SYNAPTICON Node 400 Hardware Manual
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SYNAPTICON Node 400 Hardware Manual

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Documentation v 4.18.2 | Built 2022-01-12
© 2021 Synapticon GmbH

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Summary of Contents for SYNAPTICON Node 400

  • Page 1 Hardware Manuals Documentation v 4.18.2 | Built 2022-01-12 © 2021 Synapticon GmbH...

  • Page 2: Table Of Contents

    1.2.2.1.2.3 Encoder ports 1.2.2.1.2.4 Digital IO 1.2.2.1.2.5 EtherCAT / STO-SBC IN & OUT 1.2.2.1.3 Analog input specification 1.2.2.1.3.1 Differential 1.2.2.1.3.2 Single-ended 1.2.2.1.4 Temperature sensor © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 2/224...
  • Page 3 1.2.2.3.2 Calibration Procedure 1.2.2.3.2.1 Prerequisite 1.2.2.3.2.2 Performing the procedure 1.2.2.3.2.3 Troubleshooting 1.2.2.3.2.4 Encoder system diagnostic 1.2.3 LED signals 1.2.3.1 Overview 1.2.3.1.1 Legend 1.2.3.2 Status LED © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 3/224...
  • Page 4 1.2.4.6 Commissioning and maintenance 1.2.4.6.1 Commissioning 1.2.4.6.2 Maintenance 1.2.4.7 Changelog of the safety-related documentation 1.3 SOMANET Node 1.3.1 SOMANET Node revisions 1.3.2 SOMANET Node rev. E.1 © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 4/224...
  • Page 5 1.3.2.4.1 Dimensions 1.3.2.4.2 Specifications of the safety functions 1.3.2.4.2.1 System requirements 1.3.2.4.2.2 Technical specifications 1.3.2.4.2.3 Block diagram 1.3.2.4.3 Setup of the safety functions © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 5/224...
  • Page 6 1.4.2.2 Block Diagram 1.4.2.3 Connectors 1.4.2.3.1 Encoder Connector Top 1.4.2.3.2 Encoder Connector Bottom 1.4.2.3.3 Interface Connector 1.4.2.4 Mounting remarks 1.4.2.5 Strain relief 1.4.2.6 Soldered cables © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 6/224...
  • Page 7 1.4.4.3 Connectors 1.4.4.3.1 Encoder Connector Top 1.4.4.3.2 Encoder Connector Bottom 1.4.4.3.3 Interface Connector 1.4.4.4 Mounting remarks 1.4.4.5 Strain relief 1.4.4.6 Soldered cables 1.4.4.7 Downloads © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 7/224...

  • Page 8: Hardware Manuals

    Maximum cable lengths Mating parts Mechanical integration Mounting Example Dimensions Mounting encoder rings Thermal Mounting Considerations Encoder calibration Encoder accuracy Calibration Procedure LED signals © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 8/224...
  • Page 9 Please note that previously released samples of SOMANET Circulo were available which differed in several aspects, such as pin-out and dimensions. Sample B.1 © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 9/224...
  • Page 10 Examples for realising safety functions Emergency stop Stop category 1 emergency stop (Safe stop 1) Prevention of unexpected start-up Commissioning and maintenance Changelog of the safety-related documentation © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 10/224...
  • Page 11 Different revisions and sizes of SOMANET Node are available which differ in their specifications as well as in their pinouts. If you are not sure about the revision of your servo drive please check our revision guide © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 11/224...
  • Page 12 Revision D.3/D.4 Overview Node D.3/4 Technical specifications Hardware diagrams Installation guide Wiring instructions Connector pinouts Grounding and connecting a brake Mounting instructions LED signals © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 12/224...
  • Page 13 Mounting instructions LED signals SOMANET Accessories SOMANET Braking Chopper 48V 500W Sin/Cos Encoder Cable Adapter Industrial I/O Cable Adapter ABI/BiSS Encoder Cable Adapter © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 13/224...

  • Page 14: Handling Instructions

    Do not place the device onto the cover of the system or onto a metal table. Take additional care when you handle devices during cold weather. Indoor humidity tends to decrease in © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 14/224...

  • Page 15: Magnetic Sensitive Devices

    Do not store encoder rings in a contiguous way as this may cause magnetic interference. Observe the minimal distance between the rings of 5 mm. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 15/224...

