Hardware Manuals
SOMANET Circulo
SOMANET Node
SOMANET Accessories
Samples & Legacy Products
Commissioning and Tuning Guide
Software Reference
v5.0
v4.4
v4.2
v4.1
v4.0
Resources
System integration guidelines
Tutorials
About this documentation
Hardware Manuals
SOMANET Circulo
SOMANET Node
SOMANET Accessories
Samples & Legacy Products
Commissioning and Tuning Guide
Software Reference
v5.0
v4.4
v4.2
v4.1
v4.0
Resources
System integration guidelines
Tutorials
About this documentation
Documentation
Software Reference
Software Reference Manual v4.2
CiA 402 Object Dictionary
List of all Objects
0x1603 Receive PDO4 mapping
Hardware Manuals
Handling instructions
Electrostatic discharge
Magnetic sensitive devices
SOMANET Circulo
Overview
Technical specifications
Power Specification
General Specification
Optional Integrated Encoders
Accuracy and repeatability of the integrated encoders
Functions
Magnetic data
Optional Integrated Brake
Ordering information
Load cycle
Downloads
Documents
CAD Files
Installation Guide
Wiring instructions
Power and brake
Supply and phases
Warning about using contactors behind the power supply
Connecting a brake
Encoders and IO
Encoder overview
Analog Input
Encoder ports
Encoder port 1
Encoder port 2
Digital IO
Voltage Levels of the Digital Inputs/Outputs
EtherCAT / STO-SBC IN & OUT
Voltage level of the Safety Inputs
Analog In Specification
Differential
Single-ended
Temperature sensor
Specification for the single-ended temperature sensor input
Battery for Multi-Turn
Suitable batteries
Power consumption of multi-turn
EtherCAT-STO Cable
Overview
Pinout of the connectors
Hybrid connector (JST GHR-08V-S)
STO/SBC Connections
EtherCAT Connection
Instructions for manufacturing the cables
General Cable and Wire Specifications
Drive-to-Drive Cable
Y-Splitter Cable
Maximum cable lengths
Mating parts
Connector details and mating part numbers
Mechanical integration
Mounting Example
Mounting the encoder disc
Mounting a hollow-shaft secondary bearing
Routing the motor phase cables
Dimensions
Dimensions
Weight and inertia of the encoder rings
Drilling patterns
Mounting a bearing
Side view with phase connectors
Mounting encoder rings
Axial distance tolerances
Planar displacements
Radial displacement (r)
Tangential displacement (t)
Mounting eccentricity or radial runout (e)
Thermal Mounting Considerations
Current as a function of mounting temperature
Ambient air
Encoder calibration
Encoder accuracy
Narrow angle errors (encoder system-specific non-linearity)
Analogue signals errors
Magnetic ring magnetization errors
Wide angle error (installation-dependent non-linearity)
Detecting the encoder non-linearity
Analog Calibration Procedure
Prerequisite
Performing the procedure
Starting the Internal Encoder Calibration
Limited Range Calibration (Available from OBLAC Drives v21.3.0)
Calibration in Progress
Troubleshooting
The magnetic ring is too close to the encoder chip
The magnetic ring is too far from the encoder chip
The magnetic ring is damaged
Encoder system diagnostic
Magnetic ring distance checker
Check encoder system
Check encoder errors
LED signals
Overview
Legend
Status LED
Firmware
Bootloader
EtherCAT LED
Safety functions (STO-SBC)
Safety specifications
System requirements
Technical specifications
Safety connectors
Wiring the safety inputs
Cabling lenghts
Connection diagrams for the STO inputs
Manual switch + drives
Safety PLC PM (Plus-Minus output) + drives
Safety PLC PP (Plus-Plus output) + drives
Connection diagram for the brake
Using the safety functions
Timing diagrams
Timing diagram for STO-function without connected brake
Timing diagram for STO-function with SBC-function
Truth table for digital inputs
Diagnostic functions
Software diagnostics
STO-SBC status register
Examples for realising safety functions
Emergency stop
Stop category 1 emergency stop (Safe stop 1)
Prerequisites
Wiring
Configuration
Verification
Prevention of unexpected start-up
Commissioning and maintenance
Commissioning
Maintenance
Changelog of the safety-related documentation
SOMANET Node
Overview
Technical specifications
Power Specifications
General specifications
Load cycle
Thermal considerations
Downloads
Documents
CAD Files
Hardware diagrams
EtherCAT module
Processor module
Drive module
Installation guide
Wiring instructions
Power and brake
Pinout Power Terminal
Notes about choosing the supply voltage
Using a PELV or SELV power supply
Warning about using contactors behind the power supply
Connecting a Brake
Encoders and IO
Encoder Port 1
Encoder Port 2
Encoder Port 3 / Digital IO
Analog IN
Analog input specification
Analog input resistance
Attaching a voltage divider
EtherCAT port
EtherCAT IN Port
EtherCAT OUT Port
Connectors and mating parts
Overview of connectors
Mounting instructions
Heat dissipation
Dimensions
Interference with magnetic fields
On-site installation guide (UL)
Branch fuse required
Field wiring terminal marking
Downloads
LED signals
Overview
Legend
Core LED
Firmware
Bootloader
Drive LED
Com LED
Safety functions (STO-SBC)
Specifications of the safety functions
System requirements
Technical specifications
Block diagram
Setup of the safety functions
Connecting the STO/SBC inputs
STO/SBC input port
Wiring examples for the STO/SBC inputs
Manual switch
Safety PLC (plus-minus output)
Safety PLC (plus-plus output)
Connection diagram for the brake
Brake power output (STO/SBC)
Connector mating parts and cable lengths
Using the safety functions
Timing diagrams
Timing diagram for STO-function without connected brake
Timing diagram for STO-function with SBC-function
Truth table for digital inputs
Diagnostic functions
Fault diagnostics
Fault reaction
Resetting diagnostic faults
STO-SBC status register
Examples for realising safety functions
Prevention of unexpected start-up
Stop category 0 (STO)
Stop category 1 (SS1)
Prerequisites
Wiring
Configuration
Verification
Commissioning and maintenance
Commissioning
Maintenance
Changelog of the safety-related documentation
Dimensions
SOMANET Accessories
SOMANET Braking Chopper
Overview
Technical Specs
Installing the module and setting the threshold voltage
Connecting the Board to DC-BUS
Suitable cables
Wiring
Failsafe Behavior
Multi-board option
LED
Dimensions
SOMANET Sin/Cos Cable Adapter
Overview
Block Diagram
Connectors
Encoder Connector Top
Encoder Connector Bottom
Interface Connector
Mounting remarks
Strain relief
Soldered cables
Industrial I/O Cable Adapter
Overview
Block diagram
Pinouts
Connector details and mating parts
Strain relief
Soldered cables
Attaching the adapter
ABI/BiSS Encoder Cable Adapter
Overview
Block Diagram
Connectors
Encoder Connector Top
Encoder Connector Bottom
Interface Connector
Mounting remarks
Strain relief
Soldered cables
Downloads
Samples & Legacy Products
SOMANET Circulo Sample A.2
Technical specifications
