Upgrade instructions:

1. If Ikuhlu is running, quit all running cnc programs and exit Ikuhlu.
2. Put machine into e-stop.
3. Backup files. (copy and zip c:\documents and settings\all users\application data\wardjet\ikuhlu\1.0.0.0\ folder)
4. Run Ikuhlu-Keyed-Installer.exe from the link above.

Ikuhlu Change Log

• April 17th 2012
• - - - - - - - - Features - - - - - - - -
• Time based consumables added. Can set consumables based on hours independent from outputs (Calendar wise).
• Can add negative backlash information in Ikuhlu.
• Confirm Exit was changed to to default to true.
• - - - - - - - - Bug Fix - - - - - - - -
• Fixed issues with consumables not saving correctly and polluting the database with extra rows.
• Saved part start points in move panel should dispaly correctly without restarting Ikuhlu.
• Plates loaded on the table will stay where they should be after Ikuhlu is restarted.
• Pendant unlocking should work correctly.
• When closing Ikuhlu, you can no longer bypass certain checks (part running/confirm exit).
• Fixed issues that could sometimes cause Ikuhlu to throw exception involving plates.
• When changing/replacing consumables, if told to not allow an item to be used later Ikuhlu will correctly use that information when loading lists of possible items to add/replace.
• No longer have to restart Ikuhlu for new plates to function correctly.
• When loading xmls, Ikuhlu will not try to load 0 sized files.
• March 30th 2012
• - - - - - - - - Features - - - - - - - -
• Part cycles are a few seconds faster.
• Motors can be reordered in the setup screen by right clicking on them.
• Additional custom options are available on the control panel.
• You can add notes in the watch window.
• Scanning barcodes will now load parts, if the part name is in your cnc library.
• - - - - - - - - Bug Fix - - - - - - - -
• Motors will no longer change order (A B C X Y Z) when connecting a pendant.
• Pdf and video list will download quick and no longer crash if the internet is having issues, items are also in alphabetical order.
• Teach page bug fixes.
• February 9th 2012
• - - - - - - - - Bug Fix - - - - - - - -
• Fixed an issue where copying files would fail because of read-only permissions.
• Fixed an issue with the auto-generated homing plc for a/b/c motors.
• Fixed android pendant issues that would cause slower / older computers to crash Ikuhlu.
• February 7th 2012
• - - - - - - - - Features - - - - - - - -
• Logging has been changed slightly to improve tech support diagnostics.
• Brick backups should be included with backups now. (Important Register option is set to false by default, this seemed to be taking up extra time on certain machines).
• Compensation data should be included with backups now.
• - - - - - - - - Bug Fix - - - - - - - -
• Database fix for decimals number format being saved improperly .
• Serial number will be updated if not saved when getting / setting serial in Ikuhlu Setup.
• Fixed Non-servo Z issue with pendant.
• February 1st 2012
• - - - - - - - - Features - - - - - - - -
• A simple motor load option has been added to the Graphing Form in diagnostics.
• Removed E-Stop from the list of consumables to track (It would not be useful).
• Unique pendant connections are now saved in the database instead of the xml.
• - - - - - - - - Bug Fix - - - - - - - -
• PDA pendants can be used again (A Time request to Ikuhlu would crash Ikuhlu).
• Consumables can be deleted properly from a database.
• Fixed some communiction issues with the android pendant.
• An issue with I5186 and P5186 has been resolved (Alternate feedrate is now more useful).
• January 18th 2012
• - - - - - - - - Features - - - - - - - -
• Change the display will consistently and uniformly be shown through all of Ikuhlu.
• - - - - - - - - Bug Fix - - - - - - - -
• Relative Arc jumping and G90.1 issues have been resolved.
• Corrupted "Start positions" tables will now only show 20 instead of all saved "Start positions".
• January 16th 2012
• - - - - - - - - Features - - - - - - - -
• Setup for heads now have a five-axis type.
• Safety features for android pendant implemented.
• - - - - - - - - Bug Fix - - - - - - - -
• Small parts > 50 lines and < 100 lines with lots of comments seem to cycle better.
• Fixed issues loading previously cut programs that were aligned to plate (it properly remebers the angle now).
• Fixed a database issue with heads, if the heads do not have an order (caused issue with starting ikuhlu).
• Ccbuff issues seemed to have been fixed (related to loading parts and cycles).
