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
Commands
Command - Electronic Speed Control (ESC), Hz
The "Electronic Speed Control (ESC), Hz" command instructs the controller to drive a brushless/brushed motor at a
constant speed. The controller automatically increases or decreases torque to maintain the constant speed.
Note that the speed here is defined in electrical revolutions per second (Hz). To convert the 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 Hz (revolutions per second), which is 5 * 60 = 300 RPM.
Parameter Units Description Data type
Position in
Payload
1
Speed (Electrical
Frequency)
Hz This is a speed reference defined in electrical
revolutions per second.
FLOAT32 4
The RPDO COB-ID is 0x200.
The Command Code is 0x20.
This command should be sent CONTINUOUSLY at regular intervals to avoid heartbeat timeout on the device side.
Command - Electronic Speed Control (ESC), RPM
The "Electronic Speed Control (ESC), RPM" command instructs the controller to drive a brushless/brushed motor at a
constant speed defined in motor shaft's revolutions per minute (RPM). The controller automatically increases or
decreases torque to maintain the constant speed.
Under the hood the controller converts the RPM reference into an electrical revolutions per second (Hz), and issues
itself an "Electronic Speed Control (ESC)" command. Properly set the "Poles Number" parameter in the "Datasheet"
section before using this command, since the configuration parameter is used to perform the conversion.
Parameter Units Description Data type
Position in
Payload
1
Speed (Revolutions per
Minute)
RPM This is a speed reference defined in motor shaft's
revolutions per minute.
FLOAT32 4
The RPDO COB-ID is 0x200.
The Command Code is 0x24.
This command should be sent CONTINUOUSLY at regular intervals to avoid heartbeat timeout on the device side.
Command - Servo
The "Servo" command instructs the controller to move the output shaft of a servo drive to a specified target position,
and keep that position upon reaching it. Note that a speed with which the servo drive moves is defined by "Servo:
Speed Limit" configuration parameter.
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