Power Specification
General Specification
Optional Integrated Encoders
Accuracy and repeatability of the encoder rings
Functions
Magnetic data
Optional Integrated Brake
Installation Guide
Wiring instructions
Power supply and motor brake
Power Terminal
Motor phases
Connecting a brake
Encoders and IO
Connector overview
Analog Input
External Encoder
Digital IO
Safety STO-SBC
Encoder Battery (for multi-turn)
EtherCAT In/Out
Temperature sensor
Mating parts and encoder battery
Connector details and mating part numbers
Suitable batteries
Overview of connectors
Dimensions and mechanical mounting
Dimensions
Drilling patterns for mounting
Heat dissipation
Downloads
Mounting encoder rings
Aligning the encoder discs
Mounting tolerances
Radial displacement (r)
Tangential displacement (t)
Axial distance
Tilt angle
Mounting eccentricity (rotation axis offset)
Encoder accuracy
Wide angle error (long wave error, integral nonlinearity)
Narrow angle error (short wave error, differential nonlinearity, Sub Divisional Error)
LED signals
Overview
Legend
Core LED
Firmware
Bootloader
Drive LED
EtherCAT LED
Safety functions (STO-SBC)
Safety specifications
System requirements
Technical specifications
Block diagram
Wiring the safety inputs
Connection diagrams for the STO inputs
Manual switch + drive
Manual switch + drive (single-channel)
Manual switch + multiple drives
Safety PLC PM (Plus-Minus output) + drive
Safety PLC PM (Plus-Minus output) + multiple drives
Safety PLC PP (Plus-Plus output) + drive
Safety PLC PP (Plus-Plus output) + multiple drives
Connection diagrams for the STO/SBC feedback output
High side driver
Low side driver
Connection diagram for the brake
Using the safety functions
Timing diagrams
Timing diagram for STO-function without SBC
Timing diagram for STO-function with SBC-function
Truth table for digital inputs
Diagnostic functions
Software diagnostics
Hardware diagnostics
STO-SBC status register
Use cases
Emergency stop
Prevention of unexpected start-up
Commissioning and maintenance
Commissioning
Maintenance
SOMANET Circulo Sample B.1
Technical specifications
Power Specification
General Specification
Optional Integrated Encoders
Accuracy and repeatability of the integrated encoders
Functions
Magnetic data
Optional Integrated Brake
Ordering information
Installation Guide
Wiring instructions
Power and brake
Supply and phases
Connecting a brake
Encoders and IO
Encoder overview
Analog Input
External Encoder
Digital IO
EtherCAT / STO-SBC IN & OUT
Temperature sensor
EtherCAT-STO Cable
Overview
Pinout of the connectors
Instructions for manufacturing the cables
Mating parts
Connector details and mating part numbers
Dimensions and mechanical mounting
Dimensions
Drilling patterns for mounting
Heat dissipation
Downloads
Mounting encoder rings
Aligning the encoder discs
Mounting tolerances
Radial displacement (r)
Tangential displacement (t)
Axial distance
Tilt angle
Mounting eccentricity (rotation axis offset)
Battery for Multi-Turn
Suitable batteries
Mounting a bearing
Encoder accuracy
Wide angle error (long wave error, integral nonlinearity)
Narrow angle error (short wave error, differential nonlinearity, Sub Divisional Error)
Encoder calibration
Overview
Prerequisite
Encoder system diagnostic
Magnetic ring distance checker
Check encoder system
Check encoder errors
Calibration Procedure
LED signals
Overview
Legend
Status LED
Firmware
Bootloader
EtherCAT LED
Safety functions (STO-SBC)
Safety specifications
System requirements
Technical specifications
Safety connectors
Wiring the safety inputs
Cabling lenghts
Connection diagrams for the STO inputs
Manual switch + drives
Safety PLC PM (Plus-Minus output) + drives
Safety PLC PP (Plus-Plus output) + drives
Connection diagram for the brake
Using the safety functions
Timing diagrams
Timing diagram for STO-function without SBC
Timing diagram for STO-function with SBC-function
Truth table for digital inputs
Diagnostic functions
Software diagnostics
Hardware diagnostics
STO-SBC status register
Examples for realising safety functions
Emergency stop
Stop category 1 emergency stop (Safe stop 1)
Prerequisites
Wiring
Configuration
Verification
Prevention of unexpected start-up
Commissioning and maintenance
Commissioning
Maintenance
Changelog of the safety-related documentation
SOMANET Node rev. D.3/4
Technical specifications
Power Specifications
General specifications
Hardware diagrams
EtherCAT module
Processor module
Drive module
Installation guide
Wiring Instructions
Warning about using contactors behind the power supply
Connector Pinouts
Power Terminal
Encoder Port 1
Encoder Port 2
Encoder Port 3 / Digital IO
Analog IN
EtherCAT port
EtherCAT IN Port
EtherCAT OUT Port
Connector types and mating parts numbers
Grounding and connecting a brake
Connecting a Brake
Mounting instructions
Heat dissipation
Dimensions
Interference with magnetic fields
Downloads
LED signals
Overview
Legend
Core LED
Firmware
Bootloader
Drive LED
Com LED
SOMANET Node rev. C.4
Technical specifications
Power Specifications
General specifications
Hardware diagrams
EtherCAT module
Processor module
Drive module
Installation guide
Wiring Instructions
Warning about using contactors behind the power supply
Connector Pinouts
EtherCAT IN/OUT
Power Terminal
Encoder Port 1
Encoder Port 2
Encoder Port 3 / Digital IO
Analog IN
EtherCAT port
EtherCAT IN Port
EtherCAT OUT Port
Connector types and mating parts numbers
Grounding and connecting a brake
Connecting a Brake
Mounting instructions
Heat dissipation
Dimensions
Interference with magnetic fields
LED signals
Overview
Legend
Core LED
Firmware
Bootloader
Drive LED
Com LED
Commissioning and Tuning with OBLAC Drives
OBLAC Drives Setup
OBLAC Drives Box
Connectors
Installation
Network Connection to the OBLAC box
Connection Host-PC ↔ Box by Wi-Fi
Host-PC connected to Internet by LAN connection
Box connected to internet by LAN connection
Host-PC and Box not connected to Internet
Connection Host-PC ⇿ PC by LAN cable
LAN connection via Switch and connection to a network with DHCP server
LAN connection Peer to Peer
No connection to OBLAC update server
Offline Updates
Open OBLAC Drives
Update OBLAC Drives
OBLAC Drives Virtual Machine
Prerequisite
Getting started
Connecting to OBLAC Drives
Update OBLAC Drives
Troubleshooting
Using OBLAC Drives
Installing the latest version
User Interface Overview
Save to device
Update Firmware
Launch Setup Wizard
Download Device Description XML
Load Configuration File
Save Configuration File
Download log
Factory Reset
Using keyboard shortcuts
Quick Open
Set up your servo drive
Motion Control Tuning
Auto-Tuning
System Identification
Prerequisites
Limitations
How to use
F.A.Q.
Position Auto-tuning
Prerequisites
Limitations
How to use
Next steps
F.A.Q.
Velocity Auto-tuning
Prerequisites
Limitations
How to use
Next steps
F.A.Q.
