• Hardware Manuals
    • SOMANET Node
    • SOMANET Circulo
    • SOMANET Accessories
  • Commissioning and Tuning Guide
  • Software Reference
    • v4.4-beta
    • v4.2
    • v4.1
    • v4.0
    • About this documentation
Synapticon Logo
  • Hardware Manuals
    • SOMANET Node
    • SOMANET Circulo
    • SOMANET Accessories
  • Commissioning and Tuning Guide
  • Software Reference
    • v4.4-beta
    • v4.2
    • v4.1
    • v4.0
    • About this documentation
  1. Documentation
  2. Software Reference
  3. Software Reference Manual v4.2
  4. Motion Control
  5. Control Loops
  • Hardware Manuals
    • Handling instructions
      • Electrostatic sensitive devices
      • Magnetic sensitive devices
    • SOMANET Node
      • SOMANET Node Revisions
      • SOMANET Node rev. E.1
        • Technical specifications
          • Power Specifications
          • General specifications
        • Hardware diagrams
          • EtherCAT module
          • Processor module
          • Drive module
        • Installation guide
          • Wiring instructions
            • Power supply, phases and brake
              • Pinout Power Terminal
              • Connecting a Brake
            • Encoders and IO
              • Encoder Port 1
              • Encoder Port 2
              • Encoder Port 3 / Digital IO
              • Analog IN
              • EtherCAT port
            • Connectors and mating parts
            • Overview of connectors
          • Mounting instructions
            • Heat dissipation
            • Thermal mounting considerations
            • Dimensions
            • Interference with magnetic fields
            • Downloads
          • On-site installation guide
            • Branch fuse required
            • Field wiring terminal marking
        • LED signals
          • Overview
            • Legend
          • Core LED
            • Firmware
            • Bootloader
          • Drive LED
          • Com LED
        • Safety functions (STO-SBC)
          • Specifications of the safety functions
            • System requirements
            • Technical specifications
            • Block diagram
          • Setup of the safety functions
            • Connecting the STO/SBC inputs
              • STO/SBC input port
              • Wiring examples for the STO/SBC inputs
            • Connection diagram for the brake
              • Brake power output (STO/SBC)
            • Connector mating parts and cable lengths
          • Using the safety functions
            • Timing diagrams
              • Timing diagram for STO-function without SBC
              • Timing diagram for STO-function with SBC-function
            • Truth table for digital inputs
            • Diagnostic functions
              • Fault diagnostics
              • Fault reaction
              • Resetting diagnostic faults
            • STO-SBC status register
          • Examples for realising safety functions
            • Prevention of unexpected start-up
            • Stop category 0 (STO)
            • Stop category 1 (SS1)
              • Prerequisites
              • Wiring
              • Configuration
              • Verification
          • Commissioning and maintenance
            • Commissioning
            • Maintenance
          • Changelog of the safety-related documentation
          • Dimensions
          • CAD File
          • Downloads
      • SOMANET Node rev. D.3/4
        • Technical specifications
          • Power Specifications
          • General specifications
        • Hardware diagrams
          • EtherCAT module
          • Processor module
          • Drive module
        • Installation guide
          • Wiring Instructions
            • Using a PELV or SELV power supply
            • Warning about using contactors behind the power supply
          • Connector Pinouts
            • Power Terminal
            • Encoder Port 1
            • Encoder Port 2
            • Encoder Port 3 / Digital IO
            • Analog IN
            • EtherCAT port
              • EtherCAT IN Port
              • EtherCAT OUT Port
            • Connector types and mating parts numbers
          • Grounding and connecting a brake
            • Connecting a Brake
          • Mounting instructions
            • Heat dissipation
            • Dimensions
            • Interference with magnetic fields
          • Downloads
        • LED signals
          • Overview
            • Legend
          • Core LED
            • Firmware
            • Bootloader
          • Drive LED
          • Com LED
      • SOMANET Node rev. C.4
        • Technical specifications
          • Power Specifications
          • General specifications
        • Hardware diagrams
          • EtherCAT module
          • Processor module
          • Drive module
        • Installation guide
          • Wiring Instructions
            • Using a PELV or SELV power supply
            • Warning about using contactors behind the power supply
          • Connector Pinouts
            • EtherCAT IN/OUT
            • Power Terminal
            • Encoder Port 1
            • Encoder Port 2
            • Encoder Port 3 / Digital IO
            • Analog IN
            • EtherCAT port
              • EtherCAT IN Port
              • EtherCAT OUT Port
            • Connector types and mating parts numbers
          • Grounding and connecting a brake
            • Connecting a Brake
          • Mounting instructions
            • Heat dissipation
            • Dimensions
            • Interference with magnetic fields
        • LED signals
          • Overview
            • Legend
          • Core LED
            • Firmware
            • Bootloader
          • Drive LED
          • Com LED
    • SOMANET Circulo
      • SOMANET Circulo (rev. B.1)
        • Technical specifications
          • Power Specification
          • General Specification
          • Optional Integrated Encoders
            • Accuracy and repeatability of the integrated encoders
              • Functions
              • Magnetic data
          • Optional Integrated Brake
          • Ordering information
        • Installation Guide
          • Wiring instructions
            • Power supply, phases and brake
              • Power Terminal and Motor phases
              • Connecting a brake
            • Encoders and IO
              • Encoder overview
              • Analog Input
              • External Encoder
              • Digital IO
              • EtherCAT / STO-SBC IN & OUT
            • Temperature sensor
            • Hybrid EtherCAT-STO Cable
              • Overview
              • Pinout of the connectors
              • Instructions for manufacturing the cables
            • Mating parts
              • Connector details and mating part numbers
          • Dimensions and mechanical mounting
            • Dimensions
            • Drilling patterns for mounting
            • Heat dissipation
              • Downloads
          • Mounting the encoder disks
            • Aligning the encoder discs
            • Selecting and attaching a battery for Multi-Turn
              • Suitable encoder batteries
            • Mounting tolerances
              • Radial displacement (r)
              • Tangential displacement (t)
              • Axial distance
              • Tilt angle
              • Mounting eccentricity (rotation axis offset)
          • Mounting a bearing
          • Encoder accuracy
            • Wide angle error (long wave error, integral nonlinearity)
