Motion Control

To make you motion system perform in an optimal way, it is necessary to understand the basic concepts behind motion via EtherCAT, more specifically the CiA 402 Drive Profile and the SOMANET specific extensions:

• Control Loops
  • Current and Torque Control Loop
  • Velocity Control Loop
  • Position Control Loops
  • Dual Loop Cascaded Position Control
• Modes of Operation
  • Cyclic Synchronous Torque Control (CST)
  • Cyclic Synchronous Velocity Control (CSV)
  • Cyclic Synchronous Position Control (CSP)
  • Switching modes
• Extended Control Functionalities
  • Cogging Torque Compensation
  • Field Weakening
  • Anti-Windup Control
  • Gain Scheduling
  • Motor Overload Protection (i2t)
  • Torque Offset
  • Velocity Offset