Software Reference¶
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
