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
Parameter Units Description Data type
Position in
Payload
1
Work Zone
Position
counts This parameter specifies a target position the servo drive is going to
move to. Note that the position is defined in Work Zone "multi-turn"
counts meaning that the servo might make multiple revolutions to reach
the target position. The position can be a positive or a negative value.
FLOAT32 4
The RPDO COB-ID is 0x200.
The Command Code is 0x30.
This command should be sent CONTINUOUSLY at regular intervals to avoid heartbeat timeout on the device side.
Command - Servo Stepper
The "Servo Stepper" command instructs the controller to move the output shaft of a servo drive to a position that is
offset from its current position. The offset can be positive or negative. Under the hood the command causes the
controller to compute a new target position, and issue itself a "Servo" command.
Parameter Units Description Data type
Position in
Payload
1
Number of steps
(Work Zone
Counts)
counts This parameter defines an offset from the servo drive's current
position. Note that the offset is defined in Work Zone "multi-turn"
counts meaning that the servo might make multiple revolutions to
reach the target position. The number of steps can be a positive or a
negative value.
FLOAT32 4
The RPDO COB-ID is 0x200.
The Command Code is 0x38.
It is generally not required to continuously send this command to the device.
Command - Current Control / Field Oriented Control (FOC)
This command instructs the controller to drive a constant electrical current through a brushless/brushed motor. Use this
command to directly control electrical current flowing through a motor. The constant electrical current means a
constant torque generated by the motor. The command might causes the motor to continuously accelerate.
Parameter Units Description Data type
Position in
Payload
1 Current A The "Current" parameter is the commanded electrical current to be driven
through the brushless/brushed motor. This value should be equal or less
than the "Maximum Continuous Current" configuration parameter.
FLOAT32 4
The RPDO COB-ID is 0x200.
The Command Code is 0x10.
This command should be sent CONTINUOUSLY at regular intervals to avoid heartbeat timeout on the device side.
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