  • Page 16: Somanet Circulo

    Mounting encoder rings Thermal Mounting Considerations Encoder calibration Encoder accuracy Calibration Procedure LED signals Safety functions (STO-SBC) Specifications of the safety functions Safety connectors © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 16/224...
  • Page 17 Please note that previously released samples of SOMANET Circulo were available which differed in several aspects, such as pin-out and dimensions. Sample B.1 © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 17/224...
  • Page 18 Examples for realising safety functions Emergency stop Stop category 1 emergency stop (Safe stop 1) Prevention of unexpected start-up Commissioning and maintenance Changelog of the safety-related documentation © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 18/224...
  • Page 19 Encoder accuracy LED signals Safety functions (STO-SBC) Specifications of the safety functions Wiring the safety inputs Using the safety functions Commissioning and maintenance © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 19/224...

  • Page 20: Overview

    (cobot) joints and smart actuators. Attention When dealing with electronic devices, always consider these handling instructions! © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 20/224...
  • Page 21 Hardware Manuals Technical specifications Load cycle © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 21/224...
  • Page 22 Hardware Manuals Thermal considerations Downloads © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 22/224...

  • Page 23: Technical Specifications

    STO/SBC according to SIL 3, Pl e Integrated Encoder 1 yes (optional), 20bit, absolute, multi-turn with battery Integrated Encoder 2 yes (optional), 20bit, absolute © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 23/224...
  • Page 24 Brake power output 1A @ 48V Brake peak current Digital I/O 5x Digital IO (3.3/5V) 1x Digital Output (3.3/5V) 1x Digital Input (24V) © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 24/224...

  • Page 25: Optional Integrated Encoders

    With two additional encoder rings, one mounted on the motor for velocity control (dual loop control) and commutation and one mounted on the joint for position control. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 25/224...
  • Page 26 2 arrays of Hall sensors for 2 magnetic tracks Interface BiSS Encoder resolution 19 bit Absolute position On both encoders Multiturn resolution 18 bit (battery based) Maximum speed 12000 RPM © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 26/224...

  • Page 27: Accuracy And Repeatability Of The Integrated Encoders

    ±72” * ±0.02° ±0.02° Repeatability ±8” ±13” ±0.0022° ±0.0036° * The specified accuracy corresponds to the encoder-related errors only. Installation-related errors such as © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 27/224...

  • Page 28: Optional Integrated Brake

    Operating magnetic field frequency max 7 kHz External magnetic field max 20 mT 1.2.1.1.4 Optional Integrated Brake Brake specifications Type Solenoid latch Detailed specifications © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 28/224...

  • Page 29: Ordering Information

    SOMANET Circulo 9 (CR9-48-60- (outer) ECBN) Dual Encoder CR9-48-60-ECNN SOMANET Circulo 9 (CR9-48-60- ECDN) * this name will appear in your order confirmation and invoice. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 29/224...

  • Page 30: Load Cycle

    I = I , followed by 80 seconds of I = 0). In a more general way, this requirement can be written as peak,max © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 30/224...

  • Page 31: Thermal Mounting Considerations

    Note This interface is also used for connecting Functional Earth. For details, please refer to our application note on earthing. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 31/224...

  • Page 32: Current As A Function Of Mounting Temperature

    Operation with mounting temperature hotter than specified is possible in a limited extent. However, the maximum continuous current and related performance specifications derate heavily in that case - see figure below. Circulo 7 © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 32/224...
  • Page 33 Your own extensive testing and qualification inside your specific application is mandatory in this context. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 33/224...

  • Page 34: Ambient Air

    - in doubt, a motor model with higher max. continuous torque should be used to keep the motor temperature lower, thus maintain the mounting temperature requirements. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 34/224...

  • Page 35: Downloads

    STATEMENT SOMANET CIRCULO MECHANICAL IMMUNITY (SHOCK AND VIBRATION TESTS) 1.2.1.4.2 CAD Files STEP MODEL OF CIRCULO 7 STEP MODEL OF CIRCULO 9 CIRCULO 7 MECHANICAL INTEGRATION EXAMPLE © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 35/224...

  • Page 36: Installation Guide

    After you have successfully set up your servo drive you can proceed to commission and tune your drive: Commissioning and tuning with OBLAC Drives © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 36/224...

