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
This command should be sent CONTINUOUSLY at regular intervals to avoid heartbeat timeout on the device side.
Command - Testing: Servo Control
This command initiates a load test of "Servo Control" and "Direct Drive Control" functions of the controller. The load
test is typically run to verify that the relevant control laws are configured properly. The testing procedure forces the
output shaft of a servo drive to continuously transit back-and-forth between two discrete Work Zone positions, a
positive one and a negative one. Use "Stop" or "Reset" command to terminate the testing procedure.
Parameter Units Description Data type
Position in
Payload
1
Period sec This parameter specifies a time period between transitions of the
servo drive's position.
FLOAT16 2
2
Amplitude:
Work Zone
Counts
counts This parameter defines an amplitude of servo transitions. For
example, if the amplitude is 1000, the servo transits between the
positions [-1000] and [1000]. The positions are defined in Work
Zone counts.
FLOAT32 4
The RPDO COB-ID is 0x200.
The Command Code is 0xB8.
This command should be sent CONTINUOUSLY at regular intervals to avoid heartbeat timeout on the device side.
Command - Brushed: Open Loop Control (1-2 motors)
The purpose of this command is to control 1-2 brushed motors or solenoids in an open-loop way. The motors/solenoids
are independently controlled. Both direct and reverse directions of speed are supported.
The brushed motors/solenoids need to be connected to the controller in the following way:
• Brushed Motor #1 shall be connected to terminals "A" and "B".
• Brushed Motor #2 (if exists) shall be connected to terminals "C" and "B".
• Note that both motors/solenoids share the terminal "B".
Parameter Units Description Data type Position in Payload
1
Voltage: Channel #1 V A commanded output voltage for channel #1 FLOAT16 2
2
Voltage: Channel #2 V A commanded output voltage for channel #2 FLOAT16 4
The RPDO COB-ID is 0x300.
The Command Code is 0x90.
This command should be sent CONTINUOUSLY at regular intervals to avoid heartbeat timeout on the device side.
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