Servosila-Device-Reference-0xA020192

As that might not be the case during initial phases of controller
configuration, the feature is disabled by default, so that it does not cause
random oscillations or a noise early on. The feature needs to be enabled at
later phases to improve performance of the electrical drive once an initial
pass of configuring its controller has been completed, and the drive is
already operational.
Tuning intuition:
• If a drive starts experiencing speed oscillations under Electronic
Speed Control (ESC) whenever the feature is enabled, DECREASE
"Speed Filter: T" parameter using the "Spreadsheet" tool.
• If the drive starts producing excessive noise under Electronic Speed
Control (ESC) whenever the feature is enabled, INCREASE "Speed
Filter: T" parameter using the "Spreadsheet" tool.
5
Feature: Viscous
Damping
Compensation (Feed-
Forward)
0 or 1 The feature "Viscous Damping Compensation" improves dynamics and
efficiency of an electric drive if the drive experiences much viscous
damping in its payload such as the mechanical resistance of water to a
pump's motor.
Note that "Viscous Damping Constant" needs to be experimentally
measured using the controller's means, and configured prior to enabling the
feature.
BOOL,
0x2004,
0x52,
rw
Configuration - Brake
The "Brake" function uses a drive's own electric motor to prevent a motion of the drive's shaft under influence of
external forces. The controller dynamically positions electromagnetic fields inside the motor in such a way that any
significant motion of the shaft is countered by an electromagnetic force working in the opposite direction. This is like
applying a brake to the shaft, but without an actual physical braking device. If there is no external force, the "Brake"
function does not trigger any countering electromagnetic forces, and thus does not draw energy from the power supply.
Note that the "Brake" function allows for an amount of "backlash" of the shaft. The backlash helps reduce consumption
of energy. Consider using Servo Control function if the goal is to firmly hold the shaft at a given position. For the
"Brake" function to work efficiently, the controller uses Hall sensors or a "Motor Encoder" to detect that the shaft is
moving due to external forces, and to dynamically apply a countering electromagnetic force.
Note that if a motor does not have Hall sensors or a "Motor Encoder", then the controller defaults to using a statically
positioned magnetic field when holding the shaft of the motor. The statically positioned magnetic field requires an
electric current to be continuously driven through the coils of the motor regardless of the presence of any external
forces. This electric current might cause excessive heating of the sensorless motor, and cause a continuous drain of
energy from its power supply. In short, special care needs given to heat management when using the "Brake" function
with sensorless motors.
# Parameter Units Description CANopen
1 Brake: rad The controller applies a countering force that is proportional to displacement of the FLOAT32,
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