Difference between revisions of "Argon firmware releases"

• Add STAT_STO_ACTIVE statusbit
• Incremental setpoint change now changes also absolute setpoint readout value

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 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

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

Re-tuning may be necessary after upgrade!

• Prevent drive damage in certain conditions (see remarks)
• Activating STO2 now latches a Power stage forced off fault state requiring a clear faults command to return in normal operation

• Fix homing issue when index pulse was enabled (HMI) and AXI was unticked

• New features:
  • Add motor stopping & braking parameters: BDD and BED
  • Add BAP parameter to assist motor 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). 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.

Re-adjusting FOC may be necessary.

• 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

• 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

Checking motor tuning recommended after upgrade.

• Improvements:
  • Maximum current limits increased from 10A continuous & 15A peak to 11A continuous & 16A peak
  • Mechanical brake is now released after 0.8 second delay from drive enable or clear faults command to prevent vertixal axis fall before servo control has strength. This delay is adjustable (parameter number 910, value in milliseconds).
• 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

• New features:
  • Resolver feedback device support, requires Argon resolver adapter
• Fixes & adjustments:
  • Adjusted analog (AIN1, AIN2, CHA, CHB) inputs offset & gain errors closer to zero