2.4.2.6.5 F.A.Q.
2.4.3 Manual Tuning
2.4.3.1 Manual Tuning of the current controller
2.4.3.1.1 Manual tuning guide
2.4.3.2 Manual Tuning of the velocity control loop
2.4.3.3 Manual Tuning of the position control loop: Cascaded controller
2.5 Test your drive at the playground
2.5.1 Prerequisites
2.5.2 Apply a defined torque to your motor
2.5.3 Rotate your motor at defined velocities
2.5.4 Rotate your motor to defined positions
2.6 Update/downgrade OBLAC Drives
2.7 Troubleshooting
2.7.1 Virtualization not activated
2.7.2 Memory Warning
2.7.3 Runtime Issues
2.7.4 Other Issues
3 Software Reference
3.1 Software Reference Manual v5.0
3.1.1 Firmware Overview 5.0
3.1.1.1 Functionality description
3.1.2 CANopen over EtherCAT (CoE)
3.1.2.1 Drive State Machine (CiA 402)
3.1.2.2 PDO
3.1.2.3 PDO Configuration
3.1.2.4 SDO
3.1.3 Actuator configuration
3.1.3.1 Motor and gear settings
3.1.3.1.1 Motor Configuration
3.1.3.1.1.1 Pole pairs
3.1.3.1.1.2 Torque constant
3.1.3.1.1.3 Phase resistance
3.1.3.1.1.4 Phase inductance
3.1.3.1.1.5 Errors in phase resistance and inductance
3.1.3.1.1.6 Motor phases inverted
3.1.3.1.2 Selecting the PWM frequency
3.1.3.1.3 Gear Ratio
3.1.3.1.4 Advanced motor configurations
3.1.3.1.5 Parameters related to Motor and gear settings
3.1.3.2 Controlling a generic voltage at the brake output
3.1.3.2.1 Overview
3.1.3.2.2 Usage
3.1.3.2.3 Limitations
3.1.3.2.3.1 Parameters related to Controlling the brake output voltage
3.1.3.3 Brake configuration
3.1.3.3.1 Pin-brake Mode
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