3.1.8.3 Extended Control Functionalities
Synapticon provides several features for enhancing motion control even with low-cost hardware:
Cogging Torque Compensation Removes ripples caused by magnetic interaction between motor rotor and
tator.
Field Weakening The velocity range of electric motors can be extended by weakening the magnetic field of
the otor linearly over the speed range.
Anti-Windup Control An Anti-Windup alogorithm is used to prevent the Integrator part to accumulate beyond
cceptable 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 verheating.
Velocity feed forward To increase the velocity of the robot’s reaction, the target position signal can bypass
the osition controller.
Torque Offset A desired offset torque can be added to the reference torque.
Velocity Offset An additional velocity offset can be used to improve the positioning performance.
Filtering Digital filters can be used to remove unwanted frequencies such as noise or nonlinear effects.
Position and Velocity Feedback Low-pass filters
Torque loop input shaping filter
Command smoothing and Interpolation: Successive setpoints can be smoothed, so that low command
resolution and jitter have reduced effect on the control.
Control supervision Allows to supervise the work of the control loops
Distributed clocks: Allows to synchronize the system time for enhanced performance.
OS Command Offers commands that can’t be executed by single SDO operations
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