View source for Argon firmware releases

This page lists the official firmware releases of the [[Argon (servo drive)]] and the change log.

;Glossary
*Firmware package - a firmware file with .gdf name extension that contains combined firmware for Argon I/O side processor and [[GraniteCore]] processor
*I/O side - the I/O side processor of Argon. The source code of this processor is open source.
*[[GraniteCore]] - the motion control processor inside the Argon. 
*Change log - the list of changes made since the previous package version.
*Remarks - Notes

{| class="wikitable"
|-
! Firmware package version !!Date!! I/O side version !! [[GraniteCore]] version !! Change log !! Remarks !! Importance
|-
| 0.9.0 || 1.7.2013||1000 || 1000 || Development version || Shipped with the first production batch||
|-
| 1.0.0  || 1.9.2013||1000 || 1005 || Initial official release || A requirement for [[Granity]] 1.0.0 ||
|-
| 1.0.1  || 3.9.2013 ||1000 || 1006 || 
*Add STAT_STO_ACTIVE statusbit
*Incremental setpoint change now changes also absolute setpoint readout value 
|| A requirement for [[Granity]] 1.0.1|| Functional
|-
| 1.0.2  || 18.9.2013 ||1001 || 1007 || 
New features:
*Analog in setpoint now has direction input to support 0-10V sources with direction signal (in addition to standard +/-10V)
*New AC/BLDC motor [[Phasing a.k.a. phase search|phasing algorithm]]:
**Improved operation when axis is heavy to move
**Phasing now supports limit switches. Now it's possible to use Hall-sensorless phasing when axis lies at the end of travel or if axis is vertical and pulled down by gravity. Requires limit switches on axis and configuring [[LFS]] to other than ''Do nothing''.
*Feature to invert the polarity of motor positive/negative direction. Parameter [[AXI]] on [[Granity]].
*Improved [[Dead-time distortion]] correction giving better [[Servo stiffness|servo stiffness]]

Bug fixes:
*Hall sensor support fixed
*Failure of phasing under high friction fixed
*Toggling of general purpose input lines no longer clear faults in case of clear faults signal is constantly on while other signals change state
*Limit switches now work properly in torque control mode

Adjustments:
*Goal deviation default fault filter time reduced from 0.2 to 0.1 s
*Space vector modulation code cleanup
*Default motor direction is inverted compared to the earlier versions (tick [[AXI]] to set it same way it was before this version)
|| 
A requirement for [[Granity]] 1.0.2 

'''[[Servo motor tuning guide|Re-tuning]] may be necessary after upgrade!'''
|| Important and useful for most users, upgrade highly recommended
|-
| 1.0.3 [[Media:ArgonFWpackage1.0.3.gdf|download]]
|| 20.9.2013 ||1001 || 1008 || 
*Prevent drive damage in certain conditions (see remarks)
*Activating [[Safe torque off|STO]]2 now latches a ''Power stage forced off'' fault state requiring a clear faults command to return in normal operation
|| Usage of older firmware versions safe only if [[SimpleMotion V2 port|STO2 input]] has been permanently tied to 24 VDC. || Critical
|-
| 1.0.4 [[Media:ArgonFWpackage1.0.4.gdf|download]]
|| 27.9.2013 ||1001 || 1009 || 
*Fix homing issue when index pulse was enabled ([[HMI]]) and [[AXI]] was unticked
||  || Minor fix

|-
| 1.1.0 [[Media:ArgonFWpackage1.1.0.gdf|download]]
|| 6.11.2013 ||1002 || 1015 || 
*New features:
**Add motor stopping & braking parameters: [[BDD]] and [[BED]]
**Add [[BAP]] parameter to assist motor [[Phasing a.k.a. phase search|phasing]] on a vertical axis where gravity pulls axis down. May eliminate Hall sensor requirement on such axis.
**Motor now returns to the position where it located at the moment of drive power-on (cancel the motion caused by [[Phasing a.k.a. phase search|phasing]]). Works in position & velocity modes.
*Improvements:
**Optimized torque efficiency on high electrical frequency motors
**Follow error warning status & digital output now works also in velocity control mode in addition to position mode
**Improve overcurrent protection setting [[FOC]] consistency
**Changed the default [[FOV]] limit value from 350 to 365 VDC to avoid braking resistor heating when idling
*Known bug: Sometimes ''Initialized'' state never goes on and also homing won't start in such case. Will be fixed in 1.1.1.
|| Adjusting the new parameters require [[Granity]] V1.1.0.

Re-adjusting [[FOC]] may be necessary.
 || New features. Overcurrent protection consistency improved.

|-
| 1.1.1 [[Media:ArgonFWpackage1.1.1.gdf|download]]
|| 7.11.2013 ||1004 || 1016 || 
*Fixes & adjustments:
**Properly always sets Initialized state as true after drive is ready for operation
**Now motor doesn't rotate to zero position in pulse & direction and quadrature setpoint source modes when Apply is clicked on Granity
||  || Fixes & adjustments, not critical
|-
| 1.2.0 [[Media:ArgonFWpackage1.2.0.gdf|download]]
|| 10.12.2013 ||1005 || 1017 || 
*Improvements:
**Servo control bandwidth increased due to lower position & velocity feedback latency
**Motion jerks reduced/eliminated while drive is communicating through SimpleMotion V2 bus
*Fixes & adjustments:
**Corrected "Optimized torque efficiency on high electrical frequency motors" feature functionality of FW package 1.1.0 when [[AXI]] or [[FBI]] parameter was set to true.
**Fix incorrectly displayed torque capture graph polarity when [[AXI]] was set
**[[FOV]] maximum value increased from 375 to 382 VDC
||  || In most cases servo velocity & position gains may now be set higher yielding higher motor stiffness. 

Checking motor tuning recommended after upgrade.

|-
| 1.2.1 ''in beta testing''
|| 6.3.2014 ||1007 || 1019 || 
*Improvements:
**Maximum current limits increased from 10A continuous & 15A peak to 11A continuous & 16A peak
*Fixes & adjustments:
**Fix the issue where enabling Hall sensors may cause reduced torque sensitivity or erratic motion
**Fix the issue where drive may not complete initialization procedure if [[CRV]] value is set 0
||  || 

|}

==Known bugs==
Bugs that are known in the latest FW revision:
*Drive may not complete initialization procedure if [[CRV]] value is set 0
[[Category:Argon]]