  • Page 37: Wiring Instructions

    Hardware Manuals 1 .2.2.1 Wiring instructions ​ Overview of connectors Circulo 7 Circulo 9 © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 37/224...
  • Page 38 Hardware Manuals Power and brake Encoders and IO Analog In Specification Temperature sensor Battery for Multi-Turn EtherCAT-STO Cable Maximum cable lengths Mating parts © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 38/224...

  • Page 39: Power And Brake

    Hardware Manuals 1 .2.2.1.1 Power and brake ​ 1.2.2.1.1.1 Supply and phases Circulo 7 Circulo 9 © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 39/224...
  • Page 40 * this model has been successfully tested by Synapticon. Other products with the same specifications may also be appropriate but can’t be recommended. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 40/224...
  • Page 41 (marked blue in the following picture) to the chassis of the motor or the robot. Important Please ensure that the chassis is properly grounded. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 41/224...

  • Page 42: Connecting A Brake

    Note This brake integrates Safe Brake Control functionality (SBC). © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 42/224...
  • Page 43 Hardware Manuals Circulo 7 Circulo 9 © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 43/224...

  • Page 44: Encoders And Io

    One encoder has to be mounted on the motor side for commutation purpose. An encoder on a gear out side can not be used for commutation! Circulo 7 Circulo 9 © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 44/224...

  • Page 45: Analog Input

    Note Details about measuring Analog signals can be found in our system integration guideline: Connecting and configuring analog inputs Circulo 7 Circulo 9 © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 45/224...

  • Page 46: Encoder Ports

    ** The current capacity of 5 V output is shared between all connectors and the total consumption is limited to 250 mA. The Analog Inputs have a 12 bit resolution 1 .2.2.1.2.3 Encoder ports ​ © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 46/224...
  • Page 47 If integrated encoder 2 is used, only Hall can be configured as external encoder 2 on port 2. Please refer to the following image for details: 1.2.2.1.2.3.1 Encoder port 1 Circulo 7 © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 47/224...
  • Page 48 Protocol/Function Multi turn BiSS (Diff.) SSI (Diff.) battery supply Encoder Type Integrated External Encoder External Encoder Encoder 1 on port 1 on port 1 © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 48/224...
  • Page 49 * The current capacity of 5 V output is shared between all connectors and the total consumption is limited to 250 mA. 1.2.2.1.2.3.2 Encoder port 2 Circulo 7 © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 49/224...
  • Page 50 * Fast ABI is supported from firmware 5.0 on ** The current capacity of 5 V output is shared between all connectors and the total consumption is limited to 250 mA. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 50/224...

  • Page 51: Digital Io

    1 .2.2.1.2.4 Digital IO ​ Circulo 7 Circulo 9 GPIO REM14/16MT BiSS(LVTTL) SSI (LVTTL) +3.3 V OUT * Digital I/O 1 (Fast Push-Pull) Data © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 51/224...
  • Page 52 Each Digital IO needs to be configured as a Digital Input or Output via object 0x2210 (“GPIO”). The object can also be used to activate a pull-down resistor. Changes may require to powercycle the servo drive. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 52/224...

  • Page 53: Ethercat / Sto-Sbc In & Out

    This connector features both pins, for EtherCAT as well as for STO/SBC to facilitate true daisy chaining. Details for the required hybrid cable can be found here. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 53/224...
  • Page 54 Hardware Manuals Circulo 7 Circulo 9 Pin # STO-SBC In 1 STO-SBC In 2 Safety GND RX_N © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 54/224...
  • Page 55 When not using the STO-SBC feature, please attach a +24 V supply to Pin 1 and 2 and Ground to Pin 3. It’s possible to daisy-chain these signals to other servo drives. Circulo 7 © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 55/224...
  • Page 56 Hardware Manuals Circulo 9 © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 56/224...
  • Page 57 Hardware Manuals Wiring diagrams for the safety digital inputs © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 57/224...

  • Page 58: Analog Input Specification

    GND. 13.6kΩ Internal input resistance Error The input voltage between the positive and negative input pins. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 58/224...

  • Page 59: Single-Ended

    Any voltage out of this range damages in,lim between the input and GND. the analog input’s circuitry. 100kΩ Internal input resistance Error Error in ticks © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 59/224...

  • Page 60: Temperature Sensor

    Please ensure that the voltage attached to the temperature sensor input is between 0 V and 5 V. Note Synapticon has successfully tested PT1000 and KTY84-130. PT100 will also work but be aware that its low resistance will result in a low accuracy so this type can’t be recommended.
  • Page 61 This is done internally with a multiplexer. The desired value can be selected via software through object 0x2038 subindex 3. Attention The ADC value is scaled to 16 bit since firmware v5.0. Firmware v4.x © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 61/224...

