operation with 32-bit apps on 32-bit & 64-bit platforms.
4.	New cntrl64.dll provided for development of 64-bit apps on 64-bit platforms.

____________________________ New in Issue deva004pci91 ____________________________

	deva004.sys (32-bit) 	- 	Updated to V9.1
	deva004.sys (64-bit) 	- 	Updated to V9.1
	cntrl32.dll			- 	Updated to V9.1
	cntrl64.dll			- 	Updated to V9.1

1.	FOCUS_MEASURE_EX_PARAMS structure now passed focus_measure_ex function
2.	Improvements to camwdm library threading functions
3.	flags parameter added to HWEVENT_CONFIG to permit use of board input to timestamp axis latched data

____________________________ New in Issue deva004pci92 ____________________________

	deva004.sys (32-bit) 	- 	Updated to V9.2
	deva004.sys (64-bit) 	- 	Updated to V9.2
	cntrl32.dll			- 	Updated to V9.2
	cntrl64.dll			- 	Updated to V9.2

1.	New system.cfg file ESTOP_CHAIN_OK_ENABLE_IP parameter for machines that require conditioning of the emergency stop signal.
2.	New "True", "False" and "Application running" flags available for system.cfg SYSTEM_ACTION 
3.	Update to fix problem with timestamp and data logging when using board and axis digital inputs. 
4.	New DEVA004_DIGITAL_INPUT and DEVA004_DIGITAL_OUTPUT types to replace DEVA004_DIGITAL_IO io system type
5.	Bug fix to clear models when disabling connected axes

___________________________ New in Issue deva004pci93 ____________________________

	deva004.sys (32-bit) 	- 	Updated to V9.3
	deva004.sys (64-bit) 	- 	Updated to V9.3
	cntrl32.dll			- 	Updated to V9.3
	cntrl64.dll			- 	Updated to V9.3

1.	Bug fix for dll in simulation that could cause the application to hang.
2.	Added support for Deva001 PCIe Issue 5.x 80F1 encoder interface cards

___________________________ New in Issue deva004pci94 ____________________________

	deva004.sys (32-bit) 	- 	Updated to V9.4
	deva004.sys (64-bit) 	- 	Updated to V9.4
	cntrl32.dll			- 	Updated to V9.4
	cntrl64.dll			- 	Updated to V9.4

1.	Bug fix for occasional invalid num_items parameter in motion status structure 
2.	Bug fix for performance monitor values broken in earlier issue.
3.	Bug fix for occasional spurious timestamp values in logged data.
4.	Added support for Deva001 PCIe Issue 5.x 80F2 encoder interface cards
5.	Improvements to high-speed logging performance with reduction in processor overhead.

___________________________ New in Issue deva004pci95 ____________________________

	deva004.sys (32-bit) 	- 	Updated to V9.5
	deva004.sys (64-bit) 	- 	Updated to V9.5
	cntrl32.dll			- 	Updated to V9.5
	cntrl64.dll			- 	Updated to V9.5

1.	Bug fix for path_ready returning incorrect value.
2.	Bug fix high speed logging code that can cause crash when stepper card installed .
3.	Joystick controller axis / restricted operation support for non-CNC machine types

___________________________ New in Issue deva004pci96 ____________________________

	deva004.sys (32-bit) 	- 	Updated to V9.6
	deva004.sys (64-bit) 	- 	Updated to V9.6
	cntrl32.dll			- 	Updated to V9.6
	cntrl64.dll			- 	Updated to V9.6

1.	New and improved blending routine implemented with motion events during blended path.
2.	Private add_to_path function re-worked to operate with new blending routine.
2.	Handling for deva031 touchscreen joystick alpha numeric keypad 

___________________________ New in Issue deva004pci97 ____________________________

	deva004.sys (32-bit) 	- 	V9.6
	deva004.sys (64-bit) 	- 	V9.6
	cntrl32.dll			- 	V9.6
	cntrl64.dll			- 	V9.6
	cntrlNet.dll (32-bit)		- 	New V1.0
	cntrlNet.dll (64-bit)		- 	New V1.0

1.	Added new .NET dlls to SDK Net folder for development of 32 & 64 bit dot net applications.
2.	Added new .NET C# example.
3.  	Added new 'HealthCheckUtil' for diagnosis of 32 & 64bit installation issues.
4.  	Added new 'HelpMe' utility, for detailed system analysis to aid in system diagnosis.

___________________________ New in Issue deva004pci98 ____________________________

	deva004.sys (32-bit) 	- 	Updated to V9.7
	deva004.sys (64-bit) 	- 	Updated to V9.7
	cntrl32.dll			- 	Updated to V9.7
	cntrl64.dll			- 	Updated to V9.7
	cntrlNet.dll (32-bit)		- 	V1.0
	cntrlNet.dll (64-bit)		- 	V1.0

1.	Power status flags no longer follow internal estop flags when power status not in use
2.	Bug fix for circular 2D motions in blended motions
3.	Bug fix for path that includes duplicate points in blended motions

___________________________ New in Issue deva004pci99 ____________________________

	deva004.sys (32-bit) 	- 	Updated to V9.8
	deva004.sys (64-bit) 	- 	Updated to V9.8
	cntrl32.dll			- 	Updated to V9.8
	cntrl64.dll			- 	Updated to V9.8
	cntrlNet.dll (32-bit)		- 	V1.0
	cntrlNet.dll (64-bit)		- 	V1.0

1.	Support for deva035 scanning hardware
2.	New functions added to read back queued axis targets and normal vector. 
3.	Fix for bug where PICS probe damping not disabled during probe move.

