3.1.0 (SVN704, Lib310.0, TC3 only)
     new: allow receiving five (single) values per abo
     new: TSD80 support: add register layout 19 MC_AXIS.register2 and support for doubles

3.0.5: (SVN692, Lib 305.4)
     new: ReferenceType Tama, see AN108
     fix: Check for Session handler garbage collector limit, fixed
     chg: PLL correction time was 2.5*fastTaskTime, now it is constant 2.5ms. 
     chg: Diagnostic files show position error instead of actual position: Err is not interpolated, act can be seen from cmd in tracking situation (BugFix 4)
     chg: Diagnostics: adaptations for Explorer scope
     chg: reorganize error and event priorities
     chg: avoid double read of publisher abos
     fix: wrong type of PositionController.ControlOutputCurrentQ
     new: Object TL_AboSubscriberMaster5 receives 5 single float values
          Object TL_AboSubscriberMaster  receives 1 Float40 and 3 single float values (old)
     new: add missing commit option for Axis Environment
     chg: message 075 not trialink "down", but short "shutting down"
     chg: disable of moving axis first tries an emergency stop if MaximumStoppingTimeBeforeBrake<>0
     chg: pll: adjust with sample time, different windows for boot and error 179
     chg: remove obsolete events: 131, 136, 138, 139, 141, 144
     new: couple warning/error: sync 178/179 on pll sync problems
     new: task exceeds compensation 

3.0  (SVN639, Lib302.0)
     chg: Compatibility changes for TwinCat3... The following are breaking changes:
          variable "method" in homing parameter not allowed in TC3 -> ReferenceMethod
          all axis parameters are now set in TL_AxisSlow.Config
          move Trialink.FastHandler.pll.BufferTicks to Trialink.Config.FastBufferTicks
          move TL_AxisSlow.MC_axis_Home.Position to TL_AxisSlow.referencePosition
     chg: Error 069 has now a smaller priority than 070. New events 178/179
     new: Diagnostic logfile generated on axis errors
          set path in Trialink.Config.RootFolder
          an empty path or Trialink.Config.DiagnosticMode is used to disable the feature
          the number of files in this folder is limited to Trialink.Config.DiagnosticNumberOfFiles
     chg: move library_version to Diagnostics
     new: Add errors for STO firmware 1040, no parallel errors 130+260, changed event file
     new: Trialink.Config.TcEventShowReferenceInfos FALSE disables homing move information messages
     new: Trialink.Config.TcEventShowWarnings FALSE disables all warning messages
     new: 4th order interpolator for commanded positions accounts for high dynamic trajectories
     new: TL_publishSlave2Master for ts<>ts_Fast or ts/0.1ms<>n 
     new: TL_MC_MoveAbsolute can now react in MAIN_FAST, see AN108
     chg: sample codes: new TL_CNC and TL_CNC_AX with task exceed compensation capability

2.2  (SVN553, Lib226)
     new: Preparation FOR DMA with rx-iso, rx-asy, AND tx-sdram
     new: Disable axis errors if Trialink down. STO errors may be configured in Trialink.Config
     new: High resolution actual position
     new: More registers for tama and position control parameters
     chg: TL_AboSubscriberMaster flexible interpolation and modulo capability on src1
     chg: MoveAbsolute and MoveVelocity now signal 152=CommandAborted if an axis error
          stops the move before reaching the final state (standstill or ContinuousMotion)
     new: Trialink events "Booting" and "Timeout"
     chg: tiob: remove unused tRefTick, replace TL_TiobFast by TL_AboSubscriberMaster;
     chg: publish: new fifo and SingleInterpolator for TL_AboSubscriberMaster
     new: each axis has its own event source for simultaneous display
     new: Homing: add search info and show them in the event-display
      
2.1  (SVN502, Lib219)
     chg: bug fix Float40 of lib
     chg: rename FPGA localbus device DEVencoder_in_out to DEVencoder_DigIn
     chg: faster pll initialization
     new: Position-latch feature for digital IOs
     chg: recover MC_Power on communication down (*)
     chg: default direction of moveAbsolute is now shortestway (important for modulo axes)
     new: timeout error if boot not successful for 20 seconds
     chg: improve detection of two masters in the loop
     new: readyToOperate output of axis module (bridge voltage and STO detection)
     new: distinguish errors and warning for STO and bridge voltage
     fix: message events block fixed new error problem
     new: independent TwinCat errors for axis and (power/homing)
     chg: prios of errorId of TL_AxisSlow
          (1. axis error or warning 2. homing error 3. power error)
     fix: dualport ram sync problem on rx_iso fifo and sync warning
     fix: TL_publishSlave2Master bug
     chg: always set axis position to zero on ring boot
2.0 (SVN476, Lib216)
    new   : major release with changes listed in AN160 (TL_Trialink, TL_publishSlave2Slave, Homing)
    new   : Support STO
    new   : AN122 for CNC-Error 70091 in Manual und Auto Mode
    fix   : 12 hour bug
    chg   : turn off pwm if MC_Power.enable=FALSE

1.8 (SVN 393, LIB 177)
    fix   : Endat 2.1 for more than 32 bits
    change: nci-sample code with same structure as cnc

1.7 (SVN 383, LIB 176)
    fix   : moveSync does "shortest move" for proper init of Modulo axes
    fix   : Homing Setposition bug. 
    new   : SetPosition zero during communication startup
    new   : generalized register access
    change: new homing sequence statemachine
    change: rename EnableManager to AxisGroup1 and make global
    change: Triamec is now global
    change: HMI based on Visual Expres 2010
    new   : smart sync to avoid PLL not locked errors
    change: Endat 2.1: Improve error reporting and retry

1.6 (SVN279, LIB 1.6.7)
    support new AxisErrors, Endat, modulo spindle, improve interpolator
    direct sync in fasthandler, no sync task required anymore
    cleanup CNC parameters
    change: replace cnc FB "TL_AxisPath" by lib FB "TL_AxisFast" 
            but without IN/OUT components. This allows using a coordinate trafo
    change: replace cnc FB "TL_AxisModule" by lib "TL_AxisSlow"
    change: ReferenceEnable instead of ReferenceStart
            This allows controlled resetting of all axes homing flags
    note:   encoder was removed because auto-calib is default > FW1030
            to use fast encoder or Endat 2.1 see Application Notes. 

1.4 (SVN 204) changed homing behaviour: Clear Homing by Execute:=FALSE
    support stopping by an external event (e.g., endswitch-tama)
    support brake feature

1.3 Changes to the Beckhoff Sample Code of the HMI:
	simplify T-access, see HLI_DoChannelTFunction
	moved CNCSystem.T_cmd to CNCSystem.Channel[nChan].T_cmd
	moved PLC_PRG/HLI_SetAxisTrackingOperation and HLI_SetAxisFeedHold to TL_CNC_Status

	We removed the following commands in the PLC_PRG
	- HLI_SetAxisTrackingOperation in PLC_PRG
	- HLI_SetAxisFeedHold
	because these are already written in TL_CNC_FromPlc

    also be aware, that 
    - PLCAxisEnable is the global variable of the GUI for enable.