• December 13th 2011
• - - - - - - - - Bug Fix - - - - - - - -
• Ikuhlu should now close completly, instead of leaving thread open and manually being close with process list.
• Ikuhlu will handle loading the part list, and running parts much faster now.
• The cutter comp buffer issues are properly fixed.
• December 8th 2011
• - - - - - - - - Changes - - - - - - - -
• Added log note for limits when root clears limits.
• December 6th 2011
• - - - - - - - - Features - - - - - - - -
• Cnc programs have python capabilities.
• Added a few more Other permissions for the move panel , jog panel, laser offset and relative mode.
• - - - - - - - - Bug Fix - - - - - - - -
• Fixed a rounding issue for cutting smaller holes and writing gcode.
• Database automation relating to Motor modesl, product and product details has been fixed.
• Automatically ordering will now work if not items are in list (Setup).
• November 21st 2011
• - - - - - - - - Bug Fix - - - - - - - -
• The "Allow z jog" button on the "Control Panel" shows the true value, instead of the inverse value when clicked.
• November 18th 2011
• - - - - - - - - Changes - - - - - - - -
• Updated jumping and G/M class to recognize G55 and G92 codes
• November 15th 2011
• - - - - - - - - Bug Fixes - - - - - - - -
• Really fixed the M60.1 / M70.1 issue
• November 11th 2011
• - - - - - - - - Notes - - - - - - - -
• Android pendant now available!. WARDJet.Ikuhlu.pedant in the android store.
• Homing screen now displays the motors display string and the axis letter.
• Connecting with old PDA pendants and the new android Pendant requires less authentication, making it easier to sync together.
• PDA pendants will need to upgrade to a new version of software (New PDA install file ).
• - - - - - - - - Features - - - - - - - -
• QR codes and android pendant links have been added to the wireless screen (Menu -> Control Panel -> Configuration -> Wireless Pendant Options)
• New calibration screen for Psy-Winders (Menu -> Cpntrol Panel -> Tooling -> A/C Heads)
• - - - - - - - - Bug Fixes - - - - - - - -
• On the homing screen, clicking a motor to edit speeds, offsets, limit-selection, and parameters no longer bugs out Ikuhlu.
• Individual Water On / Off codes (M60.1 , M61.1) and Abrasive codes (M70.1 , M71.1) now work properly with jumping and reverse.
• Program kinematic auto-generation has a few tweaks for A/C heads
• November 3rd 2011
• - - - - - - - - Notes - - - - - - - -
• Translation files now use line returns. (Translation File)
• Code added almost ready to support Android as Ikuhlu Pendants.
• October 21st 2011
• - - - - - - - - Notes - - - - - - - -
• Changes to pendant code, will require a new version of pendant software.
• Added various helpful tooltips through out program
• Changed kinematic code (forward and inverse) to be more readable
• Changed the desired version of pcomm server to 4.2.11, not required version.
• - - - - - - - - Features - - - - - - - -
• Changed to Program 1000 to handle G55 - G57 fixture offset.
• - also changes to slow down smaller holes with a radius of P410 (mm) or less (Requires Prog 1000 v 1.028 and Mvars defs of 1.002).
• - - - - - - - - Bug Fixes - - - - - - - -
• Database bug where motors would have the same motor number is fixed.
• Fixed bug in ikuhlu where segments would take over an hour and 40 minutes.
• Button panel crashing ikuhlu when used before opening software panel has been fixed.
• Small change in g92 handling, will only change internal code handling.
• October 7th 2011
• - - - - - - - - Bug Fixes - - - - - - - -
• Fixed part arraying issues.
• October 6th 2011
• - - - - - - - - Bug Fixes - - - - - - - -
• Part screen drag/drop issue.
• Database bug fixes.
• September 29th 2011
• - - - - - - - - Bug Fixes - - - - - - - -
• Database bug fixes.
• September 20th 2011
• - - - - - - - - Features - - - - - - - -
• Support for new Android pendent.
• - - - - - - - - Bug Fixes - - - - - - - -
• Admin user bug fix for adding parts.
• User logout bug fixed.
• Software panel height sensor button fixed.
• Software/Hardware pendent button better.
• Database bug fixes.
• August 29th 2011
• - - - - - - - - Features - - - - - - - -
• Support for a database.
• Pierce point can now be selected by pierce number by clicking and holding the pierce point button.
• Errors when sending emails are now logged for easier setup.