            • Narrow angle error (short wave error, differential nonlinearity, Sub Divisional Error)
          • Encoder calibration
            • Overview
            • Prerequisite
            • Procedure
        • LED signals
          • Overview
            • Legend
          • Status LED
            • Firmware
            • Bootloader
          • EtherCAT LED
        • Safety functions (STO-SBC)
          • Safety specifications
            • System requirements
            • Technical specifications
          • Safety connectors
          • Wiring the safety inputs
            • Cabling lenghts
            • Connection diagrams for the STO inputs
              • Manual switch + drives
              • Safety PLC PM (Plus-Minus output) + drives
              • Safety PLC PP (Plus-Plus output) + drives
            • Connection diagram for the brake
          • Using the safety functions
            • Timing diagrams
              • Timing diagram for STO-function without SBC
              • Timing diagram for STO-function with SBC-function
            • Truth table for digital inputs
            • Diagnostic functions
              • Software diagnostics
              • Hardware diagnostics
            • STO-SBC status register
          • Examples for realising safety functions
            • Emergency stop
            • Stop category 1 emergency stop (Safe stop 1)
              • Prerequisites
              • Wiring
              • Configuration
              • Verification
            • Prevention of unexpected start-up
          • Commissioning and maintenance
            • Commissioning
            • Maintenance
      • SOMANET Circulo (rev. A.2)
        • Technical specifications
          • Power Specification
          • General Specification
          • Optional Integrated Encoders
            • Accuracy and repeatability of the encoder disks
              • Functions
              • Magnetic data
          • Optional Integrated Brake
        • Installation Guide
          • Wiring instructions
            • Power supply and motor brake
              • Power Terminal
              • Motor phases
              • Connecting a brake
            • Encoders and IO
              • Connector overview
              • Analog Input
              • External Encoder
              • Digital IO
              • Safety STO-SBC
              • Encoder Battery (for multi-turn)
              • EtherCAT In/Out
            • Temperature sensor
            • Mating parts and encoder battery
              • Connector details and mating part numbers
              • Suitable encoder batteries
            • Overview of connectors
          • Dimensions and mechanical mounting
            • Dimensions
            • Drilling patterns for mounting
            • Heat dissipation
              • Downloads
          • Mounting the encoder disks
            • Aligning the encoder discs
            • Mounting tolerances
              • Radial displacement (r)
              • Tangential displacement (t)
              • Axial distance
              • Tilt angle
              • Mounting eccentricity (rotation axis offset)
          • Encoder accuracy
            • Wide angle error (long wave error, integral nonlinearity)
            • Narrow angle error (short wave error, differential nonlinearity, Sub Divisional Error)
        • LED signals
          • Overview
            • Legend
          • Core LED
            • Firmware
            • Bootloader
          • Drive LED
          • EtherCAT LED
        • Safety functions (STO-SBC)
          • Safety specifications
            • System requirements
            • Technical specifications
            • Block diagram
          • Wiring the safety inputs
            • Connection diagrams for the STO inputs
              • Manual switch + drive
              • Manual switch + drive (single-channel)
              • Manual switch + multiple drives
              • Safety PLC PM (Plus-Minus output) + drive
              • Safety PLC PM (Plus-Minus output) + multiple drives
              • Safety PLC PP (Plus-Plus output) + drive
              • Safety PLC PP (Plus-Plus output) + multiple drives
            • Connection diagrams for the STO/SBC feedback output
              • High side driver
              • Low side driver
            • Connection diagram for the brake
          • Using the safety functions
            • Timing diagrams
              • Timing diagram for STO-function without SBC
              • Timing diagram for STO-function with SBC-function
            • Truth table for digital inputs
            • Diagnostic functions
              • Software diagnostics
              • Hardware diagnostics
            • STO-SBC status register
            • Use cases
              • Emergency stop
              • Prevention of unexpected start-up
          • Commissioning and maintenance
            • Commissioning
            • Maintenance
    • SOMANET Accessories
      • SOMANET Braking Chopper
        • Overview
        • Technical Specs
        • Installing the module and setting the threshold voltage
        • Connecting the Board to DC-BUS
          • Suitable cables
          • Wiring
        • Failsafe Behavior
        • Multi-board option
        • LED
        • Dimensions
      • SOMANET Sin/Cos Cable Adapter
        • Overview
        • Block Diagram
        • Connectors
          • Encoder Connector Top
          • Encoder Connector Bottom
          • Interface Connector
        • Mounting remarks
        • Strain relief
        • Soldered cables
      • Industrial I/O Cable Adapter
        • Overview
        • Block diagram
        • Pinouts
        • Connector details and mating parts
        • Strain relief
        • Soldered cables
      • ABI/BiSS Encoder Cable Adapter
        • Overview
        • Block Diagram
        • Connectors
          • Encoder Connector Top
          • Encoder Connector Bottom
          • Interface Connector
        • Mounting remarks
        • Strain relief
        • Soldered cables
        • Downloads
  • Commissioning and Tuning with OBLAC Drives
    • OBLAC Drives Setup
      • OBLAC Drives Box
        • Connectors
        • Installation
        • Powering the box off and resetting
        • Open OBLAC Drives
        • Using OBLAC Drives Box with WiFi
        • Sharing a connection with your Host-PC
        • Update OBLAC Drives
      • OBLAC Drives Virtual Machine
        • Prerequisite
        • Getting started
        • Connecting to OBLAC Drives
          • Update OBLAC Drives
        • Troubleshooting
    • Using OBLAC Drives
      • Installing the latest version
      • User Interface Overview
        • Save to device
        • Update Firmware
        • Launch Setup Wizard
        • Download Device Description XML
        • Load Configuration File
        • Save Configuration File
        • Download log
        • Factory Reset
        • Toggle view
      • Using keyboard shortcuts
      • Quick Open
    • Set up your servo drive
    • Motion Control Tuning
      • Auto-Tuning
        • System Identification
          • Prerequisites
          • Limitations
          • How to use
          • F.A.Q.
        • Position Auto-tuning
          • Prerequisites
          • Limitations
          • How to use
          • Next steps
          • F.A.Q.
        • Velocity Auto-tuning
          • Prerequisites
          • Limitations
          • How to use
          • Next steps
          • F.A.Q.
