IONI firmware releases

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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
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 Over speed faultFEV) has no effect and not causing fault
  • New features
  • 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
  • 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-BETA1 download 6.4.2016 1090
  • 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
  • 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

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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