IONI firmware releases

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 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 incorrect setpoint scaling when using 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 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 download	13.4.2015	1058	Fixes Address an issue where Achieved torque readout & graph was showing only zero Improvements Improve Phasing a.k.a. phase search algorithm speed		Medium
1.1.0 download	15.4.2015	1060	Fixes Fix incorrect (too high) current scale for Brush DC motors New features Added Measure motor resistance and inductance function 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 FEV) has no effect and not causing fault New features 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) Improvements Increase feed-forward gain sensitivities: velocity FF VFF sensitivity is 30 times higher, and acceleration FF 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 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 CAO is non-zero and CED is enabled) Improvements 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) 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	Note: adjust KVP, KPP and VFF values after upgrade! See change log for details.	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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