___________________________ New in Issue deva004pci100 ____________________________

	deva004.sys (32-bit) 	- 	V9.8
	deva004.sys (64-bit) 	- 	V9.8
	cntrl32.dll			- 	V9.8
	cntrl64.dll			- 	V9.8
	cntrlNet.dll (32-bit)		- 	Re-aligned to V9.8
	cntrlNet.dll (64-bit)		- 	Re-aligned to V9.8

1.	New functions & data types added to .Net DLLs for Deva031TouchJoystick support.
2.	Update to fix potential memory management issues in .Net DLLs.
3.	Improved conversion performance of many common methods in .Net DLLs.
4.	Raised .Net File version to track version details of the motion library.
5.	Added Byval to num parameter in get_event_item_data_buffer function in CNTRL32.BAS

___________________________ New in Issue deva004pci101 ____________________________

	deva004.sys (32-bit) 	- 	V9.9
	deva004.sys (64-bit) 	- 	V9.9
	cntrl32.dll			V9.9
	cntrl64.dll			V9.9
	cntrlNet.dll (32-bit)		V9.9
	cntrlNet.dll (64-bit)		V9.9

1.	Fixed bug which broke 004 stepper card in V9.8

___________________________ New in Issue deva004pci102 ____________________________

	deva004.sys (32-bit) 	- 	V10.0
	deva004.sys (64-bit) 	- 	V10.0
	cntrl32.dll			V10.0
	cntrl64.dll			V10.0
	cntrlNet.dll (32-bit)		V10.0
	cntrlNet.dll (64-bit)		V10.0

1.	Fixed bug in blending to close the path for two circles with inconsistent start and end vectors.
2.	Fixed bug in blending to limit speed of first arc segment to same speed as second arc segment.
3.	Completed changes relating to probe index by probe number rather than board number.
	(Fixes some minor issues when using multiple cards.)

___________________________ New in Issue deva004pci103 ____________________________

	deva004.sys (32-bit) 	- 	V10.1
	deva004.sys (64-bit) 	- 	V10.1
	cntrl32.dll			V10.1
	cntrl64.dll			V10.1
	cntrlNet.dll (32-bit)		V10.1
	cntrlNet.dll (64-bit)		V10.1

1.	Updated blending to return correct move handles when a move fails.
2.	Updated blending to allow internal system to wait for lower queues to become free instead of raising an error and flushing the system.
3.	Updated blending to raise MOVE_COMPLETE events when a failure occurs.
4.	Fixed bug in blending that stopped the system from blending when the user queue was full.
5.	Scanning Probe NotCalibrated and NotFitted errors now returned.
6.	Added error information to RESULT_EVENT item on error.
7.	Raise AxisNotEnabled if axis disabled or close loop is dropped during motion.
8.	Raise ProbeNotTriggered result on completion of zero-length Probe moves.
9.	Raise MOVE_COMPLETE event when system goes into error during move.
10.	Additional checks in place when queuing blending moves.
11.	Now supports Deva 004-2INC-2SRV-IO-PCI

___________________________ New in Issue deva004pci104 ____________________________

	deva004.sys (32-bit) 	- 	V10.1
	deva004.sys (64-bit) 	- 	V10.1
	cntrl32.dll			V10.1
	cntrl64.dll			V10.1
	cntrlNet.dll (32-bit)		V10.1
	cntrlNet.dll (64-bit)		V10.1

1.	No changes drivers file re-signed.

___________________________ New in Issue deva004pci105 ____________________________

	deva004.sys (32-bit) 	- 	Updated to V10.2
	deva004.sys (64-bit) 	- 	Updated to V10.2
	cntrl32.dll 	- 		Updated to V10.2
	cntrl64.dll 	- 		Updated to V10.2
	cntrlNet.dll (32-bit) 	- 	Updated to V10.2
	cntrlNet.dll (64-bit) 	- 	Updated to V10.2

1.	Fixed bug that would cause Joystick CNC moves to lock onto the job.
2.	Improved PDAMP management. PDAMP now on for all Retract/Backoff moves.
3.	Improved Scanning Calibration algorithm & implemented 3rd Order calculations.
4.	Scanning Calibration now rejected when RMS Error > 20microns.
5.	Added Extended Scanning Calibration system to return the Probe Radius error.
6.	Defined Scanning measurement speed.
7	Marginally widened tolerance for Blending between arcs.
8.	Implemented better system for Scanning errors, inc. 'Reset' recovery & raising errors when MakeContact fails.
9.	Completed changes relating to probe index by board number rather than probe number.
	(Fixes some minor issues when using multiple cards.)
10.	Implemented better Scanning Touch Point measurements for Calibrated & Uncalibrated measurements.
11.	Uncalibrated Scanning Touch Points now based solely on axis positions (formerly offset by deflection magnitude).

___________________________ New in Issue deva004pci106 ____________________________

	deva004.sys (32-bit) 	- 	Updated to V10.3
	deva004.sys (64-bit) 	- 	Updated to V10.3
	cntrl32.dll 	- 		Updated to V10.3
	cntrl64.dll 	- 		Updated to V10.3
	cntrlNet.dll (32-bit) 	- 	Updated to V10.3
	cntrlNet.dll (64-bit) 	- 	Updated to V10.3

1.	Added emergency feedhold which switches to emergency parameters when a feedhold is active.
2.	Scanning protection now works on one of either calibrated or non-calibrated deflections.
3.	Non-calibrated deflections are now sent through the system and hence shown on DevaCMM panel.

___________________________ New in Issue deva004pci107 ____________________________

	deva004.sys (32-bit) 	- 	Updated to V10.4
	deva004.sys (64-bit) 	- 	Updated to V10.4
	cntrl32.dll 	- 		Updated to V10.4
	cntrl64.dll 	- 		Updated to V10.4
	cntrlNet.dll (32-bit) 	- 	Updated to V10.4
	cntrlNet.dll (64-bit) 	- 	Updated to V10.4

1.	Extended pathname storage to FILENAME_MAX
2.	Wait for ideal velocity to reach zero before applying integral gain.
3.	Do not apply axis closed loop / enable test introduced in 10.1 for BACKLASH_TAKEUP axes.
4.	Reading of SCAN_RESISTOR and SCAN_OVERANGE correctly identifies the scanning board independent of PCI(e) bus order.

