Argon firmware 2.0 public beta

Argon servo drive firmware version 2.0 public beta is available for evaluation.

The key changes singe 1.4.0 are:

• New features:
  • Added Position feed-forward gain parameter PFF - helps to reduce overshoot in position control mode. In previous firmware, this value was fixed to 100%.
  • Simulated encoder output from internal EXT connector (6 pin header) - useful with resolver systems where external controller needs encoder count
  • Homing with index pulse search is now possible with resolver feedback device (simulated index pulse at certain resolver angle(s))
  • Added Torque mode application specific attributes (rotation angle limit & torque scaling by analog input)
  • Added support for direction input signal in PWM and Analog setpoint modes
  • SimpleMotion V2 protocol updated:
    • added support for watchdog (stop drive if valid SM commands not arriving within predefined time period)
    • calculation of setpoint commands via SM bus renewed (drive setpoint is a sum of phyiscal setpoint (step/dir, pwm, analog etc) and the setpoint from SM host (instant and buffered commands). If SM host sets absolute setpoint, then phyiscal counter (incremental types onle) are reset to zero.)
• Improvements:
  • Increased continuous current output limit from 11A to 12.5A and peak current limit from 16A to 18A
  • Increased maximum overvoltage level from 382 VDC to 388 VDC
  • Support high encoder resolution encoder (up to 4 000 000 PPR, previously was 65 535 PPR)
  • Added new torque bandwidth limit choices: 4700 Hz and Unlimited
  • 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 speed of Phasing a.k.a. phase search
  • Improve fault tolerance with Resolver feedback device
  • Added compatibility for Granity 1.7.0 and later

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