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
encoder's resolution and then multiplying it by (2*PI) rad.
For example, if a servo encoder has a resolution of 65536 counts, and the
encoder's output is 1000 counts, then the normalized position is 1000 / 65536 *
(2*PI) = 0.095873799 rad.
10
Servo Encoder
Counts
counts This is an ABSOLUTE POSITION read out from an encoder that plays the
"Servo Encoder" role.
FLOAT32,
0x4000,
0x12,
ro
11
Work Zone
Count
counts The "Work Zone Count" telemetry is the same as "Servo Encoder Counts", but
it continuously spans in both positive and negative directions.
The "Work Zone Count" is not limited to just 360 degrees of the rotary
encoder's resolution. Instead, it logically spans in both positive or negative
directions as many encoder counts as needed. Both Servo Control and Direct
Drive Control use the logical work zone's counts at their references instead of
the physical servo encoder's readings. This makes it easier to develop "multi-
turn" servo applications.
FLOAT32,
0x4000,
0x18,
ro
12
Sample
Number
- This is a continuously incremented counter of samples taken by an ADC
module of the controller. The counter is incremented with the sampling
frequency of the controller.
UINT32,
0x4000,
0x04,
ro
Telemetry - Field Oriented Control (FOC)
# Parameter Units Description CANopen
1
Torque N*m This is an estimate of TORQUE that the motor is currently generating.
Note that this estimation is only available whenever the motor runs under
Field Oriented Control (FOC).
FLOAT32,
0x4001,
0x02,
ro
2
FOC: Iq current A This is an estimate of Iq current derived from phase currents measured by
the ADC.
FLOAT32,
0x4001,
0x03,
ro
3
FOC: Id current A This is an estimate of Id current derived from phase currents measured by
the ADC.
FLOAT32,
0x4001,
0x04,
ro
4
FOC: Id reference V This is a currently commanded Id reference. This telemetry parameter is
useful for tuning "Feature: Field Weakening".
FLOAT32,
0x4001,
0x09,
ro
5 FOC: Uq voltage V This is a Uq voltage, an output of a FOC control law. FLOAT32,
0x4001,
0x05,
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