  • Page 62: Specification For The Single-Ended Temperature Sensor Input

    Symbol Min. typical Max. Description Impact The input voltage between the Any voltage out of this range causes input and GND. saturation to the min/max ADC value. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 62/224...
  • Page 63 >1MΩ Internal input resistance Error Error in ticks Attention The temperature sensor input should only be used for measuring temperatures with RTD. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 63/224...

  • Page 64: Battery For Multi-Turn

    0.55 Ah are available. ER22G75, A flat wafer cell. Diameter 22.8 mm, height 7.5 mm. Nominal capacities up to 0.42 Ah are BEL Wafer available. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 64/224...

  • Page 65: Ethercat-Sto Cable

    A Drive-to-Drive cable that connect servo drives with each other. These cables have a customized connector that incorporates pins for all necessary signals. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 65/224...

  • Page 66: Pinout Of The Connectors

    This connector is on the drive side of the Y-Splitter cable and on both sides of the Drive-to-Drive cable. Pin/Wire Function Color STO-SBC1 © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 66/224...
  • Page 67 STO-SBC1 STO-SBC2 Black Safety GND White Note On the Y-Splitter cable these wires are open strands at the master side. 1.2.2.1.6.2.3 EtherCAT Connection © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 67/224...
  • Page 68 Hardware Manuals Pin # Function Color TX_P Orange/White TX_N Orange RX_P Green/White RX_N Green © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 68/224...

  • Page 69: Instructions For Manufacturing The Cables

    The cable should be able to withstand a maximum voltage of 100 V wire-to-wire and wire to shield. 1.2.2.1.6.3.2 Drive-to-Drive Cable The Drive-to-Drive cable is used to connect two servo drives. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 69/224...
  • Page 70 Insulation Voltage STO-SBC1 100 V wire-to-wire and wire- to-shield STO-SBC2 Safety GND RX_N Twisted pair * RX_P TX_N Twisted pair * TX_P shield © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 70/224...
  • Page 71 Both sides must be provided with this connector: GHR-08V-S from manufacturer JST. 1.2.2.1.6.3.3 Y-Splitter Cable The Y-Splitter Cable consists of two cables that are tied together from one side: STO/SBC Cable EtherCAT Cable © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 71/224...
  • Page 72 TX_N orange Twisted pair TX_P orange- white shield shield Exemplary (used by Synapticon) According to TIA/EIA 568B According to EtherCAT standards. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 72/224...
  • Page 73 The cables should be able to withstand a maximum voltage of 100V wire-to-wire and wire to shield. 1.2.2.1.6.3.3.5 Cable Thickness and Flexibility The cable must be as thin and as flexible as possible. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 73/224...

  • Page 74: Maximum Cable Lengths

    Main supply cable 30 m Ethercat cable 30 m Motor cable Brake cable Encoder cable Digital I/O cable Analog inputs cable Temperature sensor cable © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 74/224...

  • Page 75: Mating Parts

    TE Connectivity 1217151-1 (non isolated) 14-18 AWG (piggyback) TE Connectivity 16-18 AWG 62026-2 (non isolated) Motor Phases TE Connectivity 3-520339-2 14-16 AWG 3-520338-2 © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 75/224...
  • Page 76 This connector isn’t UL certified With piggyback connectors, the connections will be out of Circulo diameter. Please consider this in your mechanical design! © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 76/224...

  • Page 77: Mechanical Integration

    Hardware Manuals 1 .2.2.2 Mechanical integration ​ Mounting Example Dimensions Mounting encoder rings © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 77/224...

  • Page 78: Circulo Mounting Example

    The heat conducting surface should be sufficiently dimensioned and made of a suitable material, such as aluminum. Ensure that the servo drive is screwed properly to the heat conducting surface to facilitate the heat transfer. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 78/224...

  • Page 79: Mounting The Encoder Disc

    It is important that these parts are machined and assembled accurately, as all mechanical imperfections influence the encoder’s performance. More details about mounting encoder rings can be found in this section. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 79/224...

  • Page 80: Mounting A Hollow-Shaft Secondary Bearing

    The top side of Circulo provides multiple threaded M2 holes and two holes for 3 mm dowel pins. In this application example a ball bearing (61803) is fitted to this interface to align the output shaft. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 80/224...