___________________________ New in Issue deva004pci108 ____________________________

	deva004.sys (32-bit) 	- 	Updated to V10.6
	deva004.sys (64-bit) 	- 	Updated to V10.6
	cntrl32.dll 	- 		Updated to V10.6
	cntrl64.dll 	- 		Updated to V10.6
	cntrlNet.dll (32-bit) 	- 	Updated to V10.6
	cntrlNet.dll (64-bit) 	- 	Updated to V10.6

deva004:
1.	Added support for Enclib (V10.5)
2.	Removed check for motionMaxSurfaceDeviationExceed.
3.	Changes for Unknown scanning.
4.	Added Tesa scanning head resistor ID code.

___________________________ New in Issue deva004pci109 ____________________________

	deva004.sys (32-bit) 	- 	Updated to V10.8
	deva004.sys (64-bit) 	- 	Updated to V10.8
	cntrl32.dll 	- 		Updated to V10.8
	cntrl64.dll 	- 		Updated to V10.8
	cntrlNet.dll (32-bit) 	- 	Updated to V10.8
	cntrlNet.dll (64-bit) 	- 	Updated to V10.8

deva004:  
1.	Fixed bug which stopped blending through into probe backoff or retract . (V10.7)
2.	Add probe latch select memory so latch selected can be more inteligently controlled. (V10.7)
3.	Added end conditions for unknown scanning
4.	New method to calculate surface normal while unknown scanning.
5.	Implement Analogue Output Filter
6.	Improved use of KD when scanning
7.	Probe protect also active in unknown scanning.

___________________________ New in Issue deva004pci110 ____________________________

	deva004.sys (32-bit) 	- 	Updated to V10.9
	deva004.sys (64-bit) 	- 	Updated to V10.9
	cntrl32.dll 	- 		Updated to V10.9
	cntrl64.dll 	- 		Updated to V10.9
	cntrlNet.dll (32-bit) 	- 	Updated to V10.9
	cntrlNet.dll (64-bit) 	- 	Updated to V10.9

deva004:  
1.	Implement probe speed override in scanning.
2.	Adjust focus limits by 2 * posn_band in find focus.
3.	Remove redundant end test in find focus.
4.	Show status as deflected when overrange bit is true.
5.	Fix reading of Probe ID resistor for negative voltages.

___________________________ New in Issue deva004pci111 ____________________________

	deva004.sys (32-bit) 	- 	Updated to V11.0
	deva004.sys (64-bit) 	- 	Updated to V11.0
	cntrl32.dll 	- 		Updated to V11.0
	cntrl64.dll 	- 		Updated to V11.0
	cntrlNet.dll (32-bit) 	- 	Updated to V11.0
	cntrlNet.dll (64-bit) 	- 	Updated to V11.0

deva004:  
1.	Fixed blennding issue with zero length moves between coincident line segments.
2.	Added offset to move after completion of Datum.
3.	Updated .NET wrapper to include additional definitions.

___________________________ New in Issue deva004pci112 ____________________________

	deva004.sys (32-bit) 	- 	Updated to V11.1
	deva004.sys (64-bit) 	- 	Updated to V11.1
	cntrl32.dll 	- 		Updated to V11.1
	cntrl64.dll 	- 		Updated to V11.1
	cntrlNet.dll (32-bit) 	- 	Updated to V11.1
	cntrlNet.dll (64-bit) 	- 	Updated to V11.1

deva004:  
1. 	Block queue for Break Contact and use function to build break off move to allow queuing.
2. 	Turn off scan FIFO when breaking contact to avoid extra point collection.
3.	Dont adjust ideal axis when making contact to enable larger MakeContactTolerance values.
4. 	Detect SM25 module

___________________________ New in Issue deva004pci113 ____________________________

	deva004.sys (32-bit) 	- 	Updated to V11.2
	deva004.sys (64-bit) 	- 	Updated to V11.2
	cntrl32.dll 	- 		Updated to V11.2
	cntrl64.dll 	- 		Updated to V11.2
	cntrlNet.dll (32-bit) 	- 	Updated to V11.2
	cntrlNet.dll (64-bit) 	- 	Updated to V11.2

deva004:  
1. 	Use shorter distance between points seeding unknown surface data at start of move.
2. 	Wait for unknown scan to complete before starting next unknown scan.
3. 	Force ProbeNotInstalled and ProbeNotCalibrated errors to always propogate through blending system.

___________________________ New in Issue deva004pci114 ____________________________

	deva004.sys (32-bit) 	- 	Updated to V11.3
	deva004.sys (64-bit) 	- 	Updated to V11.3
	cntrl32.dll 	- 		Updated to V11.3
	cntrl64.dll 	- 		Updated to V11.3
	cntrlNet.dll (32-bit) 	- 	Updated to V11.3
	cntrlNet.dll (64-bit) 	- 	Updated to V11.3

deva004:  
1. 	Fixed issue in FOCUS_MEASURE to do with difference in BOOL between VB and C
2.	Added support for PCIE 11F1
3.	Added probe latch to stepper card to support autofocus.
4.	Added support for 031 + additional USB joysticks
5.	Added square corner unknown scanning algorithm.


___________________________ New in Issue deva004pci115 ____________________________

	deva004.sys (32-bit) 	- 	Updated to V11.4
	deva004.sys (64-bit) 	- 	Updated to V11.4
	cntrl32.dll 	- 		Updated to V11.4
	cntrl64.dll 	- 		Updated to V11.4
	cntrlNet.dll (32-bit) 	- 	Updated to V11.4
	cntrlNet.dll (64-bit) 	- 	Updated to V11.4

deva004:  
1. 	Enabed Probe Head LED to work with SP25.
2.	Fixed issue when blending between moves with differing JERK parameter.
3.	Fixed bug where simulation was incorrectly indicated for Deva037
4.	Added Device disconnected and Data Loss errors for 037.