        • Concept of Auto-Tuning
        • Goal of Position Auto-tuning
        • Goal of Velocity Auto-tuning
      • Manual Tuning
        • Manual Tuning of the current controller
          • Manual tuning guide
        • Manual Tuning of the velocity control loop
        • Manual Tuning of the position control loop: Cascaded controller
      • Overview of the Tools
    • Test your drive at the playground
      • Prerequisites
      • Apply a defined torque to your motor
      • Rotate your motor at defined velocities
      • Rotate your motor to defined positions
    • Update or downgrade OBLAC Drives
    • Troubleshooting
      • Virtualization not activated
      • Memory Warning
      • Runtime Issues
      • Other Issues
  • Software Reference
    • Software Reference v4.4-beta
      • Overview
        • Functionality description
      • CANopen over EtherCAT (CoE)
        • Drive State Machine (CiA 402)
        • PDO
        • PDO Configuration
        • SDO
      • Actuator Configuration
        • Motor and Gear settings
          • Motor Configuration
            • Parameters related to the Motor
            • Selecting the PWM fequency
          • Gear Ratio
            • Parameters related to Gear Ratio
        • Manually controlling phase D voltage
          • Overview
          • Usage
          • Limitations
            • Parameters related to Brake
        • Brake release
          • Pin-brake Mode
            • Timing diagram
            • Selecting the PWM fequency of the brake
            • Custom brake modes
            • Parameters related to Brake
        • User defined velocity units
          • Overview
          • Usage
          • Objects affected by changes of the velocity unit
          • Example
          • Parameters related to User defined velocity units
      • Encoders and I/O
        • Analog In
          • External scaled measurement
            • Requirements
            • Specifications
              • Parameters related to External scaled measurement
          • Using differential inputs for single-ended sensors
          • Nonlinear conversion of an analog voltage
          • Parameters related to Analog Inputs
        • Digital I/O
          • Configuration of Digital I/Os as Input or Output
          • Parameters related to GPIO
        • Encoder Configuration
          • Description of common encoder parameters
            • Function
            • Resolution
            • Zero velocity threshold
            • Polarity
            • Multiturn resolution
          • Encoder related parameters
        • Commutation with Hall and ABI combined
          • Overview
          • Requirements
          • Usage
          • Detailed description
            • Startup
            • Error Detection
            • Runtime
        • Input counter
          • Overview
          • Limitations
          • Parameters related to Input counter
      • Protection
        • Overview
        • Usage
        • Parameters related to protection
      • Errors and Warnings
        • Error codes thrown by the firmware
        • Error Report Object
      • Logging
        • Overview
        • Types
        • Format
      • Motion Control
        • Control Loops
          • Current and Torque Control Loop
            • Torque control loop
              • General Scope of the Torque Controller
              • Reference Torque Generation
              • Functional Description and Controller Structure
            • Parameters related to Current and Torque Control Loop
          • Velocity Control Loop
            • Parameters related to the Velocity Control Loop
          • Position Control Loops
            • Cascaded PID Controller
              • Objects used for Cascaded PID Controller
            • Simple PID Controller
              • Objects used for Simple PID Controller
          • Dual Loop Cascaded Position Control
            • Overview
            • Usage
            • Objects used for Dual Loop Cascaded Position Control
        • Modes of Operation
          • Cyclic modes
            • Cyclic Synchronous Torque Control (CST)
              • Parameters related to Cyclic Synchronous Torque Control
            • Cyclic Synchronous Velocity Control (CSV)
              • Parameters related to Cyclic Synchronous Velocity Mode
            • Cyclic Synchronous Position Control (CSP)
              • Parameters related to Cyclic Synchronous Position Control
          • Profile modes
            • Profile position mode
              • Trajectory generator
              • Enable Profile position mode
              • Setting set-points
            • Profile velocity mode
              • Enable Profile velocity mode
            • Profile torque mode
              • Enable Profile torque mode
              • Starting/Stopping Torque
          • Homing modes
            • Overview
              • Homing method 33/34
              • Homing method 35/37
            • Settings for homing mode
              • Homing method
              • Homing speeds
              • Homing acceleration
            • How to perform homing
              • Using the Halt bit
              • Communications
            • Objects used
          • Switching modes
            • Dynamic Op-Mode switching
        • Extended Control Functionalities
          • Cogging Torque Compensation
            • Overview
            • Procedure
              • Prerequisites
              • Overview of the GUI
              • Recording
              • Automatic recording
              • Testing the compensation table
              • Manual configuration for the cogging recording
              • Using the compensation table
            • Controlling the feature via EtherCAT
            • Subitems:
              • 1 State
              • 2 Enabled
            • Objects used for Cogging Torque Compensation
          • Field Weakening
          • Anti-Windup Control
            • Objects used for Anti-Windup Control
          • Gain Scheduling
          • Motor Overload Protection (i2t)
            • Overview
            • Requirements
            • Description of Subitems for 0x200A:
            • Operating principle
          • Velocity feed forward
            • Usage
            • Using a velocity offset additionally
            • Object used for Velocity feed forward
          • Torque Offset
          • Velocity Offset
          • Filtering
            • Position and Velocity Feedback Low-pass filters
              • A practical guide to low-pass filter design
              • Objects used for feedback low-pass filters
            • Torque loop input shaping filter
              • Objects used for notch filter
            • Overview
            • Methods
              • Definitions
              • Low-pass filters
              • Torque loop input shaping filter
            • Application Guide
          • Command smoothing and Interpolation
            • Overview
            • Side Effects
            • Applications
              • Input interpolation
