VSpin Firmware Initial Release (v0.0.5) Information

Jul 28

What is This Post About?

Vertiq is introducing, for customer evaluation, a new style of firmware which significantly changes the fundamental motor control enabling new features and other potential improvements. This new structure introduces control based on torque or motor current targets, field weakening, and changes to how the safety systems operate. This new style of firmware is called “VSpin” to distinguish it from existing firmware styles. This post provides information on the initial public release of VSpin firmware (v0.0.5). Note that VSpin is not intended to obsolete the existing stock speed or servo firmwares, and is being developed in parallel with continued support for those existing firmware styles.

This post is meant to provide a brief overview of what is possible with this firmware style as well as guidance on who it is appropriate for.

For more information on the VSpin and its features, see our documentation. The VSpin firmware is available on our website.

Does This Replace or Obsolete The Existing G2 Firmwares?

VSpin is not currently intended as a strict upgrade from existing stock speed or servo firmware and does not obsolete those styles of firmware. This is a parallel firmware style option that is being made available for evaluation and feedback for customers who may benefit from these specific changes. This is not simply a drop-in upgrade for any systems using the current stock speed or servo firmware as parameter and tuning changes may be required to achieve identical performance.

VSpin firmware is being made available to gather feedback and help customers who may potentially benefit from its unique features, but the existing speed and servo firmware styles are and will continue to be the primary firmware styles for the G2 modules. VSpin does not yet have the extensive amount of customer field testing that our pre-existing stock firmware styles have, so it is a less mature system. The existing speed and servo firmwares can and should continue to be used by existing and new customers who are not interested in exploring the features offered by VSpin. Those styles of firmware are still being actively supported and are not obsoleted by VSpin.

For more information on considerations around transitioning to VSpin, see our documentation.

What Modules Are Impacted?

VSpin firmware is available for all G2 modules. Specifically, the modules supported are:

40-06 370Kv, 770Kv | (M34.1, M34.2, M34.3, M34.4, M34.5, M41.1, M41.2, M41.3)
40-14 400Kv | (M35.1, M35.2, M35.3, M35.4)
60-08 150Kv, 300Kv, 660Kv | (M47.1, M47.2, M40.2, M40.4, M40.5, M48.0, M48.1, M48.2, M48.3)
81-08 G2 85Kv, 140Kv, 240Kv | (M16.2, M16.3, M28.2, M28.3, M39.2, M39.3)
81-17 G2 110Kv | (M42.0, M42.1, M42.2)

What Features Does VSpin Introduce?

For full details on the new features and changes introduced by the VSpin firmware, see our documentation. A brief overview of new features introduced in VSpin and links to relevant documentation are given below:

Automatic Field Weakening can now be enabled on all modules. This makes it possible to spin faster than would typically be possible given your supply voltage at the cost of decreased efficiency. This can be useful for bursting to more aggressive setpoints, but must be used with care due to the decreased efficiency. More information can be found here.
Torque and motor current commands are now available in addition to the voltage and velocity commands that were previously available. This can be useful for applications where controlling torque specifically is more important than speed. More information can be found here.
The closed loop velocity controller and closed loop position controller now output a motor current command instead of a voltage command. This means that the units of the controllers’ gains have changed, and so the specific gains used for any tuning will be different. More information can be found here.
The performance of the module’s various safeties has changed. Safeties that cause derates now limit the maximum allowed motor current when derating instead of immediately reducing the incoming command. A motor current slew rate limiter is now available as well instead of a voltage slew rate limiter. More information can be found here.

Should I Try VSpin?

Unless there is a specific need for the features offered by VSpin, we recommend that customers who have already spent significant time successfully using or evaluating the stock speed or servo firmware continue to do so. Transitioning to using VSpin from the stock speed or servo firmware can require re-tuning and general re-configuration. This is only worth the effort in applications where there is a specific need that cannot be met by the existing firmwares. The stock speed and servo firmware styles are still supported, and so can and should still be used for new and active vehicle development.

For customers who are earlier in their evaluation process and are considering what firmware style to use, the key consideration is if they anticipate a need for the unique features of the VSpin firmware. Note that there is not a specific “servo” focused version of the VSpin firmware available currently, so customers who are interested in specifically using the features of the stock servo firmware should continue to use that style. The stock speed and servo firmwares are significantly more mature due to their extensive testing in the past at Vertiq and by our customers, so customers who do not need the features offered by VSpin may have a more stable experience using the stock speed or servo firmware. Customers who do believe they would benefit significantly from field weakening or being able to command torque, however, should consider evaluating the VSpin firmware for their application.

For more detailed information on what VSpin offers and how it compares with the stock speed and servo firmwares, see our documentation.