___________________________ New in Issue deva004pci116 ____________________________

	deva004.sys (32-bit) 	- 	Updated to V11.5
	deva004.sys (64-bit) 	- 	Updated to V11.5
	cntrl32.dll 	- 		Updated to V11.5
	cntrl64.dll 	- 		Updated to V11.5
	cntrlNet.dll (32-bit) 	- 	Updated to V11.5
	cntrlNet.dll (64-bit) 	- 	Updated to V11.5

deva004:  
1. 	variety of bug fixes in .NET wrapper.
2.	Added ALTIOCHANNEL parameter to move reading of axis limits to another channel.
3.	Enhanced single instance checking to cope with mixed 32 and 64 bit clients.
4.	Added service install to INF file and changed Deva035 to install Deva004 config not Deva001
5	Changed PCIe Deva004 to used correct section name in INF file.
6.	Introduced new set of samples.

___________________________ New in Issue deva004pci117 ____________________________

	deva004.sys (32-bit) 	- 	Updated to V11.6
	deva004.sys (64-bit) 	- 	Updated to V11.6
	cntrl32.dll 	- 		Updated to V11.6
	cntrl64.dll 	- 		Updated to V11.6
	cntrlNet.dll (32-bit) 	- 	Updated to V11.6
	cntrlNet.dll (64-bit) 	- 	Updated to V11.6
	DevaService (32-bit)	-	Updated to V1.2
	DevaService (64-bit)	-	Updated to V1.2

DevaService:
1.	Updated DevaService to clear instance count if application does not periodically set keep alive event.

deva004:  
1. 	Fix for probe results containing NANs casued by reloading the axis.cfg file on the fly.
2.	Poll service keep alive event.
3.	Blending uses blends to decelerate into probe moves.
4.	Motion control jerk alogrithm updated to provided smother transitions between moves.
5.	Blend in and out arcs now each limited to 1/3 of the line segments.

___________________________ New in Issue deva004pci118 ____________________________

	deva004.sys (32-bit) 	- 	Updated to V11.7
	deva004.sys (64-bit) 	- 	Updated to V11.7
	cntrl32.dll 	- 		Updated to V11.7
	cntrl64.dll 	- 		Updated to V11.7
	cntrlNet.dll (32-bit) 	- 	Updated to V11.7
	cntrlNet.dll (64-bit) 	- 	Updated to V11.7
	DevaService (32-bit)	-	Updated to V1.2
	DevaService (64-bit)	-	Updated to V1.2

deva004:  
1. 	Fix for Autofocus BSOD under the debugger.
2.	Fix for bug in motion control causing windows lockup / blue screen.
3. 	Added event data to autofocus find function.

___________________________ New in Issue deva004pci119 ____________________________

	deva004.sys (32-bit) 	- 	Updated to V11.8
	deva004.sys (64-bit) 	- 	Updated to V11.8
	cntrl32.dll 	- 		Updated to V11.8
	cntrl64.dll 	- 		Updated to V11.8
	cntrlNet.dll (32-bit) 	- 	Updated to V11.8
	cntrlNet.dll (64-bit) 	- 	Updated to V11.8
	DevaService (32-bit)	-	Updated to V1.2
	DevaService (64-bit)	-	Updated to V1.2

deva004:  
1. 	Autofocus find routine now returns measurment data.
2.	Additional scanning parameter SCANNING_TOUCH_DETECT_TIME add to  help with long stylii
3.	Logging of scanning data such as scanning deflection added to FIFO interface.
4.	Deva037 datum which is now correctly preserved when an applications is stopped and started.
	
___________________________ New in Issue deva004pci120 ____________________________

	deva004.sys (32-bit) 	- 	Updated to V11.9
	deva004.sys (64-bit) 	- 	Updated to V11.9
	cntrl32.dll 	- 		Updated to V11.9
	cntrl64.dll 	- 		Updated to V11.9
	cntrlNet.dll (32-bit) 	- 	Updated to V11.9
	cntrlNet.dll (64-bit) 	- 	Updated to V11.9
	DevaService (32-bit)	-	V1.2
	DevaService (64-bit)	-	V1.2

deva004:  
1. 	In Simulation the callback saves restores and sets up the floating point environment in 32 bit mode. This addresses an issue with applications that change the floating point environment causing exceptions in simulation
2.	fixed problems with preset_axis and connect/disconnect_virtual_axis failing.

	
___________________________ New in Issue deva004pci121 ____________________________

	deva004.sys (32-bit) 	- 	Updated to V11.10
	deva004.sys (64-bit) 	- 	Updated to V11.10
	cntrl32.dll 	- 		Updated to V11.10
	cntrl64.dll 	- 		Updated to V11.10
	cntrlNet.dll (32-bit) 	- 	Updated to V11.10
	cntrlNet.dll (64-bit) 	- 	Updated to V11.10
	DevaService (32-bit)	-	V1.2
	DevaService (64-bit)	-	V1.2

deva004:  
1.	Insert a stop move if blending calculates zero speed for a blend.
2,	Do not create intermediate file LogScanCalibFit during SP25 calibration.
3.	Fixed camera frames having the previous frames calculated focus score, when used in autofocus.
4.	Added logic to disable camera sync generation on driver client closing.
5.	Added missing fields to write_axis_config_file.
deva004Net:
1.	Added void ptr casts to pointer conversions to fix problem with 64 bit build truncating 64 bit pointers.


___________________________ New in Issue deva004pci122 ____________________________

	deva004.sys (32-bit) 	- 	Updated to V11.12
	deva004.sys (64-bit) 	- 	Updated to V11.12
	cntrl32.dll 	- 		Updated to V11.12
	cntrl64.dll 	- 		Updated to V11.12
	cntrlNet.dll (32-bit) 	- 	Updated to V11.12
	cntrlNet.dll (64-bit) 	- 	Updated to V11.12
	DevaService (32-bit)	-	V1.2
	DevaService (64-bit)	-	V1.2


deva004: (v11.11)

1. 	Fixed blue screen in autofocus when using virtual axes and there are more physical axes than axes configured in axis.cfg
2.	Added further checks to stop code erroneously acting on virtual axes.

deva004:  
1.	Added new parameters SCANNING_MAX_SURFACE_POINTS, SCANNING_SURFACE_POINT_DISTANCE
2.	Added closeto() test in mot.c to deal with potential floating point inaccuracies.