Concept of Auto-Tuning
Goal of Position Auto-tuning
Goal of Velocity Auto-tuning
Manual Tuning
Manual Tuning of the current controller
Manual tuning guide
Manual Tuning of the velocity control loop
Manual Tuning of the position control loop: Cascaded controller
Overview of the Tools
Test your drive at the playground
Prerequisites
Applying torque to a motor
Rotate a motor at defined velocities
Rotate a motor to defined positions
Update or downgrade OBLAC Drives
Troubleshooting
Virtualization not activated
Memory Warning
Runtime Issues
Other Issues
Software Reference
Software Reference v5.0
Overview
Functionality description
CANopen over EtherCAT (CoE)
Drive State Machine (CiA 402)
PDO
PDO Configuration
SDO
Actuator Configuration
Motor and Gear settings
Motor Configuration
Pole pairs
Torque constant
Phase resistance
Phase resistance of delta winding motors
Phase to phase resistance of delta winding motors
Phase inductance
Phase to phase inductance of delta winding motors
Errors in phase resistance and inductance
Motor phases inverted
PWM frequency
Gear Ratio
Advanced configurations
Parameters
Generic brake output voltage
Overview
Usage
Limitations
Parameters
Brake release
Pin-brake Mode
Timing diagram
Brake PWM frequency
Custom brake modes
Parameters
User defined velocity units
Overview
Usage
Objects affected
Example
Parameters
Commutation Offset Detection
Overview
Basic Principles
Requirements
Load requirements
Autophasing methods
Method 0
Method 1
Method 2
Comparison of methods
Common Use Cases
Motion is allowed
Motion is not allowed
Usage
Tuning gains (method 1)
Parameters
Power limit
Overview
Requirements
Detailed Description
Parameters
Encoders and I/O
Analog In
Using single-ended sensors on differential inputs
Nonlinear conversion
Parameters
Analog Input Scaling
Requirements
Usage
Wiring
Software configuration
Thresholds
Polynomial
Parameters
Digital I/O
Configuration of Digital I/Os as Input or Output
Using Digital I/Os for input actions or output events
Parameters
Digital GPIO
Overview
Usage
Manual configuration
Description of features
General purpose In- and Output (GPIO)
Using Digital GPIO with Home switches and limit switches
Driving out of the limit switch
Input actions
Output events
Parameters
Encoder Configuration
Parameter description
Function
Resolution
Zero velocity threshold
Polarity
Multiturn resolution
Parameters
Commutation with Hall and ABI combined
Overview
Requirements
Usage
Detailed description
Startup
Error Detection
Runtime
Input counter
Overview
Limitations
Parameters
Protection
Overview
Usage
Parameters
Errors and Warnings
Error codes thrown by the firmware
Error Report Object
Remedies for protection errors
Remedy for over-current
Remedy for over-voltage
Remedy for under-voltage
Remedy for over-temperature
Logging
Overview
Types
Format
Motion Control
Control Loops
Current and Torque Control Loop
Torque control loop
General Scope of the Torque Controller
Reference Torque Generation
Functional Description and Controller Structure
Tuning of the current controller
Parameters
Velocity Control Loop
Parameters
Position Control Loops
Cascaded PID Controller
Parameters
Simple PID Controller
Parameters
Dual Loop Cascaded Position Control
Overview
Usage
Parameters
Modes of Operation
Cyclic modes
Cyclic Synchronous Torque Control (CST)
Operation Mode dependent Bits of the Statusword
Parameters
Cyclic Synchronous Velocity Control (CSV)
Operation Mode dependent Bits of the Statusword
Parameters
Cyclic Synchronous Position Control (CSP)
Operation Mode dependent Bits of the Statusword
Parameters
Profile modes
Profile position mode
Objects configuration
Trajectory generator
Enable Profile position mode
Setting set-points
Operation Mode dependent Bits of Status- and Controlword
Parameters
Profile velocity mode
Objects configuration
Enable Profile velocity mode
Operation Mode dependent Bits of Status- and Controlword
Parameters
Profile torque mode
Objects configuration
Enable Profile torque mode
Starting/Stopping Torque
Operation Mode dependent Bits of Status- and Controlword
Parameters r
Homing modes
Overview
Homing methods
Homing methods 1-14 (Homing on limit switches)
Homing method 33/34 (move to next or previous single-turn position or “index pulse”)
Homing method 35/37 (zero the current position)
Settings for homing mode
State for homing modes
Homing method
Homing speeds
Homing acceleration
Setting digital I/Os for Homing
How to perform homing
Using the Halt bit
Status of the homing process
Hitting a limit switch in homing mode
Operation Mode dependent Bits of Status- and Controlword
Controlword
Statusword
Parameters
Diagnostics opmode
Switching modes
Dynamic Op-Mode switching
Extended Control Functionalities
Cogging Torque Compensation
Overview
Procedure
Prerequisites
Overview of the GUI
Recording
Automatic recording
Testing the compensation table
Manual configuration for the cogging recording
Using the compensation table
Controlling the feature via EtherCAT
Subitems:
1 State
2 Enabled
Parameters
Field Weakening
Anti-Windup Control
Parameters
Gain Scheduling
Motor Overload Protection (i2t)
Overview
Requirements
Description of Subitems for 0x200A:
Operating principle
Velocity feed forward
Usage
Using a velocity offset additionally
Object used for Velocity feed forward
Torque Offset
Velocity Offset
Filtering
Position and Velocity Feedback Low-pass filters
A practical guide to low-pass filter design
Parameters
Torque loop input shaping filter
Parameters
Overview
Methods
Definitions
Low-pass filter
Torque loop input shaping filter
Application Guide
Parameters
Command smoothing and Interpolation
Overview
Side Effects
Applications
Input interpolation
Jerk limiting
Communication jitter mitigation
Detailed Description
Command smoothing
Usage
Parameters
Control supervision
Timing diagram of the supervision objects
Following error
Following error window
Definitions
Configuring the Following error window
Result
Target reached function
Definitions
Configuring the position window (CSP)
Configuring the velocity window (CSV)
Configuring the torque window (CST)
Result
Monitoring the internal variables
Control Effort
Parameters
Distributed clocks (DC clocks)
Overview
Distributed Clock configuration
Parameters
OS Command
Overview
Usage
0x1023: OS command
0x1024: OS command mode
OS command behavior
Flowchart of the Command
Available commands
Command 0: Encoder register communication
Command 1: iC-MU calibration mode
Command 2: Open Loop Field Mode (OLFM)
Command 3: HRD streaming
Command 4: Motor phase order detection
Command 5: Commutation offset detection
Command 6: Open phase detection
Command 7: Pole pair detection
Command 8: Phase resistance measurement
Command 9: Phase inductance measurement