• Email setup using SSL has been modified to be more robust.
• Rotary logging is now possible, by typing "-RotaryLog" into the command prompt.
• - - - - - - - - Bug Fixes - - - - - - - -
• Certain issues with security controlls and user levels have been fixed.
• August 3rd 2011
• - - - - - - - - Features - - - - - - - -
• X-XX diff will update when the squareness page shows.
• The wording on the homing button will now change to the mode.
• July 29th 2011
• - - - - - - - - Features - - - - - - - -
• Integration with Delta Tau pendant.
• Kinematic mode for move panel.
• - - - - - - - - Bug Fixes - - - - - - - -
• Saving data will work better.
• When jumping to a home position with a height sensor on, the height sensor will turn off.
• Jumping in a cnc program with a mix of Incremental and Absolute commands will work again.
• May 20th 2011
• - - - - - - - - Bug Fixes - - - - - - - -
• Phantom motor setup works for first time setup now.
• April 26th 2011
• - - - - - - - - Features - - - - - - - -
• AFL Fault can now be disabled.
• - - - - - - - - Bug Fixes - - - - - - - -
• The comp data upload page is much more responsive.
• April 8th 2011
• - - - - - - - - Features - - - - - - - -
• Better printer integration.
• - - - - - - - - Bug Fixes - - - - - - - -
• For machines with height sensors. Plc 10 HS pop up / down logic. Proper call out logic.
• For machines with multiple seperate z - carridges. The z heads move seperately instead of all at once.
• February 18th 2011
• - - - - - - - - Bug Fix - - - - - - - -
• The "Add File" screen, sorts again.
• February 10th 2011
• - - - - - - - - Features - - - - - - - -
• Added more handling for kerf control, it will read more into variable kerf.
• The current feedrate speed will be rounded to a more appropiate number.
• Administrators have the ability to see the current machine feedrate, as opposed to the programmed feedrate.
• Setup page can now add up to 12 motors.
• - - - - - - - - Bug Fixes - - - - - - - -
• Fixed an A motor warning, a calculation was incorrect.
• Move panel issue where certain limits would cause an incorrect min / max cap has been fixed.
• The teach page handles the z motor better.
• Setup now handles the z1 / servo motor without crashing.
• Jump to start of the program no longer fails.
• The way the move panel handles cut programs is more robust.
• Add file screen will no longer prompt you to overwrite files with the same file.
• If uploading a backup fails, Ikuhlu should no longer crash.
• December 16th 2010
• - - - - - - - - Bug Fixes - - - - - - - -
• Incremental program (G91) programs can now use jump features.
• December 13th 2010
• - - - - - - - - Notes - - - - - - - -
• If using home positions codes, make sure program 1000 is addressing G05 and Z properly.
• Ikuhlu will attempt to open up ports, the registry, the firewall, and folder permissions to allow non-windows-administrators to run Ikuhlu and PeWin32.


• - - - - - - - - Features - - - - - - - -
• Changed the way the "Height Sensor" plc is written.
• A\C wrap-ups and unwinds will now have a star so they are easily identifiable.
• - - - - - - - - Bug Fixes - - - - - - - -
• Added a backup plan and checks when saving xml as to not write empty xml files.
• The xml temp files are put into a temp directory, along with a previous saved version as a backup.
• C.S. (Coordinate system) 2 will be issues a %100 anytime C.S. 1 is told to resume.
• December 2nd 2010
• - - - - - - - - Notes - - - - - - - -
• If using home positions codes, make sure program 1000 is addressing G05 and Z properly.
• Ikuhlu will attempt to open up ports, the registry, the firewall, and folder permissions to allow non-windows-administrators to run Ikuhlu and PeWin32.


• - - - - - - - - Features - - - - - - - -
• When changing machine compensation through Ikuhlu, a save is issued.
• A display in the setup / motors which shows motors that have compensation.
• - - - - - - - - Bug Fixes - - - - - - - -
• Pendants relying on M4000 will now be able to use HID/USB buttons panels to change the pendant state.
• Novemeber 17th 2010
• - - - - - - - - Notes - - - - - - - -
• If using home positions codes, make sure program 1000 is addressing G05 and Z properly.


• - - - - - - - - Features - - - - - - - -
• Motors can be ordered differenly by changing the order in the MotorDef.xml file.
• U / V motors can be created in Setup
• A Phantom motor linking system has been implemented.