___________________________ New in Issue deva004pci123 ____________________________

	deva004.sys (32-bit) 	- 	Updated to V11.13
	deva004.sys (64-bit) 	- 	Updated to V11.13
	cntrl32.dll 	- 		Updated to V11.13
	cntrl64.dll 	- 		Updated to V11.13
	cntrlNet.dll (32-bit) 	- 	Updated to V11.13
	cntrlNet.dll (64-bit) 	- 	Updated to V11.13
	DevaService (32-bit)	-	V1.2
	DevaService (64-bit)	-	V1.2


deva004:  
1.	Changed closeto() test in mot.c to deal with lock up during probe backoff.


___________________________ New in Issue deva004pci124 ____________________________

1.	SYS files now signed by microsoft for windows 10 post 1607 compatibility.


___________________________ New in Issue deva004pci125 ____________________________

	deva004.sys (32-bit) 	- 	Updated to V12.0
	deva004.sys (64-bit) 	- 	Updated to V12.0
	cntrl32.dll 	- 		Updated to V12.0
	cntrl64.dll 	- 		Updated to V12.0
	cntrlNet.dll (32-bit) 	- 	Updated to V12.0
	cntrlNet.dll (64-bit) 	- 	Updated to V12.0
	DevaService (32-bit)	-	Updated to V1.3
	DevaService (64-bit)	-	Updated to V1.3


deva004:  
1.	Migrated axis.cfg and system.cfg files into registry moved message.txt prompts into registry.
2	Added DevaEditor to utils duirectory edit configuration
3	Changes to deva004.inf and other installation files to support migration of existing values or application of defaults to registry
4	addition of deva004migrate utility.
5   added simulation install

___________________________ New in Issue deva004pci126 ____________________________

	deva004.sys (32-bit) 	- 	V12.0
	deva004.sys (64-bit) 	- 	V12.0
	cntrl32.dll 	- 		V12.0
	cntrl64.dll 	- 		V12.0
	cntrlNet.dll (32-bit) 	- 	V12.0
	cntrlNet.dll (64-bit) 	- 	V12.0
	DevaService (32-bit)	-	V1.3
	DevaService (64-bit)	-	V1.3


deva004:  
1	updated DevaEditor edit message key configuration, and support backup and restore preserving message keys
2	update of deva004migrate utility to not remove Message keys.
3   	modified simulation install
___________________________ New in Issue deva004pci127 ____________________________

	deva004.sys (32-bit) 	- 	Updated to V12.1
	deva004.sys (64-bit) 	- 	Updated to V12.1
	cntrl32.dll 	- 		Updated to V12.1
	cntrl64.dll 	- 		Updated to V12.1
	cntrlNet.dll (32-bit) 	- 	Updated to V12.1
	cntrlNet.dll (64-bit) 	- 	Updated to V12.1
	DevaService (32-bit)	-	Updated to V1.4
	DevaService (64-bit)	-	Updated to V1.4
	DevaEditor		-	Updated to V1.4

deva004:  
1	Fix for error message 0 "Motion Ok" being displayed as "Unknown Error"
2	Corrected issue with virtual axes causing crash when axis were added and removed.
3 	Fix issued casuing blue screen when ots of small moves submitted in quick succession.
4	Increase MAX_MOVE_ITEMS from 64 to 96.

Deva Editor:
1	Adjusted axis channel name configuration.
2	Allow removal of system actions.
3	Added POSNBAND and POSNTIME to axis default validation.
4 	Removed minimise box.
5	Change product selection on backup to check boxes.

___________________________ New in Issue deva004pci128 ____________________________

	deva004.sys (32-bit) 	- 	Included V12.1
	deva004.sys (64-bit) 	- 	Included V12.1
	cntrl32.dll 		- 	Included V12.1
	cntrl64.dll 		- 	Included V12.1
	cntrlNet.dll (32-bit) 	- 	Included V12.1
	cntrlNet.dll (64-bit) 	- 	Included V12.1
	DevaService (32-bit)	-	Updated to V1.5
	DevaService (64-bit)	-	Updated to V1.5
	DevaEditor		-	Updated to V1.5

DevaEditor
1	Editor updated to 1.5.
2 	Added Auto-Backup facility.
3	Changed display of keys with no value set to indicate that they are not set rather than to indicate a default value.
4	Extended range of permissable values for speed / units values
5	Added non-displayed keys to backup files

DevaService
1	Moved key locations to survive Win10 major updates.

Installation
1	Removed default values for card installation added default configs to be installed via the editor.
2	Changed data migration on install to migrate into new key location


___________________________ New in Issue deva004pci129 ____________________________

	deva004.sys (32-bit) 	- 	Updated to V12.2
	deva004.sys (64-bit) 	- 	Updated to V12.2
	cntrl32.dll 		- 	Updated to V12.2
	cntrl64.dll 		- 	Updated to V12.2
	cntrlNet.dll (32-bit) 	- 	Updated to V12.2
	cntrlNet.dll (64-bit) 	- 	Updated to V12.2
	DevaService (32-bit)	-	Included V1.5
	DevaService (64-bit)	-	Included V1.5
	DevaEditor		-	Included V1.5

Deva004
1	Fix to write_axis_config_file function now writes to the correct keys in the registry.

