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
Speed (Electrical
Frequency)
Hz This parameter defines a target speed. The speed is expressed
in electrical revolutions per second (Hz).
FLOAT32 4
The RPDO COB-ID is 0x200.
The Command Code is 0x58.
This command should be sent CONTINUOUSLY at regular intervals to avoid heartbeat timeout on the device side.
Command - Reset
The command clears "Fault Bits" latches, powers off the motor, resets the inverter circuitry, and resets the Work Zone
position. Use this command to clear fault flags whenever Fault Bits telemetry indicates a fault, to reset servo position
within the work zone, or as a "panic button" to power off the motor in an emergency.
Whenever a fault is detected, the controller powers off the motor, raises one or more "Fault Bits" flags, and starts
waiting for a "Reset" command to come from a parent control system. Until a "Reset" command comes, the motor
ignores all other commands received from the parent control system. Note that all configuration management functions
(CANopen SDO functionality) keep working as usual. The parent control system is expected to continuously monitor
the "Fault Bits" parameter streamed to it via CANopen TPDO mechanism. If the "Fault Bits" parameter is 0 (all bits are
clear), then nothing needs to be done. Whenever one or more bits of the "Fault Bits" telemetry indicate a fault, the
parent control system is supposed to issue a "Reset" command once the fault is addressed, and the drive is ready to re-
start operation.
This command does not have parameters.
The RPDO COB-ID is 0x200.
The Command Code is 0x01.
It is generally not required to continuously send this command to the device.
Command - Reset Work Zone
The command programmatically resets the multi-turn Work Zone position counter back to the first turn.
This command does not have parameters.
The RPDO COB-ID is 0x200.
The Command Code is 0xE0.
It is generally not required to continuously send this command to the device.
Command - Brake
The "Brake" command instructs the controller to start using the drive's electric motor to prevent motion of the drive's
shaft under influence of external forces. The controller starts dynamically positioning electromagnetic fields inside the
motor in such a way that any significant motion of the shaft is countered by an electromagnetic force working in the
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