  • Page 81: Routing The Motor Phase Cables

    © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 81/224...
  • Page 82 Hardware Manuals © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 82/224...

  • Page 83: Dimensions And Drawings

    Please ensure sufficient contact to heat conducting materials and use thermal paste if necessary. Attention Servo drives should not be mounted in direct sunlight. 1.2.2.2.2.1 Dimensions Circulo 7 © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 83/224...
  • Page 84 Hardware Manuals © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 84/224...
  • Page 85 Hardware Manuals Circulo 9 © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 85/224...
  • Page 86 Hardware Manuals © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 86/224...

  • Page 87: Weight And Inertia Of The Encoder Rings

    30.949 g Inertia Inner Ring Outer Ring Circulo 7 0.025 Kg*cm² 0.087 Kg*cm² Circulo 9 0.130 Kg*cm² 0.2981Kg*cm² 1.2.2.2.2.3 Drilling patterns Circulo 7 © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 87/224...
  • Page 88 Hardware Manuals © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 88/224...
  • Page 89 Hardware Manuals Circulo 9 © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 89/224...

  • Page 90: Mounting A Bearing

    1.2.2.2.2.4 Mounting a bearing If a bearing is required it can be fitted into the dowel holes and tightened with screws. Circulo 7 Circulo 9 © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 90/224...

  • Page 91: Side View With Phase Connectors

    Hardware Manuals 1.2.2.2.2.5 Side view with phase connectors Circulo 7 © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 91/224...
  • Page 92 Hardware Manuals Circulo 9 © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 92/224...

  • Page 93: Mounting Encoder Rings

    B or C as a design point and also for validation. The distance A is the actual air gap directly on the encoder, but it is difficult to measure it. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 93/224...
  • Page 94 Magnetic ring distance checker feature. It can assist during the prototyping phase of the design. It computes the air gap based on the ring’s magnetic field strength and recommends the next action. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 94/224...

  • Page 95: Planar Displacements

    The other direction will mostly reduce the absolute position accuracy. If increased more than specified values, the chip might fail sensing the magnetic field and throw an error. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 95/224...
  • Page 96 Typically, the runout can be measured with a dial indicator pressed against the rotating component during rotation. Additionally, a periodic once-a-revolution distortion will be present in the velocity feedback signal. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 96/224...

  • Page 97: Encoder Calibration

    Encoder accuracy Details about the necessity for calibrating the encoders. Analog Calibration Procedure How to perform the calibration procedure. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 97/224...

  • Page 98: Encoder Accuracy

    Narrow angle errors (encoder system-specific non-linearity) - encoder system limits and magnetic ring magnetization imperfections. The following figure shows a typical non-linearity of the encoder: © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 98/224...

  • Page 99: Narrow Angle Errors (Encoder System-Specific Non-Linearity)

    It’s not possible to clearly distinguish the contribution of each error type but the total system-specific non- linearity is specified in the technical specifications. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 99/224...

  • Page 100: Wide Angle Error (Installation-Dependent Non-Linearity)

    : amplitude of the eccentricity-caused error [″] e: eccentricity of the rotational axis (or radial runout of the ring) [mm] R: sensing radius of the corresponding Circulo encoder [mm] © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 100/224...

  • Page 101: Detecting The Encoder Non-Linearity

    2 x RPS - Ovality of the magnetic ring 3-8 x RPS - mounting of the magnetic ring (for example amount of the screws used for fixing the ring) © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 101/224...

  • Page 102: Calibration Procedure

    If two encoders are used, please calibrate the motor shaft encoder first (typically encoder 2) and then repeat the procedure for the output shaft encoder (typically encoder 1). © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 102/224...
  • Page 103 Circulo 9, Internal encoder 1 (Inner ring) max 2 revolutions, 15 RPM Circulo 9, Internal encoder 2 (Outer ring) max 10 revolutions, 90 RPM © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 103/224...
  • Page 104 The motor will turn and you will see the progress on the blinking Running iteration n and some updates in the measurement graphs. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 104/224...
  • Page 105 Note the resulting phase reserve - a percentage value in a circle. This value provides the main information about encoder assembly and calibration quality. It should be as big as possible. Phase reserve after finished calibration: © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 105/224...
  • Page 106 If the system has been homed before calibration or aligned to a reference, repeat the homing or align to your reference once again after calibration. Please install the Production Firmware for this. After the whole calibration procedure is finished: © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 106/224...

