Firmware Overview 4.1

All SOMANET servo drives support cyclic synchronous modes of operation CSP, CSV, CST optimized for use in robotic applications. Firmware updates and storing of configuration files is possible via File over EtherCAT (FoE). Multiple concurrent encoders (for example BiSS, Hall) are supported.

An object dictionary according to CiA 402 is available, complemented with manufacturer specific objects to expand the feature set.

The following diagram depicts the basic architecture of the servo drive system:

Functionality description

• Standard Operation Modes: CSP, CSV, CST

• Set of control architectures:

  • Field-oriented current control

  • PI and model-predictive current control

  • P, PI, PID and cascaded position control

  • P, PI, PID velocity control

  • Controller Auto-Tuning and manual tuning

• Various configurable signal processing options (low pass filters, top notch filters)

• Encoders configuration for all ports: BiSS-C, Hall, ABI (QEI) / ABZ Encoder, SSI

• Access to Analog and Digital IO

• Simple commissioning and tuning with OBLAC Drives

• Extended control functionalities:

  • Cogging torque compensation

  • Field weakening

  • Anti-Windup Control

  • Gain Scheduling

  • Motor Overload Protection (i2t)

  • Torque Offset for Feed Forward Control

  • Velocity Offset for Feed Forward Control