Difference between revisions of "IONI firmware releases"

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m (Text replacement - "\[\[([A-Z]{2,3})\]\]" to "{{param|$1}}")
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| 1.0.2  || 11.4.2015||  1054 ||  
 
| 1.0.2  || 11.4.2015||  1054 ||  
 
*Fixes
 
*Fixes
−
**Fix [[Phasing a.k.a. phase search]] current calculation when [[MTC]] is set below 400 seconds. Avoids too high current flow to motor.
+
**Fix [[Phasing a.k.a. phase search]] current calculation when {{param|MTC}} is set below 400 seconds. Avoids too high current flow to motor.
 
**Fix overcurrent condition observer (OC fault was not always triggered when it should).  
 
**Fix overcurrent condition observer (OC fault was not always triggered when it should).  
−
**Fix incorrect setpoint scaling when using [[CIS]] Setpoint smoothing function (before 1.0.2 CIS caused setpoint to incorrectly scale by 1:2)
+
**Fix incorrect setpoint scaling when using {{param|CIS}} Setpoint smoothing function (before 1.0.2 CIS caused setpoint to incorrectly scale by 1:2)
 
**Fix functionality of GPI5 input (homing start)
 
**Fix functionality of GPI5 input (homing start)
 
**Fix override parameter function (more info: [[Reading and writing an arbitrary parameter with Granity]])
 
**Fix override parameter function (more info: [[Reading and writing an arbitrary parameter with Granity]])
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| 1.2.0 [[Media:IONIFWpackage1.2.0.gdf|download]] || 4.5.2015||  1062 ||  
 
| 1.2.0 [[Media:IONIFWpackage1.2.0.gdf|download]] || 4.5.2015||  1062 ||  
 
*Fixes
 
*Fixes
−
**Address an issue where overspeed fault (parameter [[FEV]]) has no effect and not causing fault
+
**Address an issue where overspeed fault (parameter {{param|FEV}}) has no effect and not causing fault
 
*New features
 
*New features
 
**Added support for analog SinCos encoder feedback device in IONI Pro model
 
**Added support for analog SinCos encoder feedback device in IONI Pro model
 
**Added [[Torque mode application specific attributes]] (rotation angle limit & torque scaling by analog input)
 
**Added [[Torque mode application specific attributes]] (rotation angle limit & torque scaling by analog input)
 
*Improvements
 
*Improvements
−
**Increase feed-forward gain sensitivities: velocity FF [[VFF]] sensitivity is 30 times higher, and acceleration FF [[AFF]] is 300 times higher than before
+
**Increase feed-forward gain sensitivities: velocity FF {{param|VFF}} sensitivity is 30 times higher, and acceleration FF {{param|AFF}} is 300 times higher than before
 
**Increased [[Phasing a.k.a. phase search]] algorithm motor swing to allow successful phasing in the case where motor motion is blocked in one direction
 
**Increased [[Phasing a.k.a. phase search]] algorithm motor swing to allow successful phasing in the case where motor motion is blocked in one direction
 
**Motor inductance & resistance measurement function (introduced V1.1.0) adjusted to be less sensitive to motor motion during the test
 
**Motor inductance & resistance measurement function (introduced V1.1.0) adjusted to be less sensitive to motor motion during the test
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*Fixes
 
*Fixes
 
**Address an issue where GPI5 did not start homing
 
**Address an issue where GPI5 did not start homing
−
**Fix signal offset compensation calculation in PWM and Analog setpoint modes (applies when [[CAO]] is non-zero and [[CED]] is enabled)
+
**Fix signal offset compensation calculation in PWM and Analog setpoint modes (applies when {{param|CAO}} is non-zero and {{param|CED}} is enabled)
 
*Improvements
 
*Improvements
 
**Reduce sensitivity of gain parameters to suit better for very high resolution feedback devices:
 
**Reduce sensitivity of gain parameters to suit better for very high resolution feedback devices:
−
***[[KVP]] and [[KPP]] have sensitivty of 1/5 compared to to earlier firmware (to preserve old gain, multiply old gain values by 5 after upgrade)
+
***{{param|KVP}} and {{param|KPP}} have sensitivty of 1/5 compared to to earlier firmware (to preserve old gain, multiply old gain values by 5 after upgrade)
−
***[[VFF]] has sensitivty of 1/10 compared to to earlier firmware (to preserve old gain, multiply old gain value by 10 after upgrade)
+
***{{param|VFF}} has sensitivty of 1/10 compared to to earlier firmware (to preserve old gain, multiply old gain value by 10 after upgrade)
 
**Increased maximum value range of gain parameters from 32767 to 300000
 
**Increased maximum value range of gain parameters from 32767 to 300000
 
|| Note: adjust KVP, KPP and VFF values after upgrade! See change log for details.
 
|| Note: adjust KVP, KPP and VFF values after upgrade! See change log for details.
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**''Target reached'' status made to work properly
 
**''Target reached'' status made to work properly
 
*Improvements
 
*Improvements
−
**Homing current limit [[HMT]] parameter is now effective also in stepper mode
+
**Homing current limit {{param|HMT}} parameter is now effective also in stepper mode
 
||  
 
||  
 
|| Low
 
|| Low

Revision as of 19:59, 28 August 2015

This page lists the official firmware releases of the IONI Servo Drive and the change log.