Command 10: Torque constant measurement
Command 13: Skipped cycles counter
Command 14: Ignore BiSS status bits
Parameters
Quick stop
Overview
Usage
Position and velocity control modes
Torque control mode
Parameters
Object Dictionary
All Objects
0x1000 Device type
0x1001 Error register
0x1005 COB-ID SYNC
0x1006 Communication cycle period
0x1008 Manufacturer device name
0x100A Manufacturer software version
0x100C Guard time
0x100D Life time factor
0x1010 Store parameters
0x1011 Restore default parameters
0x1016 Consumer heartbeat time
0x1017 Producer heartbeat time
0x1018 Identity object
0x1019 Synchronous counter overflow value
0x1023 OS command
0x1024 OS command mode
0x1400 Receive PDO1 parameter
0x1401 Receive PDO2 parameter
0x1402 Receive PDO3 parameter
0x1403 Receive PDO4 parameter
0x1600 Receive PDO1 mapping
0x1601 Receive PDO2 mapping
0x1602 Receive PDO3 mapping
0x1603 Receive PDO4 mapping
0x1800 Transmit PDO1 parameter
0x1801 Transmit PDO2 parameter
0x1802 Transmit PDO3 parameter
0x1803 Transmit PDO4 parameter
0x1A00 Transmit PDO1 mapping
0x1A01 Transmit PDO2 mapping
0x1A02 Transmit PDO3 mapping
0x1A03 Transmit PDO4 mapping
0x1C00 Sync Manager
0x1C10 SM 0 Assignment
0x1C11 SM 1 Assignment
0x1C12 SM 2 Assignment
0x1C13 SM 3 Assignment
0x2000 Command object (disabled)
0x2001 Commutation angle offset
0x2002 Position control strategy
0x2003 Motor specific settings
0x2004 Brake options
0x2006 Protection
0x2008 Cogging torque compensation
0x2009 Commutation offset
0x200A I2t
0x200B Max power
0x2010 Torque controller
0x2011 Velocity controller
0x2012 Position controller
0x2013 Gain scheduling
0x2014 Torque window
0x2015 Velocity feed forward
0x2021 Velocity feedback filter
0x2022 Position feedback filter
0x2023 Notch filter
0x2027 Control input FIR filter
0x2030 Core temperature
0x2031 Drive temperature
0x2038 External scaled measurement
0x203F Error report
0x2040 Input counter
0x20E1 High resolution data
0x20F0 Timestamp
0x20F2 Assigned name
0x20F3 DC synchronization
0x2110 Encoder 1 configuration
0x2111 Encoder 1 feedback
0x2112 Encoder 2 configuration
0x2113 Encoder 2 feedback
0x2210 GPIO pin configuration
0x2211 GPIO output events
0x2212 GPIO input actions
0x2213 GPIO position trigger
0x2214 GPIO global options
0x2401 Analog input 1
0x2402 Analog input 2
0x2403 Analog input 3
0x2404 Analog input 4
0x2611 Safety digital input diagnostics
0x2701 Tuning command
0x2702 Tuning status
0x2703 User MOSI
0x2704 User MISO
0x2705 Setup wizard completed
0x603F Error code
0x6040 Controlword
0x6041 Statusword
0x605A Quick stop option code
0x6060 Modes of operation
0x6061 Modes of operation display
0x6062 Position demand value
0x6064 Position actual value
0x6065 Following error window
0x6066 Following error time out
0x6067 Position window
0x6068 Position window time
0x606B Velocity demand value
0x606C Velocity actual value
0x606D Velocity window
0x606E Velocity window time
0x606F Velocity threshold
0x6070 Velocity threshold time
0x6071 Target Torque
0x6072 Max torque
0x6073 Max current
0x6074 Torque demand
0x6075 Motor rated current
0x6076 Motor rated torque
0x6077 Torque actual value
0x6079 DC link circuit voltage
0x607A Target position
0x607B Position range limit
0x607C Home offset
0x607D Software position limit
0x607E Polarity
0x6080 Max motor speed
0x6081 Profile velocity
0x6083 Profile acceleration
0x6084 Profile deceleration
0x6085 Quick stop deceleration
0x6086 Motion profile type
0x6087 Torque slope
0x6088 Torque profile type
0x6091 Gear ratio
0x6098 Homing method
0x6099 Homing speeds
0x609A Homing acceleration
0x60A9 SI unit velocity
0x60B1 Velocity offset
0x60B2 Torque offset
0x60F4 Following error actual value
0x60FA Control effort
0x60FC Position demand internal value
0x60FD Digital inputs
0x60FE Digital outputs
0x60FF Target velocity
0x6502 Supported drive modes
0x6621 Safety statusword
Communication Area
Process Data Objects
Standard RxPDO mapped Objects
Standard TxPDO mapped Objects
Configuring custom PDO mappings
Changing the content of a mapping object
Manufacturer Specific Area
Profile Specific Area
Device Information
Saving and restoring configurations
Overview
Usage
Restore configuration
Save configuration
User defaults - config.csv
Limitations
Parameters
Software Reference v4.4
Overview
Functionality description
CANopen over EtherCAT (CoE)
Drive State Machine (CiA 402)
PDO
PDO Configuration
SDO
Actuator Configuration
Motor and Gear settings
Motor Configuration
Parameters related to the Motor
Selecting the PWM frequency
Gear Ratio
Parameters related to Gear Ratio
Manually controlling phase D voltage
Overview
Usage
Limitations
Parameters related to Controlling the brake output voltage
Brake release
Pin-brake Mode
Timing diagram
Selecting the PWM frequency of the brake
Custom brake modes
Parameters related to Brake
User defined velocity units
Overview
Usage
Objects affected by changes of the velocity unit
Example
Parameters related to User defined velocity units
Encoders and I/O
Analog In
Analog Input Scaling
Requirements
Specifications
Parameters related to Analog Input Scaling
Using differential inputs for single-ended sensors
Nonlinear conversion of an analog voltage
Parameters related to Analog Inputs
Digital I/O
Configuration of Digital I/Os as Input or Output
Parameters related to GPIO
Encoder Configuration
Description of common encoder parameters
Function
Resolution
Zero velocity threshold
Polarity
Multiturn resolution
Encoder related parameters
Commutation with Hall and ABI combined
Overview
Requirements
Usage
Detailed description
Startup
Error Detection
Runtime
Input counter
Overview
Limitations
Parameters related to Input counter
Protection
Overview
Usage
Parameters related to protection
Errors and Warnings
Error codes thrown by the firmware
Error Report Object
Remedies for protection errors
Remedy for over-current
Remedy for over-voltage
Remedy for under-voltage
Remedy for over-temperature
Logging
Overview
Types
Format
Motion Control
Control Loops
Current and Torque Control Loop
Torque control loop
General Scope of the Torque Controller
Reference Torque Generation
Functional Description and Controller Structure
Parameters related to Current and Torque Control Loop
Velocity Control Loop
Parameters related to the Velocity Control Loop
Position Control Loops
Cascaded PID Controller
Parameters related to Cascaded PID Controller
Simple PID Controller
Parameters related to Simple PID Controller
Dual Loop Cascaded Position Control
Overview
Usage
Parameters related to Dual Loop Cascaded Position Control
Modes of Operation
Cyclic modes
Cyclic Synchronous Torque Control (CST)
Parameters related to Cyclic Synchronous Torque Control
Cyclic Synchronous Velocity Control (CSV)
Parameters related to Cyclic Synchronous Velocity Mode
