3.1 Software Reference Manual v5.0
Note
Some functionalities may not exist in older firmwares.
Please refer to the respective section when using an older firmware:
Firmware manual v4.4
Firmware manual v4.2
Firmware manual v4.1
Firmware manual v4.0
Migration guide from v4.x to 5.0
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
Commutation Offset Detection Aligns the motor’s electrical angle with the position sensor feedback
for motion control
Power limit Limits the mechanical output power of the motor
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
Digital GPIO Assigns actions to changes in the Digital Inputs and triggers Digital Outputs
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.
Errors thrown by the firmware SOMANET throws firmware errors as specified in CiA 402.
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