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

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 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!	Important and useful for most users, upgrade highly recommended
1.0.3 download	20.9.2013	1001	1008	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	Usage of older firmware versions safe only if STO2 input has been permanently tied to 24 VDC.	Critical
1.0.4 download	27.9.2013	1001	1009	Fix homing issue when index pulse was enabled (HMI) and AXI was unticked		Minor fix
1.1.0 download	6.11.2013	1002	1015	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.	Adjusting the new parameters require Granity V1.1.0. Re-adjusting FOC may be necessary.	New features. Overcurrent protection consistency improved.
1.1.1 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 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 download	7.3.2014	1008	1020	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
1.3.0 download	27.3.2014	1009	1021	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
1.3.1 download	28.4.2014	1009	1023	Fixes & adjustments: Fix an issue where Brush DC motor outputs no torque
1.4.0 download	9.1.2015	1010	1024	New features: "PWM magic trick" to increase maximum effective output voltage of 3 phase AC/BLDC motors by 16%. For more info, see this. Fixes & adjustments: Fix a bug causing overcurrent faults in certain conditions Fix pulse&direction setpoint problem with noisy direction signal that may cause drive getting in erroneous direction state
1.4.1 To be released	22.7.2015	1011	1025	Fixes & adjustments: Added additional protection interlocks for drive's internal in-rush limiter (reliability improvement) Reduce sensitivity of resolver feedback device no-signal failure (fault location code 890101) Increased upper limit of HV DC bus supply (parameter FOV increased) Effictiviness of regenerative resistor improved		May improve device reliability, upgrade highly recommended

Known bugs

Bugs that are known in the latest FW revision:

• None

Open source I/O side firmware

Firmware of I/O side CPU in the Argon is GPL V2 licensed open source.

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