              • Jerk limiting
              • Communication jitter mitigation
            • Detailed Description
              • Command smoothing
              • Usage
              • Objects used for Finite impulse response Filter
          • Control supervision
            • Timing diagram of the supervision objects
            • Following error
            • Following error window
              • Definitions
              • Configuring the Following error window
              • Result
            • Target reached function
              • Definitions
              • Configuring the position window (CSP)
              • Configuring the velocity window (CSV)
              • Configuring the torque window (CST)
              • Result
            • Monitoring the internal variables
            • Control Effort
            • Objects used for Control supervision
          • Distributed clocks (DC clocks)
            • Overview
            • Distributed Clock configuration
            • Parameters related to Distributed Clocks
      • Object Dictionary
        • All Objects
          • 0x1000 Device type
          • 0x1001 Error register
          • 0x1005 COB-ID SYNC
          • 0x1006 Communication cycle period
          • 0x1008 Manufacturer device name
          • 0x100A Manufacturer software version
          • 0x100C Guard time
          • 0x100D Life time factor
          • 0x1010 Store parameters
          • 0x1011 Restore default parameters
          • 0x1016 Consumer heartbeat time
          • 0x1017 Producer heartbeat time
          • 0x1018 Identity object
          • 0x1019 Synchronous counter overflow value
          • 0x1400 Receive PDO1 parameter
          • 0x1401 Receive PDO2 parameter
          • 0x1402 Receive PDO3 parameter
          • 0x1403 Receive PDO4 parameter
          • 0x1600 Receive PDO1 mapping
          • 0x1601 Receive PDO2 mapping
          • 0x1602 Receive PDO3 mapping
          • 0x1603 Receive PDO4 mapping
          • 0x1800 Transmit PDO1 parameter
          • 0x1801 Transmit PDO2 parameter
          • 0x1802 Transmit PDO3 parameter
          • 0x1803 Transmit PDO4 parameter
          • 0x1A00 Transmit PDO1 mapping
          • 0x1A01 Transmit PDO2 mapping
          • 0x1A02 Transmit PDO3 mapping
          • 0x1A03 Transmit PDO4 mapping
          • 0x1C00 Sync Manager
          • 0x1C10 SM 0 Assignment
          • 0x1C11 SM 1 Assignment
          • 0x1C12 SM 2 Assignment
          • 0x1C13 SM 3 Assignment
          • 0x2000 Command object (disabled)
          • 0x2001 Commutation angle offset
          • 0x2002 Position control strategy
          • 0x2003 Motor specific settings
          • 0x2004 Brake options
          • 0x2005 Recuperation
          • 0x2006 Protection
          • 0x2008 Cogging torque compensation
          • 0x2009 Commutation offset
          • 0x200A I2t
          • 0x2010 Torque controller
          • 0x2011 Velocity controller
          • 0x2012 Position controller
          • 0x2012 Position controller
          • 0x2013 Gain scheduling
          • 0x2014 Torque window
          • 0x2015 Velocity feed forward
          • 0x2021 Velocity feedback filter
          • 0x2022 Position feedback filter
          • 0x2023 Notch filter
          • 0x2027 Control input FIR filter
          • 0x2030 Core temperature
          • 0x2031 Drive temperature
          • 0x2038 External scaled measurement
          • 0x203F Error report
          • 0x2040 Input counter
          • 0x20E1 High resolution data
          • 0x20F0 Timestamp
          • 0x20F2 Assigned name
          • 0x20F3 DC synchronization
          • 0x2100 Feedback sensor ports
          • 0x2201 BiSS encoder 1
          • 0x2202 BiSS encoder 2
          • 0x2203 REM 16MT encoder
          • 0x2205 Incremental encoder 1
          • 0x2206 Incremental encoder 2
          • 0x2207 Hall sensor 1
          • 0x2208 Hall sensor 2
          • 0x2209 SSI encoder 1
          • 0x220A SSI encoder 2
          • 0x220B A Format encoder
          • 0x220C Fast ABI module
          • 0x220E SinCos module
          • 0x2210 GPIO pin configuration
          • 0x2214 GPIO global options
          • 0x230A Secondary position value
          • 0x230B Secondary velocity value
          • 0x2401 Analog input 1
          • 0x2402 Analog input 2
          • 0x2403 Analog input 3
          • 0x2404 Analog input 4
          • 0x2501 Digital input 1
          • 0x2502 Digital input 2
          • 0x2503 Digital input 3
          • 0x2504 Digital input 4
          • 0x2601 Digital output 1
          • 0x2602 Digital output 2
          • 0x2603 Digital output 3
          • 0x2604 Digital output 4
          • 0x2611 Safety digital input diagnostics
          • 0x2701 Tuning command
          • 0x2702 Tuning status
          • 0x2703 User MOSI
          • 0x2704 User MISO
          • 0x2705 Setup wizard completed
          • 0x603F Error code
          • 0x6040 Controlword
          • 0x6041 Statusword
          • 0x6060 Modes of operation
          • 0x6061 Modes of operation display
          • 0x6062 Position demand value
          • 0x6064 Position actual value
          • 0x6065 Following error window
          • 0x6066 Following error time out
          • 0x6067 Position window
          • 0x6068 Position window time
          • 0x606B Velocity demand value
          • 0x606C Velocity actual value
          • 0x606D Velocity window
          • 0x606E Velocity window time
          • 0x606F Velocity threshold
          • 0x6070 Velocity threshold time
          • 0x6071 Target torque
          • 0x6072 Max torque
          • 0x6073 Max current
          • 0x6074 Torque demand
          • 0x6075 Motor rated current
          • 0x6076 Motor rated torque
          • 0x6077 Torque actual value
          • 0x6079 DC link circuit voltage
          • 0x607A Target position
          • 0x607B Position range limit
          • 0x607C Home offset
          • 0x607D Software position limit
          • 0x607E Polarity
          • 0x6080 Max motor speed
          • 0x6081 Profile velocity
          • 0x6083 Profile acceleration
          • 0x6084 Profile deceleration
          • 0x6085 Quick stop deceleration
          • 0x6086 Motion profile type
          • 0x6087 Torque slope
          • 0x6088 Torque profile type
          • 0x6091 Gear ratio
          • 0x6098 Homing method
          • 0x6099 Homing speeds
          • 0x609A Homing acceleration
          • 0x60A9 SI unit velocity
          • 0x60B1 Velocity offset
          • 0x60B2 Torque offset
          • 0x60E3 Supported homing methods
          • 0x60F4 Following error actual value
          • 0x60FA Control effort
          • 0x60FC Position demand internal value
          • 0x60FF Target velocity
          • 0x6502 Supported drive modes
          • 0x6621 Safety statusword
        • Communication Area
        • Process Data Objects
          • Standard RxPDO mapped Objects
          • Standard TxPDO mapped Objects
          • Advanced PDO mapping
            • Changing the content of an object
