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 Thermal time constantMTC 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 Setpoint smoothingCIS 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 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 Over speed faultFEV) 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 Velocity feed-forward gainVFF sensitivity is 30 times higher, and acceleration FF Acceleration feed-forward gainAFF 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 Setpoint offset nullingCAO is non-zero and Enable direction inputCED is enabled) Improvements Reduce sensitivity of gain parameters to suit better for very high resolution feedback devices: Velocity P gainKVP and Position P gainKPP have sensitivty of 1/5 compared to to earlier firmware (to preserve old gain, multiply old gain values by 5 after upgrade) Velocity feed-forward gainVFF 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 Motor current limit during homingHMT 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
1.3.0 download	2.11.2015	1080	New features Support IONI Pro HC drive model Added IONI Pro feature to compensate motor torque cogging and ripple Fixes Avoid overcurrent problem after Phasing a.k.a. phase search with high current motors Allow outputting the 18 A current on IONI Pro (was still limited to 15 A in previous version) Servo ready status updated correctly now Addressed an issue where GPO5 output did not change state Reduced sensitivity to overcurrent fault when using DC motor Improvements Drive current limit increased on DC motor mode on all IONI models: 19.5 A on IONI 23.4 A on IONI Pro 30.0 A on IONI Pro HC Added possibility to disable hard stop detection in homing (set zero to Hard stop detection thresholdHMH) Position mode error recovery motion mode now uses velocity limit Acceleration limitCAL, not Homing acceleration limitHMA Hard-stop homing parameterizing made more logical - now Offset move after homingHMF can be left zero without issues	Requires Granity V 1.9.0	Low
1.3.1 download	25.11.2015	1082	Improvements Reduced torque control noise (audible). Noise reduction is active when Torque bandwidth limitTBW is set 680 Hz or less.		Low
1.4.0 download	31.12.2015	1084	Improvements IONI Pro HC model maximum output current in AC/BLDC/Stepper modes increased to 25A (was 23A) Re-implemented torque controller using 32 bit floating point arithmetics instead of integer arithmetics (at least theoretical precision improvement) DC motor mode no longer requires parallel connection of drive output phases if current is at most 50% of drive's maximum output current capability (sensitivity of overcurrent fault with Fault ID 440219 is greatly reduced). Fixes Changed limit switch polarity: earlier limit switches needed to be normally open (NO), while drive specifications say that they are normally closed type (NC). Now limit switchers are NC (switch conducting -> motion allowed, switch open -> motion stops). Fix an issue where AC/BLDC motor initialization could become incorrectly phased when Hall sensors are enabled Address an issue where torque was 5% lower than setpoint with TBW parameter value of 4700 Hz	Test the upgrade with caution due to significant internal changes If system uses limit switches, they need to be wired differently after upgrade, or disable them with LFS parameter	Medium
1.5.0 download	8.5.2016	1092	New features (IONI Pro/Pro HC only): Notch/peaking filter for torque setpoint Torque mode effects added: damping, friction and inertia Homing function that works in all control modes Power consumption limit parameter added (allow setting maximum power driven to motor) SimuCUBE support added in Electrical interfaceCEI. In SimuCUBE mode: STO input acts also as Enable and Clearfaults input Regenerative resistor drive algorithm is tuned for SimuCUBE (tip: use 48 VDC PSU and set Over voltage fault thresholdFOV to 49-50V) Power consumption limit is smoother in SimuCUBE mode than in other modes New features (all models): Support for fast setpoint command added in SimpleMotion V2 protocol In torque mode the Tracking error capture channel now displays the difference between raw unfiltered setpoint and realized actual torque in milliamperes Improvements Smoother multi-axis operation in buffered motion stream mode (SimpleMotion V2) Drive now performs a self-test of the internal RAM of controller at every power-on Fixes Address an issue where fault location 6601 was rarely induced after power-on	Test the upgrade with caution due to significant internal changes Use Granity V1.10 or later to access the new features	Low
1.5.1 download	6.6.2016	1094	Improvements Operation of regenerative resistor drive enhanced in SimuCUBE Electrical interfaceCEI mode Fixes Address an issue where homing could act erratically (i.e. perform homing twice in a row while one homing is requested) SimpleMotion watchdog/keepalive feature fixed (was broken at 1.5.0)		Medium

Comparison of 1.4 and 1.5 releases

Due to discussion about torque control differences between versions 1.4 and 1.5, we made a special versions of both firmware versions to allow analytical comparison of torque output. For details and downloads, see Analyzing torque mode effects. If unexpected differences are noticed, please report us at Granite Devices support.

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. This minor issue affects only first production run IONI drives shipped around April 2015 to June 2015.

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