Cyclic Synchronous Position Control (CSP)
Parameters related to Cyclic Synchronous Position Control
Profile modes
Profile position mode
Trajectory generator
Enable Profile position mode
Setting set-points
Profile velocity mode
Enable Profile velocity mode
Profile torque mode
Enable Profile torque mode
Starting/Stopping Torque
Homing modes
Overview
Homing method 33/34
Homing method 35/37
Settings for homing mode
Homing method
Homing speeds
Homing acceleration
How to perform homing
Using the Halt bit
Communications
Objects used
Switching modes
Dynamic Op-Mode switching
Extended Control Functionalities
Cogging Torque Compensation
Overview
Procedure
Prerequisites
Overview of the GUI
Recording
Automatic recording
Testing the compensation table
Manual configuration for the cogging recording
Using the compensation table
Controlling the feature via EtherCAT
Subitems:
1 State
2 Enabled
Parameters related to Cogging Torque Compensation
Field Weakening
Anti-Windup Control
Parameters related to Anti-Windup Control
Gain Scheduling
Motor Overload Protection (i2t)
Overview
Requirements
Description of Subitems for 0x200A:
Operating principle
Velocity feed forward
Usage
Using a velocity offset additionally
Object used for Velocity feed forward
Torque Offset
Velocity Offset
Filtering
Position and Velocity Feedback Low-pass filters
A practical guide to low-pass filter design
Parameters related to feedback low-pass filters
Torque loop input shaping filter
Parameters related to notch filter
Overview
Methods
Definitions
Low-pass filters
Torque loop input shaping filter
Application Guide
Command smoothing and Interpolation
Overview
Side Effects
Applications
Input interpolation
Jerk limiting
Communication jitter mitigation
Detailed Description
Command smoothing
Usage
Parameters related to Finite impulse response Filter
Control supervision
Timing diagram of the supervision objects
Following error
Following error window
Definitions
Configuring the Following error window
Result
Target reached function
Definitions
Configuring the position window (CSP)
Configuring the velocity window (CSV)
Configuring the torque window (CST)
Result
Monitoring the internal variables
Control Effort
Parameters related to Control supervision
Distributed clocks (DC clocks)
Overview
Distributed Clock configuration
Parameters related to Distributed Clocks
Object Dictionary
All Objects
0x1000 Device type
0x1001 Error register
0x1005 COB-ID SYNC
0x1006 Communication cycle period
0x1008 Manufacturer device name
0x100A Manufacturer software version
0x100C Guard time
0x100D Life time factor
0x1010 Store parameters
0x1011 Restore default parameters
0x1016 Consumer heartbeat time
0x1017 Producer heartbeat time
0x1018 Identity object
0x1019 Synchronous counter overflow value
0x1400 Receive PDO1 parameter
0x1401 Receive PDO2 parameter
0x1402 Receive PDO3 parameter
0x1403 Receive PDO4 parameter
0x1600 Receive PDO1 mapping
0x1601 Receive PDO2 mapping
0x1602 Receive PDO3 mapping
0x1603 Receive PDO4 mapping
0x1800 Transmit PDO1 parameter
0x1801 Transmit PDO2 parameter
0x1802 Transmit PDO3 parameter
0x1803 Transmit PDO4 parameter
0x1A00 Transmit PDO1 mapping
0x1A01 Transmit PDO2 mapping
0x1A02 Transmit PDO3 mapping
0x1A03 Transmit PDO4 mapping
0x1C00 Sync Manager
0x1C10 SM 0 Assignment
0x1C11 SM 1 Assignment
0x1C12 SM 2 Assignment
0x1C13 SM 3 Assignment
0x2000 Command object (disabled)
0x2001 Commutation angle offset
0x2002 Position control strategy
0x2003 Motor specific settings
0x2004 Brake options
0x2005 Recuperation
0x2006 Protection
0x2008 Cogging torque compensation
0x2009 Commutation offset
0x200A I2t
0x2010 Torque controller
0x2011 Velocity controller
0x2012 Position controller
0x2013 Gain scheduling
0x2014 Torque window
0x2015 Velocity feed forward
0x2021 Velocity feedback filter
0x2022 Position feedback filter
0x2023 Notch filter
0x2027 Control input FIR filter
0x2030 Core temperature
0x2031 Drive temperature
0x2038 External scaled measurement
0x203F Error report
0x2040 Input counter
0x20E1 High resolution data
0x20F0 Timestamp
0x20F2 Assigned name
0x20F3 DC synchronization
0x2100 Feedback sensor ports
0x2201 BiSS encoder 1
0x2202 BiSS encoder 2
0x2203 REM 16MT encoder
0x2205 Incremental encoder 1
0x2206 Incremental encoder 2
0x2207 Hall sensor 1
0x2208 Hall sensor 2
0x2209 SSI encoder 1
0x220A SSI encoder 2
0x220B A Format encoder
0x220C Fast ABI module
0x220E SinCos module
0x2210 GPIO pin configuration
0x2214 GPIO global options
0x230A Secondary position value
0x230B Secondary velocity value
0x2401 Analog input 1
0x2402 Analog input 2
0x2403 Analog input 3
0x2404 Analog input 4
0x2501 Digital input 1
0x2502 Digital input 2
0x2503 Digital input 3
0x2504 Digital input 4
0x2601 Digital output 1
0x2602 Digital output 2
0x2603 Digital output 3
0x2604 Digital output 4
0x2611 Safety digital input diagnostics
0x2701 Tuning command
0x2702 Tuning status
0x2703 User MOSI
0x2704 User MISO
0x2705 Setup wizard completed
0x603F Error code
0x6040 Controlword
0x6041 Statusword
0x6060 Modes of operation
0x6061 Modes of operation display
0x6062 Position demand value
0x6064 Position actual value
0x6065 Following error window
0x6066 Following error time out
0x6067 Position window
0x6068 Position window time
0x606B Velocity demand value
0x606C Velocity actual value
0x606D Velocity window
0x606E Velocity window time
0x606F Velocity threshold
0x6070 Velocity threshold time
0x6071 Target torque
0x6072 Max torque
0x6073 Max current
0x6074 Torque demand
0x6075 Motor rated current
0x6076 Motor rated torque
0x6077 Torque actual value
0x6079 DC link circuit voltage
0x607A Target position
0x607B Position range limit
0x607C Home offset
0x607D Software position limit
0x607E Polarity
0x6080 Max motor speed
0x6081 Profile velocity
0x6083 Profile acceleration
0x6084 Profile deceleration
0x6085 Quick stop deceleration
0x6086 Motion profile type
0x6087 Torque slope
0x6088 Torque profile type
0x6091 Gear ratio
0x6098 Homing method
0x6099 Homing speeds
0x609A Homing acceleration
0x60A9 SI unit velocity
0x60B1 Velocity offset
0x60B2 Torque offset
0x60E3 Supported homing methods
0x60F4 Following error actual value
0x60FA Control effort
0x60FC Position demand internal value
0x60FF Target velocity
0x6502 Supported drive modes
0x6621 Safety statusword
Communication Area
Process Data Objects
Standard RxPDO mapped Objects
Standard TxPDO mapped Objects
Configuring custom PDO mappings
Changing the content of an object
Manufacturer Specific Area
CiA 402 Specific Area
Device Information
Software Reference v4.2
Overview
Functionality description
CANopen over EtherCAT (CoE)
Drive State Machine (CiA 402)
PDO
PDO Configuration
SDO
Actuator Configuration
Motor and Gear settings
Motor Configuration
