Software Reference Manual v4.2¶
Overview: Functional description
CANopen over EtherCAT: Description of the working principle.
Actuator configuration: Contains information about motor and gear settings as well as a description of the brake release feature.
Motor and gear settings: Description of the motor and gear parameters
Manually controlling phase D voltage Phase D can be used for a single phase device or custom brake options
Brake release: Description of the brake release feature
User defined velocity units Users can change the default velocity unit for higher precision
Encoders and I/O: Description of analog and digial inputs and outputs and encoder configuration
Analog In: How to set up analog encoders directly or using external scaled measurement
Analog Input Scaling: Allows to do a nonlinear conversion of an analog voltage using a 5th order polynomial function.
Digital I/O: Configuration of digital I/Os as input or output
Encoder configuration: Description of the most important encoder parameters
Commutation with Hall and ABI combined Hall sensors and ABI encoders can be combined for commutation.
Input counter: Allows counting pulses in a particular pin of an encoder connector.
Protection: Users can define limits for undervoltage, overvoltage and overcurrent.
Errors and warnings: A list of all standard and SOMANET specific errors.
Logging: Logs are provided at every state change as well as at each occurring error or warning.
Motion control: Details about motion functions available via EtherCAT.
Modes of operation: SOMANET supports several modes of operation according to CiA 402
Cyclic modes: In cyclic synchronous modes, the trajectory must be computed by the master.
Cyclic synchronous torque control (CST): In torque control mode the master sends desired torques to the drive.
Cyclic synchronous velocity control (CSV): In velocity control modes the master sends desired velocities to the drive.
Cyclic synchronous position control (CSP): In position control modes the master sends desired positions to the drive.
Profile modes: In profile modes, the trajectory is computed on the slave.
Homing modes: Homing can be used to center an axis.
Switching the modes: Describes how the modes can be selected.
Extended control functionalities: These features can be used to enhance performance:
Cogging compensation: Feature for compensating ripples caused by magnetic interaction between motor rotor and stator.
Field weakening: The velocity range of electric motors can be extended by weakening the magnetic field of the rotor.
Anti-windup control: An Anti-Windup algorithm is used to prevent the integrator part to accumulate too much.
Gain scheduling: Applies controller gains which will change dynamically regarding the current speed.
Motor overload protection (i2t): This feature limits the overcurrent injected to the motor to prevent damage from overheating.
Velocity feed forward: To increase the velocity of the robot’s reaction, the target position signal can bypass the position controller.
Torque Offset: A desired offset torque can be added to the reference torque.
Velocity Offset: An additional velocity offset can be used to improve the positioning performance.
Filtering: Digital filters can be used to remove unwanted frequencies such as noise or nonlinear effects.
Control supervision: Allows to supervise the work of the control loops
Distributed clocks: Allows to synchronize the system time for enhanced performance.
Object dictionary: The object dictionary is defined in IEC 61800-7-201.
All objects: Description of all objects.
Communication area: Objects needed for communication.
Manufacturer specific area: Complementary objects for enhanced performance and additional features.
Profile specific area: Objects that are used by the CANopen device profile for drives and motion control (CiA 402)
Process Data Objects: These objects are transferred cyclically to each slave.
Standard RxPDO mapped objects: List of outputs that are mapped in the standard configuration of SOMANET CiA 402.
Standard TxPDO mapped objects: List of inputs that are mapped in the standard configuration of SOMANET CiA 402.
Configuring custom PDO mappings: Choose your own objects for the PDO mapping.