3.1.1 Firmware Overview 5.0
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:
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