Servosila-Device-Reference-0xA020192
Table Of Contents
- Servosila Device Reference
- Configuration Parameters
- Configuration - Datasheet
- Configuration - Control Laws
- Configuration - Features
- Configuration - Brake
- Configuration - Work Zone
- Configuration - Fault Management
- Configuration - Peripheral: GPIO
- Configuration - Peripheral: Hall Sensors
- Configuration - Peripheral: Quadrature Encoder
- Configuration - Peripheral: SSI/BISS-C Encoder
- Configuration - Peripheral: SPI Encoder
- Configuration - Peripheral: PWM Encoder
- Configuration - Peripheral: Gate Driver
- Configuration - Networking
- Configuration - Product Activation
- Telemetry Parameters
- Telemetry - System Status
- Telemetry - Field Oriented Control (FOC)
- Telemetry - Direct Drive Control
- Telemetry - Sensorless Observer
- Telemetry - Hall Sensors Observer
- Telemetry - Peripheral: ADC
- Telemetry - Peripheral: Hall Sensors
- Telemetry - Peripheral: Quadrature Encoder
- Telemetry - Peripheral: SSI/BISS-C Encoder
- Telemetry - Peripheral: SPI Encoder
- Telemetry - Peripheral: PWM Encoder
- Telemetry - Peripheral: GPIO
- Telemetry - Peripheral: Inverter (PWM)
- Telemetry - Peripheral: Gate Driver
- Telemetry - Networking
- Telemetry - Device Information
- Commands
- Command - Electronic Speed Control (ESC), Hz
- Command - Electronic Speed Control (ESC), RPM
- Command - Servo
- Command - Servo Stepper
- Command - Current Control / Field Oriented Control (FOC)
- Command - Electronic Torque Control (ETC)
- Command - Direct Field Control: Rotation
- Command - Direct Field Control: Electrical Position
- Command - Kickstart
- Command - Reset
- Command - Reset Work Zone
- Command - Brake
- Command - Stop
- Command - Off
- Command - GPIO: PWM output
- Command - Testing: Field Oriented Control (FOC)
- Command - Testing: Electronic Speed Control (ESC)
- Command - Testing: Servo Control
- Command - Brushed: Open Loop Control (1-2 motors)
- Command - Autoconfiguration: Brushless Motor
- Command - Autoconfiguration: Brushed Motor
- Command - GPIO: Generic Output
- Telemetry Mappings (TPDO)
- Configuration Parameters
• 17: Testing - Servo Wave
• 18: BLDC Commutation
• 19: Brushed Motor or Solenoid Control (1-2 motors)
This parameter tells what control law the controller is currently using to drive
the motor.
3
Commutation
method
- • 1: None (Kickstart)
• 2: Sensorless
• 3: Hall Sensors
• 4: Encoder
This parameter tells which method the controller is currently using to determine
electrical position of the rotor.
UINT16,
0x4000,
0x15,
ro
4
Kickstart
needed
rad This telemetry parameter tells if the motor needs a kickstart at its current state.
A kickstart is needed if a sensorless motor is not yet moving or moving slowly,
or if a quadrature encoder is yet to find its index position.
BOOL,
0x4000,
0x14,
ro
5
Speed
(Electrical
Frequency)
Hz This telemetry parameter tells the speed of the motor.
The speed is defined in electrical revolutions per second (Hz). To convert
electrical revolutions per second (Hz) to motor shaft's revolutions per second,
just divide it by the number of pole pairs.
For example, assuming the speed is 20 Hz (electrical), and Poles Number is 8,
then the corresponding speed in motor shaft's revolutions per second is 20 /
(8/2) = 5.0 (revolutions per second), which is 5 * 60 = 300 RPM.
FLOAT32,
0x4000,
0x10,
ro
6
Electrical
Position
rad This telemetry parameter tells the position of the rotor in relation to the stator.
This position is measured using Hall sensors or a motor encoder, or estimated
by "Sensorless Observer" method.
FLOAT32,
0x4000,
0x11,
ro
7
Motor Encoder
Counts
counts This is an ABSOLUTE POSITION read out from an encoder that plays the
"Motor Encoder" role.
FLOAT32,
0x4000,
0x13,
ro
8
Servo Speed Hz This is the current speed of rotation of the output shaft of the servo drive (in
revolutions per second).
FLOAT32,
0x4000,
0x16,
ro
9 Servo Position rad This is a normalized position of the servo shaft. This is applicable to both
ROTARY and LINEAR encoders.
The position is normalized by dividing a servo encoder's output by the
FLOAT32,
0x4000,
0x17,
ro
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