Error report object Each occurring error is described in the Error Report Object.
Remedies for protection errors How to resolve issues with over-current, over-voltage, under-voltage
and over-temperature.
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.
Control Loops
Current and Torque Control Loop
Velocity Control Loop
Position Control Loop
Dual Loop Cascaded Postion Control
Modes of operation
Cyclic modes
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
Profile position mode In profile position mode the trajectory to a target point is generated
on the drive.
Profile velocity mode In profile velocity mode the motor will rotate at a target velocity.
Profile torque mode In profile torque mode the drive sends a target torque to the motor.
Homing modes
Quick stop Stops the motor quickly in a controlled way.
Diagnostics opmode Used for triggering diagnostic OS commands.
Switching the modes Describes how the modes can be selected.
Control Loop Tuning Each motor needs to be tuned before it is operational. Synapticon provides an
easy-to-use Auto-Tuning feature but all drives can also be tuned manually.
Extended control functionalities These features can be used to enhance performance:
Cogging Torque Compensation Removes 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 linearly over the speed range.
Anti-Windup Control An Anti-Windup alogorithm is used to prevent the Integrator part to
accumulate beyond acceptable boundaries.
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
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