How to Make 2-D Bearing Profiles

In the "profiles" folder of the update, there is an example of a 2-D profile, "2DExample.pro".  It consists of X,Y,Z triplets (I use "Y" as shorthand for "Trans").  Note that the ordering of table entries is important:
1) X and Y have to be monotonically increasing.  Spacing between points does not have to be the same.
2) The first point is the most negative X, the last point is the most positive X.
3) For each X value, all Y values are given in increasing order before X is incremented.

Like the 1D profile you had before, you can have up to 51 X values.  And now you can have up to 51 Y values, for a total of up to 51^2=2601 values.  The number of X values and the number of Y values can be different.  For example, you can have 21 X values, and for each X value, 11 Y values, just like the example profile "2DExample.pro".  However, you cannot vary the number of Y values for each X value, they all have to be the same.  The minimum number of X points is 2 and the minimum number of Y points is 2, so the minimum number of X,Y,Z triplets is 4.

One thing to be aware of:  if a profile input falls outside the range of the profile data, the table lookup software uses extrapolation using the nearest two points inside the range.  This may not be what you want.  So make sure your profile table spans the entire range of operation.  (Note:  The old 1D profile software also extrapolated.)

You can no longer use existing 1D profiles.  However, you can convert them.  Use the example profile "1DExample.pro" as a guide.  This profile was extracted from the 2D example and made to ignore Y by having the same Z values for each of the two Y values.

Profiles now work in force control mode as well as displacement control mode.