• - - - - - - - - Changes - - - - - - - -
• Software jog panel will update custom options when changed in the brick.
• Plc 16 changed to include z motors being relinked. It should handle U / V motors
• Homing rotine will auto-home U / V motors that do not need or have limits.
• Coordinate systems 1 & 2 will try to stop executing motion programs instead of just C.S.1.
• Custom buttons should try to update themselves on the software jog controls.
• When adding compensation the backlash settings will be setting automatically if not set.
• A ballbar calculater has been added to homing to assist with changing the gantry difference.
• Custom faults will now turn off Manual outputs when triggered.
• - - - - - - - - Bug Fixes - - - - - - - -
• False positives on Z jumping saying Z motor needs to move down X inches, has been fixed.
• A new feature broke the translation / aux file, but it works properly now.
• The add file dropbutton no longer hides behind other visual elements.
• Home position codes will render again. Home Codes
• Custom faults support more then 8 items now.
• The Setup window / Option page now refreshes and displays update variables.
• Messagebox windows will show up in the taskbar. Useful if popups hide behind a window, it appears like the program is frozen.
• If the "Cnc Library" folder was deleted, Ikuhlu could not restart. This is now fixed.
• Recompensation through ikuhlu works with extra dummy points.
• Multiple G92 codes in a single part with Home Position codes no longer break when jumping
• November 3rd 2010
• - - - - - - - - Features - - - - - - - -
• Ballbar detail calculator on the homing screen.
• A display in the setup / motors which shows motors that have compensation.
• Writing compensation will now handle dummy points.
• - - - - - - - - Bug Fixes - - - - - - - -
• Aux details have been changed, and process a little more.
• Custom faults handle lights on the button panel better..
• October 13th 2010
• - - - - - - - - Features - - - - - - - -
• There have been new options added for the "Selection" and "Add file" screen.
• - The "Add File" screen will show dates below the coulumns holding the files.
• Feedrate display for the inch setting has an extra decimal place.
• U V W motors have been added to setup, and handle the display if they are rotary motors.
• - - - - - - - - Changes - - - - - - - -
• When taking a backup, relevant delta tau information is saved, reducing notifications.
• - - - - - - - - Bug Fixes - - - - - - - -
• All rotary motors will display with degrees (°) now.
• The compression class now has handles system paths properly.
• Clipper cards running all phantom motors will successfully home all the time now.
• September 29th 2010
• - - - - - - - - Bug Fixes - - - - - - - -
• Custom faults that are meant to be messages, will no longer put the machine into a feed hold.
• September 22nd 2010
• - - - - - - - - Bug Fixes - - - - - - - -
• When arraying a program and the Circles / arcs are absoulte, Ikuhlu will change the location to the new arrayed location.
• The broken xml backup / restore is back to full working capacity.
• Some button text alignments were fixed.
• September 3rd/9th 2010
• - - - - - - - - Features - - - - - - - -
• Graphing page now has a help button, and is able to load in custom variables.
• Drag and drop backup from the control panel.
• Zero length arcs are displayed properly for most cases.
• - - - - - - - - Changes - - - - - - - -
• More panels will scroll with a mouse wheel.
• - - - - - - - - Bug Fixes - - - - - - - -
• Hid membrane panel follow lights for height sensors.
• .
• July 28th 2010
• - - - - - - - - Features - - - - - - - -
• A consumable product creator has been put into the maintenance screen.
• - - - - - - - - Changes - - - - - - - -
• Cutter comp buffer is correctly being set with the option in "Configuration" on the control panel.
• - (-1) will turn ccbuff off, otherwise it will default to 10 (Ten non x / y movements before kerf error occurs).
• .
• - - - - - - - - Bug Fixes - - - - - - - -
• Move Panel will no longer have limits set for incremental moving.
• .
• July 6th 2010
• - - - - - - - - Features - - - - - - - -
• The "Home positions" on the "Move Panel" are now fully changable.
• - The positions can be changed and M1000 codes can be assigned.
• - Part Programs are now able to move to absolute home positions.
• HID USB Button panels are now supported in addition to the COM port style.
• - Upgrading button panels to the more robust HID style may require a hardware upgrade.
• - Contact WARDJet to inquire about an upgrade (compatible with all Ikuhlu controllers).
• - - - - - - - - Changes - - - - - - - -
• Additional custom options panels are on the "software panels" and the "setup screen".
• The wording on the "X-XX Diff" screen changed slightly.
