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 |
|
|
|
| 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 |
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 FEV) has no effect and not causing fault
- New features
- 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
|
| 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 HMT 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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