Firmware Overview 4.4

All SOMANET servo drives support both cyclic synchronous modes of operation CSP, CSV, CST optimized for use in robotic applications and profile modes PP, PV, PT for point-to-point applications. Firmware updates and storing of configuration files is possible via File over EtherCAT (FoE). Multiple concurrent encoders (for example BiSS-C, SSI, Incremental, Digital Halls) 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

• Cyclic Synchronous Modes:

  • CSP

  • CSV

  • CST

• Profiled Modes:

  • Profile position mode

  • Profile velocity mode

  • Profile torque mode

• Homing Modes 33, 34, 35 and 37

• 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, A-Format

• Access to Analog and Digital IO

• Optimized power output by 3rd harmonic injection

• Synchronization with Distributed Clocks

• Simple commissioning and tuning with OBLAC Drives

• Extended control functionalities:

  • Cogging torque compensation

  • Field weakening

  • Anti-Windup Control

  • Gain Scheduling

  • Motor Overload Protection (i2t)

  • Feed Forward Control

  • Torque Offset

  • Velocity Offset

  • Control supervision

  • Command smoothing and Interpolation