• Part Programs should load to the running screen faster than before.
• .
• - - - - - - - - Bug Fixes - - - - - - - -
• Limit lights on the homing screen now change appropriately.
• Part programs with empty or blank lines will now finish and alert the user.
• .
• May 21th 2010
• - - - - - - - - Changes - - - - - - - -
• When sending a backup for the first time, it will no longer crash.
• The X-XX difference , Squareness tab will no longer throw exceptions after saving.
• CAM button will launch the latest installed cam software.
• May 5th 2010
• - - - - - - - - Changes - - - - - - - -
• Homing screen will now show the limits for machines with more then 8 active motors.
• May 4th 2010
• - - - - - - - - Changes - - - - - - - -
• Move panel uses # (motornum) j: instead of j^. This helps kinematics of customers with A/B heads.
• May 3rd 2010
• - - - - - - - - Bug Fixes - - - - - - - -
• Move panel sytle changed so ( home positions / incremental & absolute movements ) motors can be selected on individual basis.
• April 28th 2010
• - - - - - - - - Improvements - - - - - - - -
• Changed the internal resources to include a few new items, and removed some larger older items.
• Move panel - incremental movement will now display a rescrition if the movement is over the limits.
• Move panel will show motor label now instead of axis letter
• Backups online are handled a little differently and should be smaller
• Reverse should display and cross into working and pausing a little more smoothly.
• Feedrate will properly update when programs exit now.
• Plc writing should no longer try to write for xx or yy if you do not have them.
• - - - - - - - - Bug Fixes - - - - - - - -
• P8190 is now properly set when the program starts up.
• March 4th 2010
• - - - - - - - - Improvements - - - - - - - -
• Large programs using part cycles will reload much faster.
• Jump to program start, after the program has finished will work correctly.
• Outputs will no longer be able to be turned on until the machine is homed.
  If PLC 1 >= (V 1.022) & 7 >= (V 1.005) THE OUTPUTS WILL BE DISABLED UNTIL MACHINE IS HOMED.
  When outputs are disabled , the position in the lower right will be Orange.
• Contact WARDJet when upgrading past this version to ensure that the correct plc logic is installed in your machine
• - - - - - - - - Bug Fixes - - - - - - - -
• Plate alignment works with jumping again.
• Reversing to the program start reloads the program properly.
• Using an aux file and loading in a part program with a capital CNC no longer end in double listings.
• January 27th 2010 (1/20/10)
• - - - - - - - - Improvements - - - - - - - -
• The jumping routine has been altered.
• - - Tool tips on the jump cross-hair location show the line number and X-Y information.
• - - Jumping can handle multiple G92s in a single part program.
• - - The program no longer needs to be started before jumping.
• - - Jumping "CANNOT" handle mixed Absolute and Incremental (G90 & G91) moves in one part program.
• - - Jumping "CANNOT" handle Non-Zero G92s when rotated and/or mirrored.
• Software jog panels are now reversable to match the hardware panels.
• Auto-Saved Program Start Positions are handled better.
• - - The window will auto update and resort items, Items are always put into the list on program start.
• Controller Kerf now works in correlation with the wiki. The associated variables are now properly described as well.
• The running screen line indicator has been centered and displays a 0 instead of nothing.
• Software attempts to resolve URLs for downloads before connecting to them.
• Images are self centering instead of being chopped off in to the right or bottom.
• Reduced the exe size by removing images not in use.
• Reduced the installer size .
• Program 1000 properly writes kerf to match the wiki.
• Corrected outputs for Head 2 height sensor.
• - - They now match up with the GEO Brick interface PCB.
• - - Some copy/paste errors were corrected for C-axis jogging in PLC4.
• Custom text on user generated options are display properly.
• When jumping, status text is displayed. This will indicate if a motor is out of position.
• The jump waiting and canceling jump-movement has been reworked to not lock up the screen.
• The movement canceling methods and brick communication has been simplified.
• The Program Selection screen can be used again to generate mapping programs.
• When a file isnt found the software will check in more places to try to load.
• - - When a file could not be found the software would load nothing into the running screen.
• With plc 19 being written to the brick, the graph in diagnostics can show your motor voltage.
• - - - - - - - - Bug Fixes - - - - - - - -
• Add File screen will hide hidden folders.
• - - It will also not double add program, or crash when trying to over-write a program with itself.