___________________________ New in Issue deva004pci130 ____________________________

	deva004.sys (32-bit) 	- 	Included V12.2
	deva004.sys (64-bit) 	- 	Included V12.2
	cntrl32.dll 		- 	Included V12.2
	cntrl64.dll 		- 	Included V12.2
	cntrlNet.dll (32-bit) 	- 	Included V12.2
	cntrlNet.dll (64-bit) 	- 	Included V12.2
	DevaService (32-bit)	-	Included V1.5
	DevaService (64-bit)	-	Included V1.5
	DevaEditor		-	Updated To V1.7

DevaEditor
1	Fixed problems when running in non-uk locale causing multiple tab entries and missing prompts.


___________________________ New in Issue deva004pci131 ____________________________

	deva004.sys (32-bit) 	- 	Included V12.3
	deva004.sys (64-bit) 	- 	Included V12.3
	cntrl32.dll 		- 	Included V12.3
	cntrl64.dll 		- 	Included V12.3
	cntrlNet.dll (32-bit) 	- 	Included V12.3
	cntrlNet.dll (64-bit) 	- 	Included V12.3
	DevaService (32-bit)	-	Included V1.5
	DevaService (64-bit)	-	Included V1.5
	DevaEditor		-	Included V1.8

Deva004
1	Added support for multi axis connections such as DELTA machines.
2	Improved support for probing on cards without physical probes such as STP cards.
3	Added support for Deva044 joystick.
4	Refined proccess count checking in cntrl32/64 dll.
	
DevaEditor
1	DevaEditor fixed problem with restore not applying changes in number of axes if the apply button is not clicked.
2	DevaEditor improved position match on tab change an axis tabs
3	Fixed bug with not set not displaying on first tab after load
4	Changed propmts on backup selection dialog
5	Allowed for duplicate key entries to have individual text propmts.

___________________________ New in Issue deva004pci132 ____________________________

	deva004.sys (32-bit) 	- 	Updated to V12.5
	deva004.sys (64-bit) 	- 	Updated to V12.5
	cntrl32.dll 		- 	Updated to V12.5
	cntrl64.dll 		- 	Updated to V12.5
	cntrlNet.dll (32-bit) 	- 	Updated to V12.5
	cntrlNet.dll (64-bit) 	- 	Updated to V12.5
	DevaService (32-bit)	-	Included V1.5
	DevaService (64-bit)	-	Included V1.5
	DevaEditor		-	Updated to V1.9

Deva004
1	Reduced Stack usage in interrupt handler.
2	Added Scan metrics.
3	Added support for Helical move.
4	Added Encoder input fault checking.
5	Added support for 14F1 card.
6	Changed initialisation of Dac registers on Pcie Cards.
7	Added create_scanning_calib_from_scan_file_ex2 and get_scanning_calibration_data to cntrl32/64.
8	Changed make contact to remove time delay.
9	Added Test for circle segments being aligned and allow continuous movement, and greater than 360 degree scanning on circles.
10	Removed extra unused error messages
11	Added Backlash parameters
	
DevaEditor
1	Fixed IO Type selection on System Action Properties Dialog
2	Fixed problem with numeric value not being saved when an intial value is created, and the default value is accepted, also fixed problem with default 
	being stored in registry if the changes are abandoned using close button.

___________________________ New in Issue deva004pci133 ____________________________

	deva004.sys (32-bit) 	- 	Updated to V12.6
	deva004.sys (64-bit) 	- 	Updated to V12.6
	cntrl32.dll 		- 	Updated to V12.6
	cntrl64.dll 		- 	Updated to V12.6
	cntrlNet.dll (32-bit) 	- 	Updated to V12.6
	cntrlNet.dll (64-bit) 	- 	Updated to V12.6
	DevaService (32-bit)	-	Included V1.6
	DevaService (64-bit)	-	Included V1.6
	DevaEditor		-	Updated to V1.10

Deva004
1	Rebuilt with VS2010 Utilities Migrated to .Net4.

___________________________ New in Issue deva004pci134 ____________________________

	deva004.sys (32-bit) 	- 	Updated to V12.7
	deva004.sys (64-bit) 	- 	Updated to V12.7
	cntrl32.dll 		- 	Updated to V12.7
	cntrl64.dll 		- 	Updated to V12.7
	cntrlNet.dll (32-bit) 	- 	Updated to V12.7
	cntrlNet.dll (64-bit) 	- 	Updated to V12.7
	DevaService (32-bit)	-	Updated to V1.7
	DevaService (64-bit)	-	Updated to V1.7
	DevaEditor		-	Updated to V1.12

Deva004
1	Added  Dynamic Parameter support.
2	New AxisTuner
3	Fixed Invalid Axis Parameter name being returned
4	Fixed multiple reporting of errors on Reset

DevaService
1	Added  Dynamic Parameter support.

DevaEditor
1	Fixed Crash on invalid data in NumericEdit also changed Xml Error Message Boxes

___________________________ New in Issue deva004pci135 ____________________________

	deva004.sys (32-bit) 	- 	Updated to V12.8
	deva004.sys (64-bit) 	- 	Updated to V12.8
	cntrl32.dll 		- 	Updated to V12.8
	cntrl64.dll 		- 	Updated to V12.8
	cntrlNet.dll (32-bit) 	- 	Updated to V12.8
	cntrlNet.dll (64-bit) 	- 	Updated to V12.8
	DevaService (32-bit)	-	Included V1.7
	DevaService (64-bit)	-	Included V1.7
	DevaEditor		-	Updated to V1.13

Deva004
1	Updated  Dynamic Parameter support.

DevaEditor
1	Fixed Parsing of PHC serial port string

Utils
1	AxisTuner Fixed display of Force Data on Graph

___________________________ New in Issue deva004pci136 ____________________________

	deva004.sys (32-bit) 	- 	Updated to V12.9
	deva004.sys (64-bit) 	- 	Updated to V12.9
	cntrl32.dll 		- 	Updated to V12.9
	cntrl64.dll 		- 	Updated to V12.9
	cntrlNet.dll (32-bit) 	- 	Updated to V12.9
	cntrlNet.dll (64-bit) 	- 	Updated to V12.9
	DevaService (32-bit)	-	Included V1.7
	DevaService (64-bit)	-	Included V1.7
	DevaEditor		-	Updated to V1.15

Deva004
1	Fixed joystick status reporting sometimes being wrong.
2	added fit_sphere function.
3	Setup output mux register for 2nd Timer.

