Servosila-Device-Reference-0xA020192

2
Speed
(Electrical
Frequency)
Hz This parameter defines a speed with which the controller rotates the
magnetic field created inside the motor using the coils of the motor.
FLOAT32 4
The RPDO COB-ID is 0x200.
The Command Code is 0x40.
This command should be sent CONTINUOUSLY at regular intervals to avoid heartbeat timeout on the device side.
Command - Direct Field Control: Electrical Position
The "Direct Field Control: Electrical Position" command instructs the controller to use the coils of a brushless motor to
create a STATIC magnetic field inside the motor. The rotor of the motor aligns itself with such a static magnetic field.
Note that this way of positioning the rotor is inefficient from the energy point of view, and can lead to heating the
motor. However this mode of operation is useful any many practical applications such as gyro-stabilization of optical
payloads.
Parameter Units Description Data type Position
in
Payload
1
Voltage V This parameter specifies a voltage that the controller applies to the coils of
the stator to create a STATIC magnetic field inside the motor. The higher
the voltage is, the stronger the electrical current in the coils is, the stronger
the rotor is attached to the static magnetic field.
ATTENTION: Wrong voltage burns brushless motors. The coils of
brushless motors tend to have low electrical resistance. Even a small
voltage (0.20-0.30 V) can create an electric current strong enough to burn
the coils. If you are not sure what a safe voltage is, start with a small
voltage (0.10 V), and gradually raise it, while observing electrical currents
flowing through the motor's phases using the controller's telemetry screen.
The electrical currents should not be stronger than "Maximum Continuous
Current" limit of the motor, a datasheet value.
FLOAT16 2
2
Electrical
Position
rad This parameter specifies an electrical position of the static magnetic field to
be created using the coils of the stator.
FLOAT32 4
The RPDO COB-ID is 0x200.
The Command Code is 0x44.
This command should be sent CONTINUOUSLY at regular intervals to avoid heartbeat timeout on the device side.
Command - Kickstart
The "Kickstart" command accelerates a "sensorless" brushless motor to a target speed using a control technique that
that does require any knowledge of the rotor's position. This command is intended for use with "sensorless" brushless
motors. Note the "Kickstart" procedure is configured in "Control Laws" section.
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