  • Page 107: Troubleshooting

    Note the Nominal air gap for each encoder ring. If the ring is significantly closer, the following pattern will appear in the calibration results: regular high frequency oscillations with a high amplitude. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 107/224...
  • Page 108 Note the Nominal air gap for each encoder ring. If the ring is further away than specified, the following pattern will appear in the calibration results: irregular high oscillations and isolated points (outliers) due to high noise. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 108/224...

  • Page 109: Encoder System Diagnostic

    Check the distance between the chip and the magnetic ring Detect axial runout of the encoder ring Read error states directly from the encoder chip © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 109/224...
  • Page 110 OBLAC Drives. Please select the correct ting type in order to get more accurate air gap estimation: Marked or Unmarked. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 110/224...
  • Page 111 The releases of the OBLAC Drives at version v21.1.0-beta.4 and before display the estimated air gap based on outdated nominal air gap of 0.5 mm for all rings. Please check mechanical documentation and update OBLAC Drives. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 111/224...
  • Page 112 OBLAC Drives, configure internal encoder and Power cycle the drive. Save To Device. Power cycle the drive. If the error is always present, contact support. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 112/224...
  • Page 113 Save To Device. Power cycle the drive. If the error is still configuration, connect a present, please contact support. battery. Power cycle the drive. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 113/224...
  • Page 114 Communication with the EEPROM memory of the chip is distorted. Power Cycle EEPROM memory the drive. If this can’t be reset, there might be a hardware problem. Please communication error contact support. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 114/224...

  • Page 115: Led Signals

    Fast blinking (10 pulses per second) Two colored behavior: One part of the LED is constantly luminous, the other is blinking slowly (3 pulses per second) © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 115/224...

  • Page 116: Status Led

    CiA 402 State Switch on Ready Switched Operation Quick Fault and Ready Disabled Enabled Stop Fault Switch Reaction Switch BOOT INIT PREOP EtherCAT State SAFEOP © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 116/224...

  • Page 117: Bootloader

    ACT is blinking when there are transmissions on either OUT or IN. If none of the LEDs are active, check if the EtherCAT cables are connected properly. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 117/224...

  • Page 118: Safety Functions (Sto-Sbc)

    Examples for realising safety functions Emergency stop Stop category 1 emergency stop (Safe stop 1) Prevention of unexpected start-up Commissioning and maintenance Changelog of the safety-related documentation © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 118/224...

  • Page 119: Safety Specifications

    Supported safety modes High, Low Safety parameters ISO 13849-1:2015 Category Cat. 3 Mean Time to dangerous Failure (MTTF ) 3319 years (capped to 100 years) © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 119/224...
  • Page 120 Max. 1 ms Reverse voltage protected Allowed discrepancy between digital inputs 100 ms safety diagnostic section De-activation time 10 ms Safe brake output (SBC) © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 120/224...
  • Page 121 Min. output voltage Max. current. Max. peak current. Note This PWM controlled brake is configured by the same object as the regular brake. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 121/224...

  • Page 122: Safety Connectors

    The pins for STO-SBC are incorporated into the EtherCAT connector. Please refer to the EtherCAT pinout table for details. Mating parts can be found here under EtherCAT/STO-SBC. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 122/224...

  • Page 123: Wiring The Safety Inputs

    STO-SBC 30 m 1.2.4.3.2 Connection diagrams for the STO inputs Important Please note that Safety GND is an isolated signal from drive GND. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 123/224...

  • Page 124: Manual Switch + Drives

    Safety GND functions as a secondary line when a PLC with Plus-Minus output is used. Attention In case of multiple drive connection, ensure that the output driver has sufficient current driving capability. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 124/224...

  • Page 125: Safety Plc Pp (Plus-Plus Output) + Drives

    In case of multiple drive connection, ensure that the output driver has sufficient current driving capability. 1 .2.4.3.3 Connection diagram for the brake ​ Now you are ready to use the feature: Safety functions © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 125/224...

  • Page 126: Using The Safety Functions

    To prevent damaging the brake, a Safe Stop Category 1 (SS1) is recommended. 1.2.4.4.1 Timing diagrams 1.2.4.4.1.1 Timing diagram for STO-function without connected brake © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 126/224...