        • Manufacturer Specific Area
        • CiA 402 Specific Area
      • Drive operations through FoE
        • Overview
        • Updating the firmware
          • Prerequisite
          • Setup Information
          • Preparation
          • Steps of Operation
        • Uploading a drive configuration
          • Setup Information
          • Steps of Operation
      • Device Information
    • Software Reference v4.2
      • Overview
        • Functionality description
      • CANopen over EtherCAT (CoE)
        • Drive State Machine (CiA 402)
        • PDO
        • PDO Configuration
        • SDO
      • Actuator Configuration
        • Motor and Gear settings
          • Motor Configuration
            • Parameters related to the Motor
            • Selecting the PWM fequency
          • Gear Ratio
            • Parameters related to Gear Ratio
        • Manually controlling phase D voltage
          • Overview
          • Usage
          • Limitations
            • Parameters related to Brake
        • Brake release
          • Pin-brake Mode
            • Timing diagram
            • Selecting the PWM fequency of the brake
            • Custom brake modes
            • Parameters related to Brake
        • User defined velocity units
          • Overview
          • Usage
          • Objects affected by changes of the velocity unit
          • Example
          • Parameters related to User defined velocity units
      • Encoders and I/O
        • Analog In
          • External scaled measurement
            • Requirements
            • Specifications
              • Parameters related to External scaled measurement
          • Using differential inputs for single-ended sensors
          • Nonlinear conversion of an analog voltage
          • Parameters related to Analog Inputs
        • Digital I/O
          • Configuration of Digital I/Os as Input or Output
          • Parameters related to GPIO
        • Encoder Configuration
          • Description of common encoder parameters
            • Function
            • Resolution
            • Zero velocity threshold
            • Polarity
            • Multiturn resolution
          • Encoder related parameters
        • Commutation with Hall and ABI combined
          • Overview
          • Requirements
          • Usage
          • Detailed description
            • Startup
            • Error Detection
            • Runtime
        • Input counter
          • Overview
          • Limitations
          • Parameters related to Input counter
      • Protection
        • Overview
        • Usage
        • Parameters related to protection
      • Errors and Warnings
        • Error codes thrown by the firmware
        • Error Report Object
      • Logging
        • Overview
        • Types
        • Format
      • Motion Control
        • Control Loops
          • Current and Torque Control Loop
            • Torque control loop
              • General Scope of the Torque Controller
              • Reference Torque Generation
              • Functional Description and Controller Structure
            • Parameters related to Current and Torque Control Loop
          • Velocity Control Loop
            • Parameters related to the Velocity Control Loop
          • Position Control Loops
            • Cascaded PID Controller
              • Objects used for Cascaded PID Controller
            • Simple PID Controller
              • Objects used for Simple PID Controller
          • Dual Loop Cascaded Position Control
            • Overview
            • Usage
            • Objects used for Dual Loop Cascaded Position Control
        • Modes of Operation
          • Cyclic modes
            • Cyclic Synchronous Torque Control (CST)
              • Parameters related to Cyclic Synchronous Torque Control
            • Cyclic Synchronous Velocity Control (CSV)
              • Parameters related to Cyclic Synchronous Velocity Mode
            • Cyclic Synchronous Position Control (CSP)
              • Parameters related to Cyclic Synchronous Position Control
          • Profile modes
            • Profile position mode
              • Trajectory generator
              • Enable Profile position mode
              • Setting set-points
            • Profile velocity mode
              • Enable Profile velocity mode
            • Profile torque mode
              • Enable Profile torque mode
              • Starting/Stopping Torque
          • Homing modes
            • Overview
              • Homing method 33/34
              • Homing method 35/37
            • Settings for homing mode
              • Homing method
              • Homing speeds
              • Homing acceleration
            • How to perform homing
              • Using the Halt bit
              • Communications
            • Objects used
          • Switching modes
        • Extended Control Functionalities
          • Cogging Torque Compensation
            • Overview
            • Procedure
              • Prerequisites
              • Overview of the GUI
              • Recording
              • Automatic recording
              • Testing the compensation table
              • Manual configuration for the cogging recording
              • Using the compensation table
            • Controlling the feature via EtherCAT
            • Subitems:
              • 1 State
              • 2 Enabled
            • Objects used for Cogging Torque Compensation
          • Field Weakening
          • Anti-Windup Control
            • Objects used for Anti-Windup Control
          • Gain Scheduling
          • Motor Overload Protection (i2t)
            • Overview
            • Requirements
            • Description of Subitems for 0x200A:
            • Operating principle
          • Velocity feed forward
            • Usage
            • Using a velocity offset additionally
            • Object used for Velocity feed forward
          • Torque Offset
          • Velocity Offset
          • Filtering
            • Position and Velocity Feedback Low-pass filters
              • A practical guide to low-pass filter design
              • Objects used for feedback low-pass filters
            • Torque loop input shaping filter
              • Objects used for notch filter
            • Overview
            • Methods
              • Definitions
              • Low-pass filters
              • Torque loop input shaping filter
            • Application Guide
          • Control supervision
            • Timing diagram of the supervision objects
            • Following error
            • Following error window
              • Definitions
              • Configuring the Following error window
              • Result
            • Target reached function
              • Definitions
              • Configuring the position window (CSP)
              • Configuring the velocity window (CSV)
              • Configuring the torque window (CST)
              • Result
            • Monitoring the internal variables
            • Control Effort