• Ikuhlu no longer needs restarting when turning off a "Rosetta" file.
• Coordinate System 1 is always selected when cutting programs.
• Strange bug revolving around creating plates has been fixed.
• The Caplypso retrofits will now reverse the coordinate system so plates match with the width and height.
• January 4th 2010 (Version 3.1)
• - - - - - - - - Other Improvements - - - - - - - -
• Bug Fix - fixed some null reference excpetions, One being sending Programs to the Batch screen.
• Bug Fix - Duplicate parts no longer occur when over-writing a part.
• Bug Fix - Start Positions are now loaded in at a different time then application start-up.
• Start Positions are now loaded in at a different time then application start-up.
• When zipping up application data, dates and times are properly saved.
• Plate screen properly creates and adds plates to the list.
• User temp directory is now cleaned up when files are out of use.
• Kerf works in correlation with a trac/wiki .
• Online communication works without ping checking.
• Hidden folders will no longer show in in add parts screen.
• - - - - - - - - Improvements - - - - - - - -
• Each time Ikuhlu software is updated, system backups can be saved online automatically.
  WARDJet will be able to provide system restore from this point.
  (requires customer approval)
• Improved relative position mode. When an operator turns on relative position mode, the current
  location is calculated as X0, Y0. This feature is reset when the operator returns to absolute mode.
• Program load screen now has faster backend.
• Drag and Drop is now supported in the load program screen.
• The part interrupt function has been removed in favor of the "Saved Program Positions" and the
  "Jump to Anywhere" function, which provide the same functionality.
• Program alerts operator if Z motors are not in Coordinate System #2 .
• Button panel communication is now more robust.
• Ikuhlu will now auto-search for button panel COM port.
• Backend code changes for faster performance.
• Removed unused backend classes.
• Cnc panels can now be panned by clicking and dragging. (Flicking Technology)
• Running screen g-code can now be manual resized, allowing the user to make the part image larger
  or smaller.
• Setup M-var MODBUS definitions will automatically be defined.
• Jump panel was made smaller to allow more of the part to be visible.
• The multiple kerf options have been simplified to a few button clicks.
• If kerf is enabled there will be a small icon on the running screen..
• Backend code changes for faster performance.
• Setup windows serialize and save all changes when closed.
• Max voltage parameters added to model model files.
• Batch screen is always sortable.
• Improved Backup / Restore to do a better job of saving Axis comp data.
• - - - - - - - - Bug Fixes - - - - - - - -
• Backup now saves backlash comp properly, as well as loads the ikb file from a zip.
• G92 option is now only accessible if permission has been granted.
• Height sensor G99 seek now works for head two as well as head one.
• Fixed null reference error when getting information about a program on the select screen..
• November 11th 09
• Improvement - Plc improvements
• Bug Fix - Jump to anywhere in large parts
• November 10th 09
• Improvement - No longer shows PH motor positions
• Bug Fix - Geobrick save time fix.
• Bug Fix - Plc 3 Manual Abr and Water Fix
• November 3rd 09
• Improvement - Graph readability improved.
• Improvement - Pausing the part too close to a M60/M70 should no longer sometimes leave Water + Abrasive on. (PLC 3 - Revision 1.007 required)
• Improvement - Starting positions now save when part starts, as opposed to part pause.
• Improvement - Bindings on add file screen.
• Bug Fix - Height sensor & water / abrasive (AUTO) no longer are locked out on pendant.
• Bug Fix - Add file screen supports double click again.
• Bug Fix - Gantry axis now on pendant.
• October 19th 09
• Improvement - Improvements to number pad for -/+ function.
• Improvement - Automatic ball bar generation of program.
• Improvement - Improvements to the feedrate and speed settings.
• Improvement - Emails sent out through Ikuhlu are now logged.
• Improvement - Another homing status code ( Safety Check ) added in.
• Improvement - Brick save functionality should time out after 5 minutes.
• Improvement - Ikuhlu menu has a link for Cad in main menu.
• Improvement - When using a diffrent obsure moniter resolutions ikuhlu should resize properly.
• Bug Fix - Incremental jog should no longer jog past limits, if told to.
• Bug Fix - Reversing parts in metric will no longer send commas to the rotary.
• September 24th 09
• Improvement - Added Abrasive and water cycle times for 30 seconds and 60 seconds.
• Improvement - Height sensor velocity sets the jog velocity for Z-Axis in part programs.
