The new IONI firmware version has been released! It adds long awaited SinCos encoder support to the drive.
See the video below as comparison of SinCos and incremental encoder. The main advantages of SinCos are: silent (no dither), more stiffness and more precision. The only drawbacks are the availability and price of such encoders.
The other added features include application specific functionality for torque mode. This includes rotation limit (added safety) and torque setpoint scaling by analog input. These may be useful especially for OpenSimWheel project builders.