            • Objects used for Control supervision
          • Distributed clocks (DC clocks)
            • Overview
            • Distributed Clock configuration
            • Parameters related to Distributed Clocks
      • Object Dictionary
        • All Objects
          • 0x1000 Device type
          • 0x1001 Error register
          • 0x1005 COB-ID SYNC
          • 0x1006 Communication cycle period
          • 0x1008 Manufacturer device name
          • 0x100A Manufacturer software version
          • 0x100C Guard time
          • 0x100D Life time factor
          • 0x1010 Store parameters
          • 0x1011 Restore default parameters
          • 0x1016 Consumer heartbeat time
          • 0x1017 Producer heartbeat time
          • 0x1018 Identity object
          • 0x1019 Synchronous counter overflow value
          • 0x1400 Receive PDO1 parameter
          • 0x1401 Receive PDO2 parameter
          • 0x1600 Receive PDO1 mapping
          • 0x1601 Receive PDO2 mapping
          • 0x1602 Receive PDO3 mapping
          • 0x1603 Receive PDO4 mapping
          • 0x1800 Transmit PDO1 parameter
          • 0x1801 Transmit PDO2 parameter
          • 0x1A00 Transmit PDO1 mapping
          • 0x1A01 Transmit PDO2 mapping
          • 0x1A02 Transmit PDO3 mapping
          • 0x1A03 Transmit PDO4 mapping
          • 0x1C00 Sync Manager
          • 0x1C10 SM 0 Assignment
          • 0x1C11 SM 1 Assignment
          • 0x1C12 SM 2 Assignment
          • 0x1C13 SM 3 Assignment
          • 0x2000 Command object (disabled)
          • 0x2001 Commutation angle offset
          • 0x2002 Position control strategy
          • 0x2003 Motor specific settings
          • 0x2004 Brake options
          • 0x2005 Recuperation
          • 0x2006 Protection
          • 0x2008 Cogging torque compensation
          • 0x2009 Commutation offset
          • 0x200A I2t
          • 0x2010 Torque controller
          • 0x2011 Velocity controller
          • 0x2012 Position controller
          • 0x2012 Position controller
          • 0x2013 Gain scheduling
          • 0x2014 Torque window
          • 0x2015 Velocity feed forward
          • 0x2021 Velocity feedback filter
          • 0x2022 Position feedback filter
          • 0x2023 Notch filter
          • 0x2030 Core temperature
          • 0x2031 Drive temperature
          • 0x2038 External scaled measurement
          • 0x203F Error report
          • 0x2040 Input counter
          • 0x20E1 High resolution data
          • 0x20F0 Timestamp
          • 0x20F2 Assigned name
          • 0x20F3 DC synchronization
          • 0x2100 Feedback sensor ports
          • 0x2201 BiSS encoder 1
          • 0x2202 BiSS encoder 2
          • 0x2203 REM 16MT encoder
          • 0x2205 Incremental encoder 1
          • 0x2206 Incremental encoder 2
          • 0x2207 Hall sensor 1
          • 0x2208 Hall sensor 2
          • 0x2209 SSI encoder 1
          • 0x220A SSI encoder 2
          • 0x220B A Format encoder
          • 0x220C Fast ABI module
          • 0x220E SinCos module
          • 0x2210 GPIO pin configuration
          • 0x2214 GPIO global options
          • 0x230A Secondary position value
          • 0x230B Secondary velocity value
          • 0x2401 Analog input 1
          • 0x2402 Analog input 2
          • 0x2403 Analog input 3
          • 0x2404 Analog input 4
          • 0x2501 Digital input 1
          • 0x2502 Digital input 2
          • 0x2503 Digital input 3
          • 0x2504 Digital input 4
          • 0x2601 Digital output 1
          • 0x2602 Digital output 2
          • 0x2603 Digital output 3
          • 0x2604 Digital output 4
          • 0x2611 Safety digital input diagnostics
          • 0x2701 Tuning command
          • 0x2702 Tuning status
          • 0x2703 User MOSI
          • 0x2704 User MISO
          • 0x2705 Setup wizard completed
          • 0x603F Error code
          • 0x6040 Controlword
          • 0x6041 Statusword
          • 0x6060 Modes of operation
          • 0x6061 Modes of operation display
          • 0x6062 Position demand value
          • 0x6064 Position actual value
          • 0x6065 Following error window
          • 0x6066 Following error time out
          • 0x6067 Position window
          • 0x6068 Position window time
          • 0x606B Velocity demand value
          • 0x606C Velocity actual value
          • 0x606D Velocity window
          • 0x606E Velocity window time
          • 0x606F Velocity threshold
          • 0x6070 Velocity threshold time
          • 0x6071 Target torque
          • 0x6072 Max torque
          • 0x6073 Max current
          • 0x6074 Torque demand
          • 0x6075 Motor rated current
          • 0x6076 Motor rated torque
          • 0x6077 Torque actual value
          • 0x6079 DC link circuit voltage
          • 0x607A Target position
          • 0x607B Position range limit
          • 0x607C Home offset
          • 0x607D Software position limit
          • 0x607E Polarity
          • 0x6080 Max motor speed
          • 0x6081 Profile velocity
          • 0x6083 Profile acceleration
          • 0x6084 Profile deceleration
          • 0x6085 Quick stop deceleration
          • 0x6086 Motion profile type
          • 0x6087 Torque slope
          • 0x6088 Torque profile type
          • 0x6091 Gear ratio
          • 0x6098 Homing method
          • 0x6099 Homing speeds
          • 0x609A Homing acceleration
          • 0x60A9 SI unit velocity
          • 0x60B1 Velocity offset
          • 0x60B2 Torque offset
          • 0x60E3 Supported homing methods
          • 0x60F4 Following error actual value
          • 0x60FA Control effort
          • 0x60FC Position demand internal value
          • 0x60FF Target velocity
          • 0x6502 Supported drive modes
          • 0x6621 Safety statusword
        • Communication Area
        • Process Data Objects
          • Standard RxPDO mapped Objects
          • Standard TxPDO mapped Objects
          • Advanced PDO mapping
            • Changing the content of an object
        • Manufacturer Specific Area
        • CiA 402 Specific Area
      • Drive operations through FoE
        • Overview
        • Updating the firmware
          • Prerequisite
          • Setup Information
          • Preparation
          • Steps of Operation
        • Uploading a drive configuration
          • Setup Information
          • Steps of Operation
      • Device Information
    • Software Reference v4.1
      • Overview
        • Functionality description
      • CANopen over EtherCAT (CoE)
        • Drive State Machine (CiA 402)
        • PDO
        • PDO Configuration
        • SDO
      • Actuator Configuration
        • Motor Configuration
          • Motor Control Objects
        • Brake Configuration
          • Brake Parameter Object
        • Gear Ratio
      • Sensor Configuration
        • Sensor Objects
        • Description of commonly used specifications
          • Function
          • Resolution
          • Velocity calculation period
          • Polarity
          • Multiturn resolution