  • Page 127: Timing Diagram For Sto-Function With Sbc-Function

    Hardware Manuals 1.2.4.4.1.2 Timing diagram for STO-function with SBC-function © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 127/224...
  • Page 128 Hardware Manuals © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 128/224...

  • Page 129: Truth Table For Digital Inputs

    1 - Bit 1: STO status is the first bit of byte 2 - Bit 2: SBC status is the first bit of byte STO/SBC status: 0: is not active 1: is active © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 129/224...
  • Page 130 (e.g. modifying the motor cabling), the servo drive shall be completely isolated from mains supply with a mechanical switch. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 130/224...

  • Page 131: Examples For Realising Safety Functions

    A risk and hazard analysis is required for each application to find necessary safety functionalities and the requirements for the safety functions. Emergency stop Stop category 1 emergency stop (Safe stop 1) Prevention of unexpected start-up © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 131/224...

  • Page 132: Emergency Stop

    (restarting can be done with a non-safety PLC). Attention IEC 60204-1:2016 requires “reset shall not initiate a restart” regarding emergency stop. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 132/224...

  • Page 133: Stop Category 1 Emergency Stop (Safe Stop 1)

    It is necessary to use a momentary switch for Reset/Start function to fulfill the requirement regarding emergency stop “The reset of the emergency stop command shall not restart the machinery.” © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 133/224...

  • Page 134: Wiring

    Configure the time according to your application. The delay time should be longer than the maximum deceleration time of the application. . Ramp time (in SOMANET) Configure the Quick stop deceleration (0x6085) according to your application. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 134/224...

  • Page 135: Verification

    You can find the values for SOMANET Circulo here. Commissioning Test and validate the safety functions before taking the system is put into operation. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 135/224...

  • Page 136: Prevention Of Unexpected Start-Up

    ISO 14118. A lockable safety switch for activating the STO-SBC function is required. The function “Prevention of unexpected start-up” can be used for system maintenance activities (e.g. Repairing/cleaning activities inside hazardous areas) © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 136/224...

  • Page 137: Commissioning And Maintenance

    SIL 3 , PL e / category 3 The maintenance test can be done by activating STO/SBC function through STO-SBC inputs and observe the reaction of the system. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 137/224...

  • Page 138: Changelog Of The Safety-Related Documentation

    Original Safety Module Documentation 2020-12- 4.5.5 Update Add Safety parameters 2021-01- 4.5.9 Update Correct Safety details 2021-01- 4.5.10 Update Correct Safety details and remove SELV 2021-02- © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 138/224...

  • Page 139: Somanet Node

    Specifications of the safety functions Setup of the safety functions Using the safety functions Examples for realising safety functions Commissioning and maintenance Changelog of the safety-related documentation © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 139/224...
  • Page 140 SOMANET Node C.4 Overview Node C.4 Technical specifications Hardware diagrams Installation guide Wiring instructions Connector pinouts Grounding and connecting a brake Mounting instructions LED signals © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 140/224...

  • Page 141: Somanet Node Revisions

    The Pin-Out and power specs of the Nodes differ depending on the revision and size. Please check the revision indicated on top of your servo drive: © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 141/224...

  • Page 142: Somanet Node Rev

    Power and brake Encoders and IO Connector types and mating parts numbers Mounting instructions On-site installation guide (UL) LED signals Safety functions (STO-SBC) © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 142/224...

  • Page 143: Overview

    1 .3.2.1 Overview ​ Attention When dealing with electronic devices, always consider these handling instructions! Technical specifications Load cycle Thermal considerations Downloads Hardware diagrams © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 143/224...

  • Page 144: Technical Specifications

    Brake control voltage 0-48 V PWM via Phase D, up to 10 A Analog Inputs 4 (2 x single-ended 0-10V, 2 x differential ±5V) © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 144/224...
  • Page 145 Max. installation altitude 2000 m Humidity 5-85% rH Sensors on-board DC-BUS Voltage, DC-BUS current, Phase Voltage, Phase current (two phases measured, one computed), Temperature © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 145/224...
  • Page 146 Special care must be taken when the servo drive is actively cooled below ambient temperature. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 146/224...

  • Page 147: Load Cycle

    SOMANET Node variant with directly soldered power wires or up to 100% if the mounting plate is actively cooled additionally. Please contact support@synapticon.com for details. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 147/224...

