CANopen device profile 1.1 Device 1 1 CANopen siliXcon 0 ESC3 Controller 0 0 0 0 SW library libedssharp CANopenNode Device Type Non-zero means error. Producer Heartbeat Time Identity Object Number of entries Vencod id Product code Revision number Serial number More info about driver modes: https://docs.silixcon.com/docs/fw/modules/esc/driver/command/cmd https://docs.silixcon.com/docs/fw/modules/esc/driver/command/driver_mode There is timeout 200ms on this message. Recommended sending period is min 60ms. https://docs.silixcon.com/docs/fw/modules/esc/driver/command/driver_mode Motor freewheels, preferably by disconnecting from the drive. A current can be present due to automatic field weakening, but, the torque is never generated. Motor neither accelerates, nor brakes. The command level is ignored. https://docs.silixcon.com/docs/fw/modules/esc/driver/command/driver_mode By setting the specified voltage, a stable speed of the shaft is usually achieved. The torque (and required current) is determined by the load. Torque (current) can be only limited (not controlled) by the user. Motor can accelerate and brake. https://docs.silixcon.com/docs/fw/modules/esc/driver/command/driver_mode By setting the specified current, a stable torque of the motor is usually achieved. The speed is determined by the load and could be only limited (not controlled). Motor can accelerate and brake. https://docs.silixcon.com/docs/fw/modules/esc/driver/command/driver_mode By setting the specified voltage, a stable speed of the motor is usually achieved. The torque (and required current) is determined by the load. Torque (current) can be only limited (not controlled) by the user. Motor can accelerate but can not brake, unless the sign of the required voltage is changed. https://docs.silixcon.com/docs/fw/modules/esc/driver/command/driver_mode This mode is the inversion of the mode 3. The motor freewheels from zero RPM until it reaches the specified voltage. After that, currents starts to flow into the battery and motor starts to brake. Motor can not a accelerate in this mode, only brake. https://docs.silixcon.com/docs/fw/modules/esc/driver/command/driver_mode Similar to mode 2, but the total amplitude of stator current is demanded (not only the Qcomponent as if mode 2). (in BLDC, this mode reduces to mode 2) https://docs.silixcon.com/docs/fw/modules/esc/driver/command/driver_mode This mode is similar to mode 2, but the driver attempts to control the real torque (with regards to variable flux with d-axis control). (in BLDC, this mode reduces to mode 2) https://docs.silixcon.com/docs/fw/modules/esc/driver/command/driver_mode Similar to mode 8, but real torque is calculated from motor parameters. Real torque (not current) is regulated as in mode 6. (in BLDC, this mode reduces to mode 8) https://docs.silixcon.com/docs/fw/modules/esc/driver/command/driver_mode Similar to mode 8, but real torque is calculated from motor parameters. Real torque (not current) is regulated as in mode 6. (in BLDC, this mode reduces to mode 8) https://docs.silixcon.com/docs/fw/modules/esc/driver/command/driver_mode Unidirectional brake with constant torque. For one direction is same as mode 8, for other direction, the motor freewheels. https://docs.silixcon.com/docs/fw/modules/esc/driver/command/driver_mode Short circuit brake, limited by the IPEAK current only. Brake torque is proportional to motor speed. The higher speed, the higher brake torque. The motor in this mode never accelerates. The command level, imult and umult is ignored. Device Info Strings Basename HWID SWID Serial number UUID Class signature Description battery /driver/supply/currentf /driver/supply/voltage Motor Info sqrt(3) x /driver/motor/voltageq (phase-to-phase) sqrt(3) x /driver/motor/voltaged (phase-to-phase) /driver/motor/currentqf /driver/motor/currentdf /driver/motor/rpmf /driver/motor/odo CANopen communication network profile 1.1 CommunicationNetwork 1 1 CANopen