• August 27th 09
• Improvement - Shutdown time improved.
• Bug Fix - Fixed loss of home position tion bug.
• August 25th 09
• Improvement - Added logging to Home Position Storage.
• Improvement - Added backup function for backing up home positions when they are added.
• Improvement - Added a limit to notification area so only 10 items are shown.
• Improvement - Z-Jog speed improved on jump to start of part.
• Improvement - Added support for more axes.
• Feature - Added ability to change cnc library location (Useful to share on a network, Root only)
• Feature - Added a PDA Pendant software speed check and allows feed change on PDA pendant.
• Feature - Added auto generation of default mapping programs in the add part drop down button.
• Bug Fix - Fixed global kerf when using small diameters.
• Bug Fix - Fixed feedrate lockout so that the locks work more quickly.
• Bug Fix - Fixed a PDA pendant and jog issue
• Bug Fix - Fixed keyboard overlay and Home Position panel.
• Bug Fix - Fixed a number pad issue with mouse.
• August 15th 09
• Improvement - temp sensing during program launch.
• Bug Fix - Guest user secured and locked from editing.
• August 11th 09
• Improvement - Jog Panel now supports showing of custom settings.
• July 24th 09
• Improvement - Various visual cleanups.
• Improvement - Pendant Jog Disable
• July 10th 09
• Improvement - Drawing panel now removes loading box after part is loading
  Images are removed when changing part to avoid confusion.
• Improvement - G05 now works for a single Z Head.
  If you have two or more Z carridges , They will follow head 1 and keep their offsets.
• Improvement - Overtravel limits now display HW or SW
  The bug is when the X1- SW is hit, then the X2 hardware lights up...
  I think that is also a feature in a way it helps you guess whats wrong.
• Improvement - Running screen will now time out if loading takes too long.
• Improvement - Reverse also is fixed with the time out issue.
• Improvement - Forward code loading has a time out so it will not lock up.
• Improvement - Custom options will now reload when clicking on the title.
• Improvement - Brighter part selected background color.
• Bug Fix - When generating path geometry, the cancel button will no longer exit to part screen.
• June 8th 09
• Improvement - Hardware speedpot filtering is now 100%
• Improvement - Part cycles are now available via the Setup screen
• Improvement - A realtime following error graph is available on the Tuning screen.
• Improvement - Part Translation and Adding files work in harmony now.
• Improvement - File load screen should be faster as well.
• May 15th 09
• Improvement - Feedrate with red background randomly occuring has been fixed. (%0 or I5115 = -1 was the cause)
• Improvement - Parts are able to resume from a Insufficient Calculation Time Error, or other RTI.
• Improvement - Tooling kinematic values in control panel are properly displayed now.
• Improvement - Height Sensor has a speed setting.
• May 13th 09
• Bug Fix - An issue regarding parts with Z commands in has been fixed. The issue involved returning to path.
• Bug Fix - Reversing on arcs more then 90° no longer strays off path before reaching its destination.
• May 6th 09
• Bug Fix - Aux & Function now work together when setting up advanced outputs.
• Minor Bug Fix - Move panel Incremental option now allows you to move in the negative direction.
• Improvement - Translation files are easier to load and understand.
• Improvement - If the image of your part is wrong , hit the edit button , then hit back to setup. It will recreate the image.
• April 17th 09
• Bug Fix - M00 (stop) code will no longer confuse run screen.
• Bug Fix - Height Sensor pop-up improvements.
• Bug Fix - Plc 4 no longer jogs past positive limit.
• Improvement - Log now write in reverse order
• Improvement - Images will always reflect the most up-to-date cnc file.
• Improvement - All Drawing panels will highlight 5-axis parts will an orange tint.
• Improvement - G05 Absolute moves implemented after updated program 1000 Rev 1.013 (X and Y)
• April 6th 09
• Improvement - A timing change to have the program exit faster.
• Improvement - A few changes to improve the stability of the Led Lights.
• Improvement - Zoom limits implemented to keep program from crashing.
• April 2nd 09
• Bug Fix - Button Panel for computers with one comport will show lights.
• Bug Fix - All the images show properly now.
• Bug Fix - User Groups work as intended and clean out older unused data.
• Improvement - Using the camera will not crash things in the user added page.
• Improvement - The user add / remove screen has been cleaned up.
• Improvement - The Batch screen items can now be rearranged by dragging and dropping.