DevaEditor
1	Fixed Validation in Create Axis dialog.
2	added support for Deva 045 keys.
3	fixed UI issues on Font scaling.

Utils
1	AxisTuner Fixed display and crash on Font scaled windows
2	AxisTuner Disable Limits button
3	DevaCmmControlPanel Fixed display on Font scaled windows

___________________________ New in Issue deva004pci137 ____________________________

	deva004.sys (32-bit) 	- 	Updated to V12.10
	deva004.sys (64-bit) 	- 	Updated to V12.10
	cntrl32.dll 		- 	Updated to V12.10
	cntrl64.dll 		- 	Updated to V12.10
	cntrlNet.dll (32-bit) 	- 	Updated to V12.10
	cntrlNet.dll (64-bit) 	- 	Updated to V12.10
	DevaService (32-bit)	-	Included V1.7
	DevaService (64-bit)	-	Included V1.7
	AxisTuner		-	Updated to V1.3

Deva004
1	Added support for per move scanning parameters
2	Fixed Supply_on_input not being read.
3	Fixed problem with BreakContactVector producing ProbeNotTriggered error
4	Fixed dynamic config paramters being reset to default values not working

Utils
1	AxisTuner removed maximise button
2	AxisTuner Graph fixed not being able to resize back down to original size

___________________________ New in Issue deva004pci138 ____________________________

	deva004.sys (32-bit) 	- 	Updated to V12.11
	deva004.sys (64-bit) 	- 	Updated to V12.11
	cntrl32.dll 		- 	Updated to V12.11
	cntrl64.dll 		- 	Updated to V12.11
	cntrlNet.dll (32-bit) 	- 	Updated to V12.11
	cntrlNet.dll (64-bit) 	- 	Updated to V12.11
	DevaService (32-bit)	-	Included V1.7
	DevaService (64-bit)	-	Included V1.7
	AxisTuner		-	Included V1.3

Deva004
1	Fixed Probe backoff acceleration to use higher value than search acceleration value.

___________________________ New in Issue deva004pci139 ____________________________

	deva004.sys (32-bit) 	- 	Updated to V12.12
	deva004.sys (64-bit) 	- 	Updated to V12.12
	cntrl32.dll 		- 	Updated to V12.12
	cntrl64.dll 		- 	Updated to V12.12
	cntrlNet.dll (32-bit) 	- 	Updated to V12.12
	cntrlNet.dll (64-bit) 	- 	Updated to V12.12
	DevaService (32-bit)	-	Included V1.7
	DevaService (64-bit)	-	Included V1.7
	AxisTuner		-	Included V1.3

Deva004
1	Only switch to counter latch for stepper type cards.
2	Add probe reseat retry logic.

___________________________ New in Issue deva004pci140 ____________________________

	deva004.sys (32-bit) 	- 	Updated to V12.13
	deva004.sys (64-bit) 	- 	Updated to V12.13
	cntrl32.dll 		- 	Updated to V12.13
	cntrl64.dll 		- 	Updated to V12.13
	cntrlNet.dll (32-bit) 	- 	Updated to V12.13
	cntrlNet.dll (64-bit) 	- 	Updated to V12.13
	DevaService (32-bit)	-	Included V1.7
	DevaService (64-bit)	-	Included V1.7
	AxisTuner		-	Updated to V1.5

Deva004

1	VIRTUAL axes can now be defined in the config file and must have a unique channel number.
2	Probe points can be taken using the joystick for SP25 scanning probe
3	Additional servo errors reported in first 250ms after axes has been enabled.
4	Ability to configure IO to be actioned conditionally on the output value being 1 or 0.
5 	Position band ignored when a following move is programmed with the same axes.
6	Allow single limit switch to be shared for both + / - and datum purposes.

___________________________ New in Issue deva004pci141 ____________________________

	deva004.sys (32-bit) 	- 	Updated to V12.17
	deva004.sys (64-bit) 	- 	Updated to V12.17
	cntrl32.dll 		- 	Updated to V12.17
	cntrl64.dll 		- 	Updated to V12.17
	cntrlNet.dll (32-bit) 	- 	Updated to V12.17
	cntrlNet.dll (64-bit) 	- 	Updated to V12.17
	DevaService (32-bit)	-	Included V1.7
	DevaService (64-bit)	-	Included V1.7
	AxisTuner		-	Updated to V1.6


Deva004 (V12.13)

1	VIRTUAL axes can now be defined in the config file and must have a unique channel number.
2	Probe points can be taken using the joystick for SP25 scanning probe
3	Additional servo errors reported in first 250ms after axes has been enabled.
4	Ability to configure IO to be actioned conditionally on the output value being 1 or 0.
5 	Position band ignored when a following move is programmed with the same axes.
6	Allow single limit switch to be shared for both + / - and datum purposes.

Deva004 (V12.14)

1	Added support for Delta machines.
2	Fixed dynamic update when cntrl32 axis objects out of order.
3	Check for Ideal axes reaching zero lag and set to control position to allow integral term to turn on properly.
4	Disable fifo when unknow scan ends.
5	Added support for Delta machines parameter Offset.
6	Added XYZ Limits to Delta Connection
7	Fixed Delta ABC limits when using WPC
8	Stop Delta axis connections being broken by axis_enable
9	Allowed for nested axis connections.
10	Allowed 180 and 360 degree moves in Helical function.
11	Allowed shortest,longest,cw and ccw paths in Helical function.
12	Added memory mapped file for axis debugging.
13	Corrected references to camlib in build.
14	Restart velocity calc when connecting or dsconnectint axes.
15	Always break connections when reseting or enabling axes.3.	
16	Delay Machine on in system status until emergency_state is clear.
17	Fix bug in delta multi axis reverse calc due to column switch.
18	Touchjoystick supports new IDs for joystick probe screen.