      • Protection
        • Overview
        • Usage
        • Parameters related to protection
      • Errors and Warnings
        • Errors thrown by the firmware
        • Error Report Object
      • Logging
        • Overview
        • Types
        • Format
      • Motion Control
        • Control Loops
          • Current and Torque Control Loop
            • Torque control loop
              • General Scope of the Torque Controller
              • Reference Torque Generation
              • Functional Description and Controller Structure
            • Parameters related to Current and Torque Control Loop
          • Velocity Control Loop
            • Parameters related to the Velocity Control Loop
          • Position Control Loops
            • Cascaded PID Controller
              • Objects used for Cascaded PID Controller
            • Simple PID Controller
              • Objects used for Simple PID Controller
          • Dual Loop Cascaded Position Control
            • Overview
            • Usage
            • Objects used for Dual Loop Cascaded Position Control
        • Modes of Operation
          • Cyclic Synchronous Torque Control (CST)
            • Parameters related to Cyclic Synchronous Torque Control
          • Cyclic Synchronous Velocity Control (CSV)
            • Parameters related to Cyclic Synchronous Velocity Mode
          • Cyclic Synchronous Position Control (CSP)
            • Parameters related to Cyclic Synchronous Position Control
          • Switching modes
        • Extended Control Functionalities
          • Cogging Torque Compensation
            • Overview
            • Procedure
              • Prerequisites
              • Overview of the GUI
              • Recording
              • Automatic recording
              • Testing the compensation table
              • Manual configuration for the cogging recording
              • Using the compensation table
            • Controlling Cogging Torque Compensation and Recording Feature via EtherCAT
            • Subitems:
              • 1 State
              • 2 Enabled
          • Field Weakening
          • Anti-Windup Control
          • Gain Scheduling
          • Motor Overload Protection (i2t)
            • Overview
            • Requirements
            • Description of Subitems for 0x200A:
            • Operating principle
          • Torque Offset
          • Velocity Offset
      • Object Dictionary
        • All Objects
          • 0x1000 Device Type
          • 0x1001 Error Register
          • 0x1008 Manufacturer Device Name
          • 0x100A Manufacturer Software Version
          • 0x1010 Store parameters
          • 0x1011 Restore default parameters
          • 0x1018 Identity
          • 0x1600 RxPDO Mapping 1
          • 0x1A00 TxPDO Mapping 1
          • 0x1C00 Sync Manager
          • 0x1C10 SM 0 Assignment
          • 0x1C11 SM 1 Assignment
          • 0x1C12 SM 2 Assignment
          • 0x1C13 SM 3 Assignment
          • 0x2000 Command Object (disabled)
          • 0x2001 Commutation Angle Offset
          • 0x2002 Position control strategy
          • 0x2003 Motor Specific Settings
          • 0x2004 Brake Options
          • 0x2005 Recuperation
          • 0x2006 Protection
          • 0x2008 Cogging Torque Compensation
          • 0x2009 Commutation Offset
          • 0x200A I2t
          • 0x2010 Torque Controller
          • 0x2011 Velocity Controller
          • 0x2012 Position Controller
          • 0x2012 Position Controller
          • 0x2013 Gain Scheduling
          • 0x2021 Velocity Feedback Filter
          • 0x2022 Position Feedback Filter
          • 0x2031 Drive temperature
          • 0x203F Error report
          • 0x20F0 Timestamp
          • 0x20F1 Real Time Clock
          • 0x20F2 Assigned Name
          • 0x2100 Feedback sensor ports
          • 0x2201 BISS Encoder 1
          • 0x2202 BISS Encoder 2
          • 0x2203 REM 16MT Encoder
          • 0x2204 REM 14 Encoder
          • 0x2205 Incremental Encoder 1
          • 0x2206 Incremental Encoder 2
          • 0x2207 HALL Sensor 1
          • 0x2208 HALL Sensor 2
          • 0x2209 SSI Encoder 1
          • 0x220A SSI Encoder 2
          • 0x2210 GPIO
          • 0x230A Secondary position value
          • 0x230B Secondary velocity value
          • 0x2401 Analog input 1
          • 0x2402 Analog input 2
          • 0x2403 Analog input 3
          • 0x2404 Analog input 4
          • 0x2501 Digital Input 1
          • 0x2502 Digital Input 2
          • 0x2503 Digital Input 3
          • 0x2504 Digital Input 4
          • 0x2601 Digital Output 1
          • 0x2602 Digital Output 2
          • 0x2603 Digital Output 3
          • 0x2604 Digital Output 4
          • 0x2701 Tuning command
          • 0x2702 Tuning status
          • 0x2703 User MOSI
          • 0x2704 User MISO
          • 0x2705 Setup Wizard Completed
          • 0x603F Error code
          • 0x6040 Controlword
          • 0x6041 Statusword
          • 0x6060 Op Mode
          • 0x6061 Op Mode Display
          • 0x6064 Position Value
          • 0x606C Velocity Value
          • 0x6071 Target Torque
          • 0x6072 Max torque
          • 0x6073 Max current
          • 0x6075 Motor Rated Current
          • 0x6076 Motor Rated Torque
          • 0x6077 Torque Value
          • 0x6079 DC link circuit voltage
          • 0x607A Target Position
          • 0x607B Position Range Limits
          • 0x607C Home offset
          • 0x607D Software position limit
          • 0x607E Polarity
          • 0x607F Max profile velocity
          • 0x6080 Max motor speed
          • 0x6081 Profile velocity
          • 0x6085 Quick stop deceleration
          • 0x6086 Motion profile type
          • 0x6091 Gear ratio
          • 0x60B1 Velocity offset
          • 0x60B2 Torque offset
          • 0x60FF Target Velocity
          • 0x6502 Supported Drive Modes
        • Communication Area
        • Process Data Objects
          • Standard RxPDO mapped Objects
          • Standard TxPDO mapped Objects
          • Advanced PDO mapping
        • Manufacturer Specific Area
        • CiA 402 Specific Area
        • Process Data Objects
          • Standard RxPDO mapped Objects
          • Standard TxPDO mapped Objects
          • Advanced PDO mapping
      • Drive operations through FoE
        • Overview
        • Updating the firmware
          • Prerequisite
          • Setup Information
          • Preparation
          • Steps of Operation
        • Uploading a drive configuration
          • Setup Information
          • Steps of Operation
      • Device Information
    • Software Reference v4.0
      • Overview
        • Functionality description
      • CANopen over EtherCAT (CoE)
        • Drive State Machine (CiA 402)
        • PDO
        • PDO Configuration
        • SDO
      • Actuator Configuration
        • Motor Configuration
          • Motor Control Objects
        • Brake Configuration
          • Brake Parameter Object
      • Sensor Configuration
        • Sensor Objects