Parameters related to the Motor
Selecting the PWM frequency
Gear Ratio
Parameters related to Gear Ratio
Manually controlling phase D voltage
Overview
Usage
Limitations
Parameters related to Controlling the brake output voltage
Brake release
Pin-brake Mode
Timing diagram
Selecting the PWM frequency of the brake
Custom brake modes
Parameters related to Brake
User defined velocity units
Overview
Usage
Objects affected by changes of the velocity unit
Example
Parameters related to User defined velocity units
Encoders and I/O
Analog In
Analog Input Scaling
Requirements
Specifications
Parameters related to Analog Input Scaling
Using differential inputs for single-ended sensors
Nonlinear conversion of an analog voltage
Parameters related to Analog Inputs
Digital I/O
Configuration of Digital I/Os as Input or Output
Parameters related to GPIO
Encoder Configuration
Description of common encoder parameters
Function
Resolution
Zero velocity threshold
Polarity
Multiturn resolution
Encoder related parameters
Commutation with Hall and ABI combined
Overview
Requirements
Usage
Detailed description
Startup
Error Detection
Runtime
Input counter
Overview
Limitations
Parameters related to Input counter
Protection
Overview
Usage
Parameters related to protection
Errors and Warnings
Error codes thrown by the firmware
Error Report Object
Remedies for protection errors
Remedy for over-current
Remedy for over-voltage
Remedy for under-voltage
Remedy for over-temperature
Logging
Overview
Types
Format
Motion Control
Control Loops
Current and Torque Control Loop
Torque control loop
General Scope of the Torque Controller
Reference Torque Generation
Functional Description and Controller Structure
Parameters related to Current and Torque Control Loop
Velocity Control Loop
Parameters related to the Velocity Control Loop
Position Control Loops
Cascaded PID Controller
Parameters related to Cascaded PID Controller
Simple PID Controller
Parameters related to Simple PID Controller
Dual Loop Cascaded Position Control
Overview
Usage
Parameters related to Dual Loop Cascaded Position Control
Modes of Operation
Cyclic modes
Cyclic Synchronous Torque Control (CST)
Parameters related to Cyclic Synchronous Torque Control
Cyclic Synchronous Velocity Control (CSV)
Parameters related to Cyclic Synchronous Velocity Mode
Cyclic Synchronous Position Control (CSP)
Parameters related to Cyclic Synchronous Position Control
Profile modes
Profile position mode
Trajectory generator
Enable Profile position mode
Setting set-points
Profile velocity mode
Enable Profile velocity mode
Profile torque mode
Enable Profile torque mode
Starting/Stopping Torque
Homing modes
Overview
Homing method 33/34
Homing method 35/37
Settings for homing mode
Homing method
Homing speeds
Homing acceleration
How to perform homing
Using the Halt bit
Communications
Objects used
Switching modes
Extended Control Functionalities
Cogging Torque Compensation
Overview
Procedure
Prerequisites
Overview of the GUI
Recording
Automatic recording
Testing the compensation table
Manual configuration for the cogging recording
Using the compensation table
Controlling the feature via EtherCAT
Subitems:
1 State
2 Enabled
Parameters related to Cogging Torque Compensation
Field Weakening
Anti-Windup Control
Parameters related to Anti-Windup Control
Gain Scheduling
Motor Overload Protection (i2t)
Overview
Requirements
Description of Subitems for 0x200A:
Operating principle
Velocity feed forward
Usage
Using a velocity offset additionally
Object used for Velocity feed forward
Torque Offset
Velocity Offset
Filtering
Position and Velocity Feedback Low-pass filters
A practical guide to low-pass filter design
Parameters related to feedback low-pass filters
Torque loop input shaping filter
Parameters related to notch filter
Overview
Methods
Definitions
Low-pass filters
Torque loop input shaping filter
Application Guide
Control supervision
Timing diagram of the supervision objects
Following error
Following error window
Definitions
Configuring the Following error window
Result
Target reached function
Definitions
Configuring the position window (CSP)
Configuring the velocity window (CSV)
Configuring the torque window (CST)
Result
Monitoring the internal variables
Control Effort
Parameters related to Control supervision
Distributed clocks (DC clocks)
Overview
Distributed Clock configuration
Parameters related to Distributed Clocks
Object Dictionary
All Objects
0x1000 Device type
0x1001 Error register
0x1005 COB-ID SYNC
0x1006 Communication cycle period
0x1008 Manufacturer device name
0x100A Manufacturer software version
0x100C Guard time
0x100D Life time factor
0x1010 Store parameters
0x1011 Restore default parameters
0x1016 Consumer heartbeat time
0x1017 Producer heartbeat time
0x1018 Identity object
0x1019 Synchronous counter overflow value
0x1400 Receive PDO1 parameter
0x1401 Receive PDO2 parameter
0x1600 Receive PDO1 mapping
0x1601 Receive PDO2 mapping
0x1602 Receive PDO3 mapping
0x1603 Receive PDO4 mapping
0x1800 Transmit PDO1 parameter
0x1801 Transmit PDO2 parameter
0x1A00 Transmit PDO1 mapping
0x1A01 Transmit PDO2 mapping
0x1A02 Transmit PDO3 mapping
0x1A03 Transmit PDO4 mapping
0x1C00 Sync Manager
0x1C10 SM 0 Assignment
0x1C11 SM 1 Assignment
0x1C12 SM 2 Assignment
0x1C13 SM 3 Assignment
0x2000 Command object (disabled)
0x2001 Commutation angle offset
0x2002 Position control strategy
0x2003 Motor specific settings
0x2004 Brake options
0x2005 Recuperation
0x2006 Protection
0x2008 Cogging torque compensation
0x2009 Commutation offset
0x200A I2t
0x2010 Torque controller
0x2011 Velocity controller
0x2012 Position controller
0x2013 Gain scheduling
0x2014 Torque window
0x2015 Velocity feed forward
0x2021 Velocity feedback filter
0x2022 Position feedback filter
0x2023 Notch filter
0x2030 Core temperature
0x2031 Drive temperature
0x2038 External scaled measurement
0x203F Error report
0x2040 Input counter
0x20E1 High resolution data
0x20F0 Timestamp
0x20F2 Assigned name
0x20F3 DC synchronization
0x2100 Feedback sensor ports
0x2201 BiSS encoder 1
0x2202 BiSS encoder 2
0x2203 REM 16MT encoder
0x2205 Incremental encoder 1
0x2206 Incremental encoder 2
0x2207 Hall sensor 1
0x2208 Hall sensor 2
0x2209 SSI encoder 1
0x220A SSI encoder 2
0x220B A Format encoder
0x220C Fast ABI module
0x220E SinCos module
0x2210 GPIO pin configuration
0x2214 GPIO global options
0x230A Secondary position value
0x230B Secondary velocity value
0x2401 Analog input 1
0x2402 Analog input 2
0x2403 Analog input 3
0x2404 Analog input 4
0x2501 Digital input 1
0x2502 Digital input 2
0x2503 Digital input 3
0x2504 Digital input 4
0x2601 Digital output 1
0x2602 Digital output 2
0x2603 Digital output 3
0x2604 Digital output 4
0x2611 Safety digital input diagnostics
0x2701 Tuning command
