Difference between revisions of "IONI firmware releases"

• Initial version

• Address an issue where device may trigger watchdog reset under heavy use

• 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)

• 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).

• Fixes
  • Address an issue where Achieved torque readout & graph was showing only zero
• Improvements
  • Improve Phasing a.k.a. phase search algorithm speed

• 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

• Fixes
  • Address an issue where overspeed fault (parameter FEV) 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 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

Note: if acceleration or velocity feed-forward gain parameters are non-zero, re-tune the AFF and VFF gains after upgrade!

• 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

• 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