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 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)

• 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 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

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 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

• 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

• 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

• 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

• Improvements
  • Reduced torque control noise (audible). Noise reduction is active when Torque bandwidth limitTBW is set 680 Hz or less.

• 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

• 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