0x2702 Tuning status
0x2703 User MOSI
0x2704 User MISO
0x2705 Setup wizard completed
0x603F Error code
0x6040 Controlword
0x6041 Statusword
0x6060 Modes of operation
0x6061 Modes of operation display
0x6062 Position demand value
0x6064 Position actual value
0x6065 Following error window
0x6066 Following error time out
0x6067 Position window
0x6068 Position window time
0x606B Velocity demand value
0x606C Velocity actual value
0x606D Velocity window
0x606E Velocity window time
0x606F Velocity threshold
0x6070 Velocity threshold time
0x6071 Target torque
0x6072 Max torque
0x6073 Max current
0x6074 Torque demand
0x6075 Motor rated current
0x6076 Motor rated torque
0x6077 Torque actual value
0x6079 DC link circuit voltage
0x607A Target position
0x607B Position range limit
0x607C Home offset
0x607D Software position limit
0x607E Polarity
0x6080 Max motor speed
0x6081 Profile velocity
0x6083 Profile acceleration
0x6084 Profile deceleration
0x6085 Quick stop deceleration
0x6086 Motion profile type
0x6087 Torque slope
0x6088 Torque profile type
0x6091 Gear ratio
0x6098 Homing method
0x6099 Homing speeds
0x609A Homing acceleration
0x60A9 SI unit velocity
0x60B1 Velocity offset
0x60B2 Torque offset
0x60E3 Supported homing methods
0x60F4 Following error actual value
0x60FA Control effort
0x60FC Position demand internal value
0x60FF Target velocity
0x6502 Supported drive modes
0x6621 Safety statusword
Communication Area
Process Data Objects
Standard RxPDO mapped Objects
Standard TxPDO mapped Objects
Configuring custom PDO mappings
Changing the content of an object
Manufacturer Specific Area
CiA 402 Specific Area
Device Information
Software Reference v4.1
Overview
Functionality description
CANopen over EtherCAT (CoE)
Drive State Machine (CiA 402)
PDO
PDO Configuration
SDO
Actuator Configuration
Motor Configuration
Motor Control Objects
Brake Configuration
Brake Parameter Object
Gear Ratio
Sensor Configuration
Sensor Objects
Description of commonly used specifications
Function
Resolution
Velocity calculation period
Polarity
Multiturn resolution
Protection
Overview
Usage
Parameters related to protection
Errors and Warnings
Errors thrown by the firmware
Error Report Object
Logging
Overview
Types
Format
Motion Control
Control Loops
Current and Torque Control Loop
Torque control loop
General Scope of the Torque Controller
Reference Torque Generation
Functional Description and Controller Structure
Parameters related to Current and Torque Control Loop
Velocity Control Loop
Parameters related to the Velocity Control Loop
Position Control Loops
Cascaded PID Controller
Parameters related to Cascaded PID Controller
Simple PID Controller
Parameters related to Simple PID Controller
Dual Loop Cascaded Position Control
Overview
Usage
Parameters related to Dual Loop Cascaded Position Control
Modes of Operation
Cyclic Synchronous Torque Control (CST)
Parameters related to Cyclic Synchronous Torque Control
Cyclic Synchronous Velocity Control (CSV)
Parameters related to Cyclic Synchronous Velocity Mode
Cyclic Synchronous Position Control (CSP)
Parameters related to Cyclic Synchronous Position Control
Switching modes
Extended Control Functionalities
Cogging Torque Compensation
Overview
Procedure
Prerequisites
Overview of the GUI
Recording
Automatic recording
Testing the compensation table
Manual configuration for the cogging recording
Using the compensation table
Controlling Cogging Torque Compensation and Recording Feature via EtherCAT
Subitems:
1 State
2 Enabled
Field Weakening
Anti-Windup Control
Gain Scheduling
Motor Overload Protection (i2t)
Overview
Requirements
Description of Subitems for 0x200A:
Operating principle
Torque Offset
Velocity Offset
Object Dictionary
All Objects
0x1000 Device Type
0x1001 Error Register
0x1008 Manufacturer Device Name
0x100A Manufacturer Software Version
0x1010 Store parameters
0x1011 Restore default parameters
0x1018 Identity
0x1600 RxPDO Mapping 1
0x1A00 TxPDO Mapping 1
0x1C00 Sync Manager
0x1C10 SM 0 Assignment
0x1C11 SM 1 Assignment
0x1C12 SM 2 Assignment
0x1C13 SM 3 Assignment
0x2000 Command Object (disabled)
0x2001 Commutation Angle Offset
0x2002 Position control strategy
0x2003 Motor Specific Settings
0x2004 Brake Options
0x2005 Recuperation
0x2006 Protection
0x2008 Cogging Torque Compensation
0x2009 Commutation Offset
0x200A I2t
0x2010 Torque Controller
0x2011 Velocity Controller
0x2012 Position Controller
0x2013 Gain Scheduling
0x2021 Velocity Feedback Filter
0x2022 Position Feedback Filter
0x2031 Drive temperature
0x203F Error report
0x20F0 Timestamp
0x20F1 Real Time Clock
0x20F2 Assigned Name
0x2100 Feedback sensor ports
0x2201 BISS Encoder 1
0x2202 BISS Encoder 2
0x2203 REM 16MT Encoder
0x2204 REM 14 Encoder
0x2205 Incremental Encoder 1
0x2206 Incremental Encoder 2
0x2207 HALL Sensor 1
0x2208 HALL Sensor 2
0x2209 SSI Encoder 1
0x220A SSI Encoder 2
0x2210 GPIO
0x230A Secondary position value
0x230B Secondary velocity value
0x2401 Analog input 1
0x2402 Analog input 2
0x2403 Analog input 3
0x2404 Analog input 4
0x2501 Digital Input 1
0x2502 Digital Input 2
0x2503 Digital Input 3
0x2504 Digital Input 4
0x2601 Digital Output 1
0x2602 Digital Output 2
0x2603 Digital Output 3
0x2604 Digital Output 4
0x2701 Tuning command
0x2702 Tuning status
0x2703 User MOSI
0x2704 User MISO
0x2705 Setup Wizard Completed
0x603F Error code
0x6040 Controlword
0x6041 Statusword
0x6060 Op Mode
0x6061 Op Mode Display
0x6064 Position Value
0x606C Velocity Value
0x6071 Target Torque
0x6072 Max torque
0x6073 Max current
0x6075 Motor Rated Current
0x6076 Motor Rated Torque
0x6077 Torque Value
0x6079 DC link circuit voltage
0x607A Target Position
0x607B Position Range Limits
0x607C Home offset
0x607D Software position limit
0x607E Polarity
0x607F Max profile velocity
0x6080 Max motor speed
0x6081 Profile velocity
0x6085 Quick stop deceleration
0x6086 Motion profile type
0x6091 Gear ratio
0x60B1 Velocity offset
0x60B2 Torque offset
0x60FF Target Velocity
0x6502 Supported Drive Modes
Communication Area
Process Data Objects
Standard RxPDO mapped Objects
Standard TxPDO mapped Objects
Configuring custom PDO mappings
Manufacturer Specific Area
CiA 402 Specific Area
Process Data Objects
Standard RxPDO mapped Objects
Standard TxPDO mapped Objects
Configuring custom PDO mappings
Device Information
Software Reference v4.0
Overview
Functionality description
CANopen over EtherCAT (CoE)
Drive State Machine (CiA 402)
PDO
PDO Configuration
SDO
Actuator Configuration
Motor Configuration
Motor Control Objects
Brake Configuration
Brake Parameter Object
Sensor Configuration
Sensor Objects
Description of commonly used specifications
Function
Resolution
Velocity calculation period
Polarity
Multiturn resolution
Motion Control
Control Loops