        • Description of commonly used specifications
          • Function
          • Resolution
          • Velocity calculation period
          • Polarity
          • Multiturn resolution
      • Motion Control
        • Control Loops
          • Current and Torque Control Loop
            • Torque control loop
              • General Scope of the Torque Controller
              • Reference Torque Generation
              • Functional Description and Controller Structure
            • Parameters related to Current and Torque Control Loop
          • Velocity Control Loop
            • Parameters related to the Velocity Control Loop
          • Position Control Loops
            • Cascaded PID Controller
              • Objects used for Cascaded PID Controller
            • Simple PID Controller
              • Objects used for Simple PID Controller
        • Modes of Operation
          • Cyclic Synchronous Torque Control (CST)
            • Parameters related to Cyclic Synchronous Torque Control
          • Cyclic Synchronous Velocity Control (CSV)
            • Parameters related to Cyclic Synchronous Velocity Mode
          • Cyclic Synchronous Position Control (CSP)
            • Parameters related to Cyclic Synchronous Position Control
          • Switching modes
        • Extended Control Functionalities
          • Cogging Torque Compensation
            • Overview
            • Procedure
              • Prerequisites
              • Overview of the GUI
              • Recording
              • Automatic recording
              • Testing the compensation table
              • Manual configuration for the cogging recording
              • Using the compensation table
            • Controlling Cogging Torque Compensation and Recording Feature via EtherCAT
            • Subitems:
              • 1 State
              • 2 Enabled
          • Field Weakening
          • Anti-Windup Control
          • Torque Offset
      • Errors and Warnings
      • Object Dictionary
        • All Objects
          • 0x1000 Device Type
          • 0x1001 Error Register
          • 0x1008 Manufacturer Device Name
          • 0x100A Manufacturer Software Version
          • 0x1010 Store parameters
          • 0x1011 Restore default parameters
          • 0x1018 Identity
          • 0x1600 Rx PDO Mapping
          • 0x1A00 Tx PDO Mapping
          • 0x1C00 Sync Manager
          • 0x1C10 SM 0 Assignment
          • 0x1C11 SM 1 Assignment
          • 0x1C12 SM 2 Assignment
          • 0x1C13 SM 3 Assignment
          • 0x2000 Command Object (disabled)
          • 0x2001 Commutation Angle Offset
          • 0x2002 Position control strategy
          • 0x2003 Motor Specific Settings
          • 0x2004 Brake Options
          • 0x2005 Recuperation
          • 0x2006 Protection
          • 0x2008 Cogging Torque Compensation
          • 0x2009 Commutation Offset
          • 0x2010 Torque Controller
          • 0x2011 Velocity Controller
          • 0x2012 Position Controller
          • 0x2012 Position Controller
          • 0x20F0 Timestamp
          • 0x20F1 Real Time Clock
          • 0x20F2 Assigned Name
          • 0x2100 Feedback sensor ports
          • 0x2201 BISS Encoder 1
          • 0x2202 BISS Encoder 2
          • 0x2203 REM 16MT Encoder
          • 0x2204 REM 14 Encoder
          • 0x2205 Incremental Encoder 1
          • 0x2206 Incremental Encoder 2
          • 0x2207 HALL Sensor 1
          • 0x2208 HALL Sensor 2
          • 0x2210 GPIO
          • 0x230A Secondary position value
          • 0x230B Secondary velocity value
          • 0x2401 Analog input 1
          • 0x2402 Analog input 2
          • 0x2403 Analog input 3
          • 0x2404 Analog input 4
          • 0x2501 Digital Input 1
          • 0x2502 Digital Input 2
          • 0x2503 Digital Input 3
          • 0x2504 Digital Input 4
          • 0x2601 Digital Output 1
          • 0x2602 Digital Output 2
          • 0x2603 Digital Output 3
          • 0x2604 Digital Output 4
          • 0x2701 Tuning command
          • 0x2702 Tuning status
          • 0x2703 User MOSI
          • 0x2704 User MISO
          • 0x2705 Setup Wizard Completed
          • 0x603F Error code
          • 0x6040 Controlword
          • 0x6041 Statusword
          • 0x6060 Op Mode
          • 0x6061 Op Mode Display
          • 0x6064 Position Value
          • 0x606C Velocity Value
          • 0x6071 Target Torque
          • 0x6072 Max torque
          • 0x6073 Max current
          • 0x6075 Motor Rated Current
          • 0x6076 Motor Rated Torque
          • 0x6077 Torque Value
          • 0x6079 DC link circuit voltage
          • 0x607A Target Position
          • 0x607B Position Range Limits
          • 0x607C Home offset
          • 0x607D Software position limit
          • 0x607E Polarity
          • 0x607F Max profile velocity
          • 0x6080 Max motor speed
          • 0x6081 Profile velocity
          • 0x6083 Profile acceleration
          • 0x6084 Profile deceleration
          • 0x6085 Quick stop deceleration
          • 0x6086 Motion profile type
          • 0x60B2 Torque offset
          • 0x60C5 Max acceleration
          • 0x60FF Target Velocity
          • 0x6502 Supported Drive Modes
        • Communication Area
        • Manufacturer Specific Area
        • CiA 402 Specific Area
        • Process Data Objects
          • Standard RxPDO mapped Objects
          • Standard TxPDO mapped Objects
      • Drive operations through FoE
        • Overview
        • Updating the firmware
          • Prerequisite
          • Setup Information
          • Preparation
          • Steps of Operation
        • Uploading a drive configuration
          • Setup Information
          • Steps of Operation
      • Device Information
  • Tutorials
    • Tuning Guides
      • Velocity PID Tuning
        • PID Parameter Range
        • Recommended Tuning Steps
      • Position tuning with Gain Scheduling
        • Introduction
        • Control Basics
        • Tuning Concept in Brief
        • Tuning Steps
      • Cascaded position Tuning
        • Introduction
        • Control Basics
        • Tuning Concept in Brief
        • Tuning Steps
  • Resources
    • About this documentation
      • Warnings
      • Reporting errors
      • Using offline documentation
      • Versioning

Control Loops¶

  • Current and Torque Control Loop

  • Velocity Control Loop

  • Position Control Loop

  • Dual Loop Cascaded Postion Control

Europe (HQ)

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Americas

Synapticon Inc.
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Asia

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China

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About

Synapticon is a technology company focusing on the transition band between advanced software and electromechanics. The company provides a comprehensive portfolio of motion control-related technology to robot and machinery OEMs.

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Version: 4.2.1 | Build: 2020-10-07