Granity

Granity is the configuration software tool for Granite Devices motor drives, such as IONI, ATOMI and ARGON. Granity has been designed from ground up aiming for effortless setup of servo drives while keeping functionality and reliability maxed out.

Design

• 

  Granity on Windows

• 

  Granity on Linux Ubuntu

• 

  Granity on MacOS

Download

Download the latest release from the link below.

• Windows & Linux
  • Download Granity 1.15.3 for Windows (This version fixes the software freezing bug) (91 MB)
  • Download Granity and DeploymentTool bundle for Windows & Linux (64 bit) (41 MB)
  • Older versions

• MacOS (64 bit)
  • Download Granity for MacOS (41 MB)
  • Download DeploymentTool for MacOS (12 MB)

Basic installation:

• To run Granity on Windows, just extract the Zip file and launch Granity.exe. Installation is not needed.
• To use Granity on Linux, see Granity for Linux
• To use Granity on MacOS, open the .dmg package file and drag & drop the file to your Applications folder

Utils:

• GNU Octave script for loading Granity scope captures saved as CSV files read_granity_csv.m

Drivers

In most cases Windows detects the SimpleMotion V2 USB adapter as USB Serial port and is able to install drivers automatically. However, if not, download VCP (Virtual COM Port) drivers from this page. The recommended package is the setup executable (direct link).

Documentation

See main article Granity user guide

Version history

Version	Release date	Change log	Remarks
1.0.0	1.9.2013	Initial release	Requires Argon firmware 1.0.0
1.0.1	3.9.2013	Correct typos Set Abs and Set Inc buttons to change setpoint manually Display list of all parameters together with graphs - becomes useful when saving graphs as the list of parameters gets included in the file as well Safe Torque Off status is now displayed Fix the issue of not showing online version of Wiki	Requires Argon firmware 1.0.1
1.0.2	18.9.2013	Added Invert directionAXI parameter	Requires Argon firmware 1.0.2
1.1.0	6.11.2013	Added parameters Dynamic braking decelerationBDD, Mech brake engage delayBED and Mech brake assisted phasingBAP Graphs are now saved as PNG image file instead of PDF Added copy device state to clipboard button Avoid getting (harmless) connection error message after FW upgrade	Requires Argon firmware 1.1.0
1.5.0	19.3.2015	Support for IONI Servo & Stepper Drive added Various usability improvements and added parameters (IONI only, update for Argon coming later)	In this package version there are two executables (Granity-ARGON.exe and Granity-IONI.exe). Use the one intended for your drive model.
1.6.0	15.4.2015	New feature: Measure motor resistance and inductance in Granity Add many shortcut keys
1.7.0	4.5.2015	Support SinCos feedback device option for IONI Added more guidance text to certain error messages
1.8.0	29.5.2015	Support for Argon with firmware 2.0 Added sanity checks and guidance for few parameterization errors Saving graph raw data to .csv file possible
1.9.0	2.11.2015	Support for IONI Pro HC Support for IONI firmware 1.3.0 Support for new torque cogging & uniformity functions of IONI Pro Linux version introduced Several small usability improvements	Requires IONI FW V1.3+ or Argon FW V2.0+ Package includes also executables for Granity 1.7.0 and 1.1.0 for older firmwares
1.9.1	5.1.2016	Fix app crashing (not completely yet, it seems) Fix communication errors Small GUI improvement on Testing tab
1.10.0	6.5.2016	Support IONI FW 1.5.0 GUI improvements Added SimuCUBE in Electrical interfaceCEI Added new IONI pro feature parameters
1.10.1	31.10.2016	Crashing bug fixed Small Testing page usability improvements
1.10.2	19.12.2016	Added rescan button to Communication interface devices list Support new parameter Limit switch polarityLSP Added support for language translations (no translations made yet)
1.11.0	26.1.2017	Added parameters fir BiSS feedback device configuration (for IONI Pro drive with BiSS support firware) Improve Measure resistance & inductance function
1.13.0	3.7.2017	Support for IONI FW 1.6.0 beta 2 new features Auto-setup hall sensors Serial encoder (BiSS/SSI) support upgraded New scope capture features Home switch signal source selection added Improvements Homing configuration UI refreshed Scope refreshed, new features: Offline scope capture support, see Downloading offline scope capture in Granity Scope capture pre-trigger delay is adjustable New trigger choice (external trigger) added when drive FW supports it Preservation of scope settings, settings are now stored in drive flash memory and settings files Added a button to automatically set Setpoint offset nullingCAO for Analog and PWM setpoint sources Added dedicated DeploymentTool to bach upload drive firmware & settings Compatibility between different Granity & drive versions improved when saving or loading settings files Fixes Bug of Granity 1.11.0 causing connection error with message telling that parameter address 547 failed Fix an issue where "Searching devices" status may be stuck on until application is restarted
1.14.0	17.1.2018	Added direct support for FTDI USB chipset (no dependence on virtual COM port) Support for latest firmware features added Added absolute encoder support for IONI FW 1.7.0 Add support for operation with just Hall sensors (no encoder) Fixed few bugs / issues Small user interface improvements Released MacOS version Released 64 bit Linux version
1.14.1	20.3.2018	Fixed few bugs / issues Workaround crashing in Windows version when online help-page load fails (i.e. no internet connection)
1.14.2	16.10.2018	Added hotkeys to control Quick stop feature of recent firwmares (Ctrl+Alt+Q sets quick stop, Ctrl+Alt+R resets quick stop) Granity now remembers last used interface device Small UI / UX improvements Updated internal SimpleMotion library for proper TCP/IP support
1.15.0	18.9.2019	Added support for newly introduced firmware features Small UI / UX improvements Saves new version of DRC file compatible with latest deployment functions of SimpleMotion V2 library Improved TCP/IP support Various internal improvements Updated Drive Deployment Tool to support new file formats CSV file export delimiter changed from ; to ,
1.15.1	20.11.2019	Small UI / UX improvements Added drop down menu to allow connecting directly to given drive address without going through scan & select dialog
1.15.2	7.8.2020	Scope capture Added option of 25 Hz sample rate Added support for scope sample averaging on drives that support it Allow exporting graphs to both .csv and .png formats simultaneously Added -longtimeout command line argument to tolerate higher latency connections (i.e. over TCP/IP) Added support for various new target device types

Bugs and TODO's

Known limitations

• Serial numbers read -1 when loading .drc file

Suggested features

• User settable temperature fault level
• Add mm/min and inches/min speed units
• Set fixed Y axis range for graphs

Open source licenses

Granity uses following open source libraries and components:

• Flot
• OpenSSL
• SimpleMotion V2
• QExtSerialPort
• Qt

For full details and licenses, see Third-party licenses.

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