Upgrading firmware

Read instructions from Granity user guide/Uploading a firmware.

Releases

Glossary
  • Firmware release version - a firmware file with .gdf name extension that contains the firmware firmware
  • Version code - the version shown in Granity
  • Change log - the list of changes made since the previous package version.
  • Remarks - Notes
Firmware release version Date Version code Change log Remarks Importance
1.0.0 15.3.2015 1050
  • Initial version
1.0.1 19.3.2015 1052
  • Address an issue where device may trigger watchdog reset under heavy use
Medium
1.0.2 11.4.2015 1054
  • Fixes
    • Fix Phasing a.k.a. phase search current calculation when Thermal time constantMTC is set below 400 seconds. Avoids too high current flow to motor.
    • Fix overcurrent condition observer (OC fault was not always triggered when it should).
    • Fix incorrect setpoint scaling when using Setpoint smoothingCIS Setpoint smoothing function (before 1.0.2 CIS caused setpoint to incorrectly scale by 1:2)
    • Fix functionality of GPI5 input (homing start)
    • Fix override parameter function (more info: Reading and writing an arbitrary parameter with Granity)
  • Improvements
    • Reduce Phasing a.k.a. phase search current to avoid motor heating at initialization
    • Improve open loop stepping motor performance
    • GPO3 (fault output) will be push-pull instead of open drain when electrical interface is set Standard (for IONICUBE 1X compatibility)
    • IONI Indiegogo campaign drives have 18 Amp maximum current limit instead of 15 A (serial number based)
 Important upgrade due to overcurrent protection fix and phasing current calcuation fix. Very high
1.0.3 12.4.2015 1056
  • Fixes
    • Fix clear faults command by Enable signal in IONICUBE electrical interface mode
    • Fix PWM setpoint operation after setpoint source has been changed from pulse/direction to PWM
  • Improvements
    • Stepping motor has automatic current reduction/boost depending on whether motor is standing still or rotating (switch between configured continuous and peak current).
 Medium
1.0.4 13.4.2015 1058
  • Fixes
    • Address an issue where Achieved torque readout & graph was showing only zero
  • Improvements
Medium
1.1.0 download 15.4.2015 1060
  • Fixes
    • Fix incorrect (too high) current scale for Brush DC motors
  • New features
  • Improvements
    • Extend the maximum range of resistance and inductance parameters from 32 ohm & mH to above 100 ohm & mH
 The new feature requires Granity V 1.6.0 Medium (High for DC motor users)
1.2.0 download 4.5.2015 1062
  • Fixes
    • Address an issue where overspeed fault (parameter Over speed faultFEV) has no effect and not causing fault
  • New features
  • Improvements
    • Increase feed-forward gain sensitivities: velocity FF Velocity feed-forward gainVFF sensitivity is 30 times higher, and acceleration FF Acceleration feed-forward gainAFF is 300 times higher than before
    • Increased Phasing a.k.a. phase search algorithm motor swing to allow successful phasing in the case where motor motion is blocked in one direction
    • Motor inductance & resistance measurement function (introduced V1.1.0) adjusted to be less sensitive to motor motion during the test
 The SinCos support requires Granity V 1.7.0

Note: if acceleration or velocity feed-forward gain parameters are non-zero, re-tune the AFF and VFF gains after upgrade!

Medium
1.2.1 download 3.6.2015 1064
  • Fixes
    • Address an issue where GPI5 did not start homing
    • Fix signal offset compensation calculation in PWM and Analog setpoint modes (applies when Setpoint offset nullingCAO is non-zero and Enable direction inputCED is enabled)
  • Improvements
    • Reduce sensitivity of gain parameters to suit better for very high resolution feedback devices:
      • Velocity P gainKVP and Position P gainKPP have sensitivty of 1/5 compared to to earlier firmware (to preserve old gain, multiply old gain values by 5 after upgrade)
      • Velocity feed-forward gainVFF has sensitivty of 1/10 compared to to earlier firmware (to preserve old gain, multiply old gain value by 10 after upgrade)
    • Increased maximum value range of gain parameters from 32767 to 300000
 Note: adjust KVP, KPP and VFF values after upgrade! See change log for details. Low
1.2.2 download 23.6.2015 1068
  • Fixes
    • Stepper motor mode no longer reduces motor current in steady velocity motion (reduction occurred when a long motion setpoint was commanded via serial command)
    • Target reached status made to work properly
  • Improvements
    • Homing current limit Motor current limit during homingHMT parameter is now effective also in stepper mode
 Low
1.2.3 download 15.7.2015 1070
  • Fixes
    • Fix PWM+Dir setpoint mode (was giving only setpoint zero in FW 1.2.1 and 1.2.2)
  • Improvements
    • Drive current limit increased to 18 A in IONI Pro model
 Low


Known bugs & limitations

Bugs that are known in the latest FW revision:

  • Setpoint smoothing does not have effect in velocity or torque modes (only position mode)
  • Install firmware button in Granity does not always have effect with IONICUBE (4 axis). Workaround: insert jumper in position 3 of JP10 and restart 24V power to force devices in firmware upgrade mode.
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