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
1.0 be a real number between 0.0 (fully open) and 1.0 (fully closed). For
example, Duty Cycle=0.40 means 40% duty cycle of the output PWM
signal.
The RPDO COB-ID is 0x200.
The Command Code is 0xA4.
It is generally not required to continuously send this command to the device.
Command - Testing: Field Oriented Control (FOC)
This command initiates a load test of "Field Oriented Control (FOC)" function of the controller. The load test is
typically run to verify that the relevant control laws are configured properly. The load test routine continuously changes
commanded CURRENT reference ("Iq current") according to a SINE WAVE profile. Note that the motor accelerates
and decelerates repeatedly while the test is running. Use "Stop" or "Reset" command to terminate the testing procedure.
Parameter Units Description Data type
Position in
Payload
1
Period sec The parameter specifies a period of a SINE WAVE that produces
an "Iq current" reference for the testing procedure.
FLOAT16 2
2
Amplitude: Iq
current
A The parameter specifies an amplitude of a SINE WAVE that
produces an "Iq current" reference for the testing procedure.
FLOAT32 4
The RPDO COB-ID is 0x200.
The Command Code is 0xB0.
This command should be sent CONTINUOUSLY at regular intervals to avoid heartbeat timeout on the device side.
Command - Testing: Electronic Speed Control (ESC)
This command initiates a load test of "Electronic Speed Control (ESC)" function of the controller. The load test is
typically run to verify that the relevant control laws are configured properly. The load test routine continuously changes
commanded SPEED reference according to a SINE WAVE profile. Note that the motor accelerates and decelerates
repeatedly while the test is running. Use "Stop" or "Reset" command to terminate the testing procedure.
Parameter Units Description Data type
Position in
Payload
1
Period sec The parameter specifies a period of a SINE WAVE that produces an
SPEED reference for the testing procedure.
FLOAT16 2
2
Amplitude:
Speed
Hz The parameter specifies an amplitude of a SINE WAVE that
produces an SPEED reference for the testing procedure.
FLOAT32 4
The RPDO COB-ID is 0x200.
The Command Code is 0xB4.
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