Deva004 (V12.15)

1	New flags to inhibit CNC and or Joystick limits.
2	Add parameter re-sync IOCTL to Deva031.
3	Delay Joystick re-enable after error by 0.5 seconds.
4	Add probe reseat time parameter.

Deva004 (V12.16)

1	Added suport for coded markers.

Deva004 (V12.17)

1	Allow 900ms of estop timer to elapse before estop release to reduce power up delay to 100ms after estop release.
2	Seed var->stop_model_position on first pass to stop kick from source axes that are yet to be enabled.
3	Consolidate posn_shift code into shift_real_axis function.
4	Remove test for joystick feed=0 when a probe occurs from decision about how to retract and use the model velocity as the retract feed.
	This stops the machine from decelerating with normal parameters if the joystick knob is released just prior to impact and overtravelling the probe deflection.
5	Added MULTI_TOOL_CENTRE_POINT connected axes.
6	Added TANGENTIAL move type which move in a linear fashion whilst the coordinate axes follow an arc.
7	Fix bug in model target code when only non-coordinate axes are moving.
8	Hold off model for break contact state machine to complete. ( This stops side effect of erroneous break contact state causing slow moves )
9	Changed the library version to make sure this DLL is only used with this driver.

AxisTuner

1	Graph timebase now respects servo rate.
2	Fixed issue with mutilple axes.

___________________________ New in Issue deva004pci142 ____________________________

	deva004.sys (32-bit) 	- 	Updated to V12.18
	deva004.sys (64-bit) 	- 	Updated to V12.18
	cntrl32.dll 		- 	Updated to V12.18
	cntrl64.dll 		- 	Updated to V12.18
	cntrlNet.dll (32-bit) 	- 	Updated to V12.18
	cntrlNet.dll (64-bit) 	- 	Updated to V12.18
	DevaService (32-bit)	-	Included V1.7
	DevaService (64-bit)	-	Included V1.7
	AxisTuner		-	Updated to V1.6


Deva004

1	Fixed bug introduced in 12.17 which causes small moves < Position Calculation Tolerance to fail with a servo error.
2	Fixed bug which causes some machines to run very slowly from time to time when probing.
3.	Allow 950ms of estop timer to elapse before estop release to reduce power up delay to 50ms after estop release.

___________________________ New in Issue deva004pci143 ____________________________

	deva004.sys (32-bit) 	- 	Updated to V12.19
	deva004.sys (64-bit) 	- 	Updated to V12.19
	cntrl32.dll 		- 	Updated to V12.19
	cntrl64.dll 		- 	Updated to V12.19
	cntrlNet.dll (32-bit) 	- 	Updated to V12.19
	cntrlNet.dll (64-bit) 	- 	Updated to V12.19
	DevaService (32-bit)	-	Included V1.7
	DevaService (64-bit)	-	Included V1.7
	AxisTuner		-	Updated to V1.6


Deva004

1	Follow on moves disabled as they were causing issues on CNC cutting machines, SP25 calibration and rack changes.

___________________________ New in Issue deva004pci144 ____________________________

	deva004.sys (32-bit) 	- 	Updated to V12.20
	deva004.sys (64-bit) 	- 	Updated to V12.20
	cntrl32.dll 		- 	Updated to V12.20
	cntrl64.dll 		- 	Updated to V12.20
	cntrlNet.dll (32-bit) 	- 	Updated to V12.20
	cntrlNet.dll (64-bit) 	- 	Updated to V12.20
	DevaService (32-bit)	-	Included V1.7
	DevaService (64-bit)	-	Included V1.7
	AxisTuner		-	Included V1.6


Deva004

1	New scanning calibration errors.
2	Number of valid and discarded points recorded during scanning calibration.
3	New parameters to control the initial sphere measurement during scanning calibration.
4.	Increased tolerance on line to line blending.

___________________________ New in Issue deva004pci145 ____________________________

	deva004.sys (32-bit) 	- 	Updated to V12.21
	deva004.sys (64-bit) 	- 	Updated to V12.21
	cntrl32.dll 		- 	Updated to V12.21
	cntrl64.dll 		- 	Updated to V12.21
	cntrlNet.dll (32-bit) 	- 	Updated to V12.21
	cntrlNet.dll (64-bit) 	- 	Updated to V12.21
	DevaService (32-bit)	-	Included V1.7
	DevaService (64-bit)	-	Included V1.7
	AxisTuner		-	Updated to V1.7


Deva004

1.	Index scanning card LED by board to allow for different card orders.
2.	Do not update KI when axis in emergency to avoid kick when axes drift when disabled.

AxisTuner

1.	Graph improved to show small values.

___________________________ New in Issue deva004pci146 ____________________________

	deva004.sys (32-bit) 	- 	Updated to V12.22
	deva004.sys (64-bit) 	- 	Updated to V12.22
	cntrl32.dll 		- 	Updated to V12.22
	cntrl64.dll 		- 	Updated to V12.22
	cntrlNet.dll (32-bit) 	- 	Updated to V12.22
	cntrlNet.dll (64-bit) 	- 	Updated to V12.22
	DevaService (32-bit)	-	Included V1.7
	DevaService (64-bit)	-	Included V1.7
	AxisTuner		-	Included V1.7


Deva004

1.	Support for queueing arbitrary move type in blended path moves.
2.	Reporting of probe_deflection in AXIS_EVENT_STATUS.
3.	New error added for when no configuration is defined.
4.	Removal of supurfulous PROBE_NOT_TRIGGERED errors.	
5.	Fix bug causing axis to retract to start of move during a probe protect error.
6.  Error message shortened for comptibility with legacy devacmm.ocx interface.
7.  Error message list updated in default configuration backups and the installtion and simulation install files.
8.	Error messages returned from cntrl32 limited to 40 characters in length