• March 25 09
• Bug Fix - When part is anchored, The Running screen will reflect this.
• Bug Fix - Program 1001 is clean up, resolves some hang up issues.
• Improvement - Reduced Slimepath overhead, helps to not slow down program.
• Improvement - Jump to Any point or Pierce Point will now use the Working Gears screen.
• Improvement - Added Support for height sensor pop-up between cuts (G98, G99).
• March 20 09
• Bug Fix - Speed control floor to prevent following error faults.
• Bug Fix - Jump to part start point in move panel safety increase.
• Bug Fix - Maintenance screen loads fast even with no internet connection.
• Bug Fix - Reverse to start of part no longer causes an error.
• Improvement - Removed Step
• Improvement - Reverse notifies with a timer before reverse starts.
• Improvement - Verbose error notification when performing unexpected actions.
• Improvement - Maintenance video error notification.
• March 06 09
• Release - V3.0
• March 02 09
• Bug Fix - Absolute parts mixed with modal code will no longer rapid with jump to pierce points
• Bug Fix - Jumping to a point on a absolute part with a G92.1 will set proper values if the part has not been started.
• Improvement - Program 1000 will not always wait 10 secs in relation to G92.1
• February 26 09
• Bug Fix - Height Sensor speed sw to hw fixed.
• Improvement - Jump to pierce points reworked.
• February 15 09
• Improvement - M0* codes parse at a better frequency.
• February 12 09
• Improvement - cnc parsing handles multiple codes
• Buf Fix - M5099 is taken care of on part start / pause / abort
• February 11 09
• Feature - Saved home position will move Z up first , then move X and Y.
• - - or move X and Y first and then move Z down.
• February 2 09
• Improvement - Home position will Z movement will travel first if movement is upward, Z will travel last if movement is down.
• Bug Fix - E-Mail now uses a default logo built into Ikuhlu if the user does not have an image set.
• Bug Fix - Return to start of part takes into account phantom axes.
• January 30 09
• Improvement - Home Position travels to X and Y separate from Z motion.
• January 23 09
• Bug Fix - jump to start can be stopped with the hardware controls
• Bug Fix - jump to start has increased wait times to move X Y A B
• January 22 09
• Bug Fix - N* number codes are removed
• Bug Fix - P* codes are removed
• Bug Fix - Jog Controls can have text changed.
• Bug Fix - Jump to part start has increased distance from the limit.
• Bug Fix - Jump to part start can be aborted with hardware & software controls.
• January 21 09
• Bug Fix - Teach mode works again with Phantom motors
• Bug Fix - Jump to part start now does not go to table 0,0.
• Bug Fix - Aux & Functions no longer all turn when resuming from pause.
• Bug Fix - Feed Setting changes in the user groups now save.
• Bug Fix - Z no longer shows when you have no z.
• Bug Fix - Z motors should have an option in setup for "Always Joggable".
• January 20 09
• Bug Fix - No longer will fault out based on 0% during jogging
• January 15 09
• Program now fully supports machines with only 1 X Motor
• January 07 09
• Bug fix - A few null reference exception fixes in the move panel
• December 18 08
• Bug fix - Homing PLC8 Encoder Count Check Fix
• December 12 08
• Bug fix - Reverse
• December 05 08
• Bug fix - Offset and PLC 13 Updated
• November 25 08
• Bug fix - Cleaned up the way motors were reslaved, so it only happens when needed
• November 18 08
• Bug fix - Move panel now allows for absolute movement when homed, instead of abs. when not homed
• November 14 08
• Bug fix - Removed the ability to mirror, rotate and scale 5-axis parts
• mirroring those caused serious issues. Reposting the part is the proper way
• Updater Revamped - Your updater will automactically download a new version when we release it.
• November 11 08
• Bug fix - Phantom Motor Z return to path fixed
• November 3 & 4 08
• Bug fix - Part rotations now work correction for Batch & Setup
• October 31 08
• Fixed the Return to Start of part Bug - Phantom motor issue
• Bug fix - Fixed the controls failing after pausing on a G04
• Between
• Many Bug Fixes
• August 25th 08
• After installing a new version, it will prompt to backup data
• Parts now can be deleted from library with out error or crash
• Delete file also prompts to remove them from your batch
• Delete also unloads a loaded part from your running screen
• Homing screen will give a descriptive "non-homed" error message
• Bug Fix - Null Ref. expcetion when starting to cut a part is fixed.