Software Reference

v5.0 v4.4 v4.2 v4.1 v4.0v5.0

• Migration guide from v4.x to 5.0

• Overview

• CANopen over EtherCAT

• Actuator configuration

  • Motor and gear settings

  • Manually controlling phase D voltage

  • Brake release feature

  • User defined velocity units

  • Commutation Offset Detection

  • Power limit

• Encoders and I/O

  • Analog In

  • Analog Input Scaling

  • Digital I/O

  • Digital GPIO

  • Encoder configuration

  • Commutation with Hall and ABI combined

  • Input counter

• Protection

• Errors and warnings

  • Errors thrown by the firmware

  • Error report object

  • Remedies for protection errors

• Logging

• Motion control

  • Control Loops

    • Current and Torque Control Loop

    • Velocity Control Loop

    • Position Control Loop

    • Dual Loop Cascaded Postion Control

  • Modes of operation

    • Cyclic modes

      • Cyclic synchronous torque control (CST)

      • Cyclic synchronous velocity control (CSV)

      • Cyclic synchronous position control (CSP)

    • Profile modes

      • Profile position mode

      • Profile velocity mode

      • Profile torque mode

    • Homing modes

    • Diagnostics opmode

    • Switching the modes

  • Extended control functionalities

    • Cogging compensation

    • Field weakening

    • Anti-windup control

    • Gain scheduling

    • Motor overload protection (i2t)

    • Velocity feed forward

    • Torque offset

    • Velocity offset

    • Filtering

    • Command smoothing and Interpolation

    • Control supervision

    • Distributed clocks (DC clocks)

    • OS Command

    • Quick stop

• Object dictionary

  • All objects

  • Communication area

  • Manufacturer specific area

  • Profile specific area

• Process Data Objects

  • Standard RxPDO mapped objects

  • Standard TxPDO mapped objects

  • Configuring custom PDO mappings

• Device info

  • Saving and restoring configurations

• Changelog v5.0

v4.4

• Overview

• CANopen over EtherCAT

• Actuator configuration

  • Motor and gear settings

  • Manually controlling phase D voltage

  • Brake release feature

  • User defined velocity units

• Encoders and I/O

  • Analog In

    • Analog Input Scaling

  • Digital I/O

  • Encoder configuration

  • Commutation with Hall and ABI combined

  • Input counter

• Protection

• Errors and warnings

  • Errors thrown by the firmware

  • Error report object

  • Remedies for protection errors

• Logging

• Motion control

  • Control Loops

    • Current and Torque Control Loop

    • Velocity Control Loop

    • Position Control Loop

    • Dual Loop Cascaded Postion Control

  • Modes of operation

    • Cyclic modes

      • Cyclic synchronous torque control (CST)

      • Cyclic synchronous velocity control (CSV)

      • Cyclic synchronous position control (CSP)

    • Profile modes

      • Profile position mode

      • Profile velocity mode

      • Profile torque mode

    • Homing modes

    • Switching the modes

  • Extended control functionalities

    • Cogging compensation

    • Field weakening

    • Anti-windup control

    • Gain scheduling

    • Motor overload protection (i2t)

    • Velocity feed forward

    • Torque offset

    • Velocity offset

    • Filtering

    • Command smoothing and Interpolation

    • Control supervision

    • Distributed clocks (DC clocks)

• Object dictionary

  • All objects

  • Communication area

  • Manufacturer specific area

  • Profile specific area

• Process Data Objects

  • Standard RxPDO mapped objects

  • Standard TxPDO mapped objects

  • Configuring custom PDO mappings

• Device info

• Changelog v4.4

v4.2

• Overview

• CANopen over EtherCAT

• Actuator configuration

  • Motor and gear settings

  • Manually controlling phase D voltage

  • Brake release feature

  • User defined velocity units

• Encoders and I/O

  • Analog In

    • Analog Input Scaling

  • Digital I/O

  • Encoder configuration

  • Commutation with Hall and ABI combined

  • Input counter

• Protection

• Errors and warnings

  • Errors thrown by the firmware

  • Error report object

• Logging

• Motion control

  • Control Loops

    • Current and Torque Control Loop

    • Velocity Control Loop

    • Position Control Loop

    • Dual Loop Cascaded Postion Control

  • Modes of operation

    • Cyclic modes

      • Cyclic synchronous torque control (CST)

      • Cyclic synchronous velocity control (CSV)

      • Cyclic synchronous position control (CSP)

    • Profile modes

      • Profile position mode

      • Profile velocity mode

      • Profile torque mode

    • Homing modes

    • Switching the modes

  • Extended control functionalities

    • Cogging compensation

    • Field weakening

    • Anti-windup control

    • Gain scheduling

    • Motor overload protection (i2t)

    • Velocity feed forward

    • Torque offset

    • Velocity offset

    • Filtering

    • Control supervision

    • Distributed clocks (DC clocks)

• Object dictionary

  • All objects

  • Communication area

  • Manufacturer specific area

  • Profile specific area

• Process Data Objects

  • Standard RxPDO mapped objects

  • Standard TxPDO mapped objects

  • Configuring custom PDO mappings

• Device info

• Changelog v4.2

v4.1

• Overview

• CANopen over EtherCAT

• Actuator configuration

• Sensor configuration

• Protection

• Errors and warnings

  • Errors thrown by the firmware

  • Error report object

• Logging

• Motion control

  • Drive state machine (CiA 402)

  • Modes of operation

    • Cyclic synchronous torque control (CST)

    • Cyclic synchronous velocity control (CSV)

    • Cyclic synchronous position control (CSP)

    • Switching the modes

  • Extended control functionalities

    • Cogging compensation

    • Field weakening

    • Anti-windup control

    • Gain scheduling

    • Motor overload protection (i2t)

    • Torque offset for feed forward control

    • Velocity offset for feed forward control

• Object dictionary

  • All objects

  • Communication area

  • Manufacturer specific area

  • Profile specific area

• Process Data Objects

  • Standard RxPDO mapped objects

  • Standard TxPDO mapped objects

  • Configuring custom PDO mappings

• Device info

• Changelog v4.1

v4.0

• Overview

• CANopen over EtherCAT

• Actuator configuration

• Sensor configuration

• Errors and warnings

• Motion control

  • Drive state machine (CiA 402)

  • Modes of operation

    • Cyclic synchronous torque control (CST)

    • Cyclic synchronous velocity control (CSV)

    • Cyclic synchronous position control (CSP)

    • Switching the modes

  • Extended control functionalities

    • Cogging compensation

    • Field weakening

    • Anti-windup control

    • Torque offset for feed forward control

• Object dictionary

  • All objects

  • Communication area

  • Manufacturer specific area

  • Profile specific area

• Process Data Objects

  • Standard RxPDO mapped objects

  • Standard TxPDO mapped objects

• Device info