Servosila-Device-Reference-0xA020192

opposite direction. This is like applying a brake to the shaft, but without an actual physical braking device. If there is no
external force, the "Brake" command does not trigger any countering electromagnetic forces, and thus does not draw
energy from the power supply.
For the braking function to work efficiently, the controller uses Hall sensors or a "Motor Encoder" to detect that the
shaft is moving due to external forces, and to dynamically apply a countering electromagnetic force. Note that if a
motor does not have Hall sensors or a "Motor Encoder", then the controller defaults to using a statically positioned
magnetic field when holding the shaft of the motor. The statically positioned magnetic field requires an electric current
to be continuously driven through the coils of the motor regardless of the presence of external forces. This electric
current might cause excessive heating of the sensorless motor, and cause a continuous drain of energy from its power
supply. In short, special care needs to be taken when using the "Brake" command with sensorless motors.
This command does not have parameters.
The RPDO COB-ID is 0x200.
The Command Code is 0x50.
This command should be sent CONTINUOUSLY at regular intervals to avoid heartbeat timeout on the device side.
Command - Stop
This command instructs the controller to stop a running motor in a controllable way.
This command does not have parameters.
The RPDO COB-ID is 0x200.
The Command Code is 0x04.
This command should be sent CONTINUOUSLY at regular intervals to avoid heartbeat timeout on the device side.
Command - Off
This command powers off the inverter circuitry which means all connected motors or solenoids are powered off.
This command does not have parameters.
The RPDO COB-ID is 0x200.
The Command Code is 0x06.
This command should be sent CONTINUOUSLY at regular intervals to avoid heartbeat timeout on the device side.
Command - GPIO: PWM output
This command increases or decreases duty cycle of a PWM signal on a dedicated GPIO output pin. The command is
typically used to control solenoids/brakes connected via the GPIO output pin.
Parameter Units Description Data type
Position in
Payload
1 Duty Cycle 0.0- This parameter specifies a duty cycle of the PWM signal. The value must FLOAT32 4
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