Current and Torque Control Loop
Torque control loop
General Scope of the Torque Controller
Reference Torque Generation
Functional Description and Controller Structure
Parameters related to Current and Torque Control Loop
Velocity Control Loop
Parameters related to the Velocity Control Loop
Position Control Loops
Cascaded PID Controller
Parameters related to Cascaded PID Controller
Simple PID Controller
Parameters related to Simple PID Controller
Modes of Operation
Cyclic Synchronous Torque Control (CST)
Parameters related to Cyclic Synchronous Torque Control
Cyclic Synchronous Velocity Control (CSV)
Parameters related to Cyclic Synchronous Velocity Mode
Cyclic Synchronous Position Control (CSP)
Parameters related to Cyclic Synchronous Position Control
Switching modes
Extended Control Functionalities
Cogging Torque Compensation
Overview
Procedure
Prerequisites
Overview of the GUI
Recording
Automatic recording
Testing the compensation table
Manual configuration for the cogging recording
Using the compensation table
Controlling Cogging Torque Compensation and Recording Feature via EtherCAT
Subitems:
1 State
2 Enabled
Field Weakening
Anti-Windup Control
Torque Offset
Errors and Warnings
Object Dictionary
All Objects
0x1000 Device Type
0x1001 Error Register
0x1008 Manufacturer Device Name
0x100A Manufacturer Software Version
0x1010 Store parameters
0x1011 Restore default parameters
0x1018 Identity
0x1600 Rx PDO Mapping
0x1A00 Tx PDO Mapping
0x1C00 Sync Manager
0x1C10 SM 0 Assignment
0x1C11 SM 1 Assignment
0x1C12 SM 2 Assignment
0x1C13 SM 3 Assignment
0x2000 Command Object (disabled)
0x2001 Commutation Angle Offset
0x2002 Position control strategy
0x2003 Motor Specific Settings
0x2004 Brake Options
0x2005 Recuperation
0x2006 Protection
0x2008 Cogging Torque Compensation
0x2009 Commutation Offset
0x2010 Torque Controller
0x2011 Velocity Controller
0x2012 Position Controller
0x20F0 Timestamp
0x20F1 Real Time Clock
0x20F2 Assigned Name
0x2100 Feedback sensor ports
0x2201 BISS Encoder 1
0x2202 BISS Encoder 2
0x2203 REM 16MT Encoder
0x2204 REM 14 Encoder
0x2205 Incremental Encoder 1
0x2206 Incremental Encoder 2
0x2207 HALL Sensor 1
0x2208 HALL Sensor 2
0x2210 GPIO
0x230A Secondary position value
0x230B Secondary velocity value
0x2401 Analog input 1
0x2402 Analog input 2
0x2403 Analog input 3
0x2404 Analog input 4
0x2501 Digital Input 1
0x2502 Digital Input 2
0x2503 Digital Input 3
0x2504 Digital Input 4
0x2601 Digital Output 1
0x2602 Digital Output 2
0x2603 Digital Output 3
0x2604 Digital Output 4
0x2701 Tuning command
0x2702 Tuning status
0x2703 User MOSI
0x2704 User MISO
0x2705 Setup Wizard Completed
0x603F Error code
0x6040 Controlword
0x6041 Statusword
0x6060 Op Mode
0x6061 Op Mode Display
0x6064 Position Value
0x606C Velocity Value
0x6071 Target Torque
0x6072 Max torque
0x6073 Max current
0x6075 Motor Rated Current
0x6076 Motor Rated Torque
0x6077 Torque Value
0x6079 DC link circuit voltage
0x607A Target Position
0x607B Position Range Limits
0x607C Home offset
0x607D Software position limit
0x607E Polarity
0x607F Max profile velocity
0x6080 Max motor speed
0x6081 Profile velocity
0x6083 Profile acceleration
0x6084 Profile deceleration
0x6085 Quick stop deceleration
0x6086 Motion profile type
0x60B2 Torque offset
0x60C5 Max acceleration
0x60FF Target Velocity
0x6502 Supported Drive Modes
Communication Area
Manufacturer Specific Area
CiA 402 Specific Area
Process Data Objects
Standard RxPDO mapped Objects
Standard TxPDO mapped Objects
Device Information
Resources
System integration guidelines
Drive Sizing
Requirements of the application
Application Requirements
Servo Drive Output
Servo Drive Consumption
Calculating the phase current
Nonlinearity buffer
Choosing a power supply
Supply voltage definitions
Regenerated voltage
Bus capacitance
Power supply sizing
Calculating the amperage
Contactors behind the power supply
Wiring Guidelines
DC bus
EtherCAT cable
Encoder wiring
Earthing
Overview
What is earthing or grounding in an electrical system?
Hazards of electricity
Earthing concepts
Protective Earth
Functional Earth
Extra Low Voltage systems
SELV, PELV, FELV power supplies
Earthing connections in SOMANET Products
Earthing consideration (guidelines)
Regenerative energy
Estimation of regenerated energy
Restoring or dissipating regenerated power
Braking chopper
Measuring the brake output voltage
Non-safety brake output
Safety brake output
Configuring analog inputs
Overview
Measuring analog input voltages
Single-ended input
Differential input
Example for normal values (On SOMANET Node)
Examples of faulty values
Temperature Sensor input
Internal Resistance
CANopen over EtherCAT CiA 402
Overview
EtherCAT
CANopen over EtherCAT (CoE)
CANopen basic Principles
CANopen Device Profile CiA 402 for drives and motion control
EtherCAT state machine
Drive state machine
PDO-Mapping
Communication Frequency and DC-Clock Synchronization
Using Statusword and Controlword
Overview
What are Control- and Statusword?
How are they used?
Manufacturer and Operation mode specific bits
Bits in Status- and Controlword
Statusword
General structure
Mode specific bits of the Statusword
Internal limit Active bit
Controlword
General structure
Mode specific bits of the Controlword
Timing Diagram
Temperature sensors
Types of temperature sensors
Thermocouple
Thermistors
Resistance temperature detectors
Pull-up resistor selection
Polynomial or Quintic function
Polynomial coefficients
Replacing a SOMANET Drive
Overview
Availability of the configuration file
SOMANET Node and SOMANET Circulo with external Encoders
Save configuration file
Replace the node
Update firmware
Load the configuration file
Run offset detection
Save the configuration to the drive
SOMANET Circulo with at least one internal encoder
Save the configuration file
Mark a Reference position on your axis
Replace Circulo
Load Calibration Firmware
Load the configuration file
Run offset detection
Re-tune the drive
Run calibration
Load production firmware
Run offset detection and save offset to device
Test stable operation
Check Zero Position
Tutorials
Tuning Guides
Velocity PID Tuning
PID Parameter Range
Recommended Tuning Steps
Position tuning with Gain Scheduling
Introduction
Control Basics
Tuning Concept in Brief
Tuning Steps
Cascaded position Tuning
Introduction
Control Basics
Tuning Concept in Brief
Tuning Steps
Drive operations through File Access over EtherCAT (FoE)
Overview
Updating the firmware
Prerequisite
Setup Information
Preparation
Steps of Operation
Uploading a drive configuration
Setup Information
Steps of Operation
About this documentation
Warnings
Reporting errors
Using offline documentation
Versioning
0x1603 Receive PDO4 mapping
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