  • Page 148: Thermal Mounting Considerations

    A similarly bad cooling situation will be created if the node is mounted to a structure with poor thermal conductivity, in particular structures made of plastic. * The continuous phase current given in the specsheet provided by Synapticon assumes this kind of boundary condition with a 200 x 150 x 20 mm aluminum mounting plate.
  • Page 149 Hardware Manuals © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 149/224...

  • Page 150: Downloads

    DECLARATION OF CONFORMITY SOMANET NODE SAFETY EC-TYPE EXAMINATION SOMANET NODE SAFETY CERTIFICATE SOMANET NODE SAFETY 1.3.2.1.4.2 CAD Files STEP MODEL SOMANET NODE STEP MODEL SOMANET NODE SAFETY © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 150/224...

  • Page 151: Installation Guide

    Hardware Manuals 1 .3.2.2 Installation Guide ​ This manual will guide you through the basic steps to get your SOMANET Node 400/1000/2000 EtherCAT running. Attention When dealing with electronic devices, always consider these handling instructions! Important For proper functionality of the current sensors the servo drive must not be exposed to external...

  • Page 152: Wiring Instructions

    Hardware Manuals 1 .3.2.2.1 Wiring instructions ​ 1.3.2.2.1.1 Overview of connectors Power and brake Encoders and IO Connector types and mating parts numbers © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 152/224...

  • Page 153: Power And Brake

    Drive may be damaged beyond repair! Terminal Phase A Phase B Phase C Phase D - Brake output 0-48 V PWM Ground © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 153/224...
  • Page 154 Due to voltage drop from power supply to the servo drive is it not recommended to supply the servo drive at absolute minimal voltages. If your system does not run at 12 V, increasing this value slightly may be necessary. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 154/224...
  • Page 155 In case you are running several servo drives behind a contactor, please use an uni-directional TVS diode on each drive because of the inductances of the wiring. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 155/224...
  • Page 156 Ground of the 48V supply to the pin 5 of the Main Supply connector if they fit in there. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 156/224...
  • Page 157 Hardware Manuals Important Please make sure the servo drive is properly grounded. You can connect the heatsink to ground. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 157/224...

  • Page 158: Encoders And Io

    ** This is a 5 V supply that can provide up to 250 mA for external use. The supply is protected against short to ground and keeps the current below 400 mA in a continuous short. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 158/224...
  • Page 159 *** This is a 5 V supply that can provide up to 250 mA for external use. The supply is protected against short to ground and keeps the current below 400 mA in a continuous short. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 159/224...
  • Page 160 Each Digital IO needs to be configured as a Digital Input or Output via object 0x2210 (“GPIO”). The object can also be used to activate a pull-down resistor. Changes may require to powercycle the servo drive. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 160/224...
  • Page 161 * All Analog Inputs can be configured as single-ended 0-5 V, 0-10 V, 0-20 V or differential ±5 V, ±10 V independently. Upon request only, please contact sales@synapticon.com © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 161/224...
  • Page 162 Any voltage out of this range damages in,N the negative input pin and the analog input’s circuitry. GND. 27.2kΩ Internal input resistance Error Error in ticks © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 162/224...
  • Page 163 GND. the analog input’s circuitry. 20.4kΩ Internal input resistance Error Error in ticks 1.3.2.2.1.3.4.2 Analog input resistance 1.3.2.2.1.3.4.2.1 Differential 1.3.2.2.1.3.4.2.2 Single-ended © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 163/224...
  • Page 164 The image below depicts how to connect an RTD sensor resistance using the single-ended analog input. Attention The ADC value is scaled to 16 bit since firmware v5.0. Firmware v4.x © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 164/224...
  • Page 165 The internal resistance R of the single-ended analog input is 20.4 kΩ and it is connected in parallel to the RTD sensor. 1 .3.2.2.1.3.5 EtherCAT port ​ © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 165/224...
  • Page 166 Differential transmit pair, positive line Differential transmit pair, negative line Shield Differential receive pair, positive line Differential receive pair, negative line * Pin 1 is on left © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 166/224...

  • Page 167: Connector Details And Mating Parts Numbers

    ** Housing only. Please ensure to only use shielded cables for EtherCAT communication! Please also check out our dedicated EtherCAT node to PC cable which is specifically designed for this purpose. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 167/224...

  • Page 168: Mounting Instructions

    Ensure that the servo drive is screwed properly to the heat conducting surface to facilitate the heat transfer. 1.3.2.2.2.2 Dimensions Note The safety version of Node has a different geometry which you can find here © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 168/224...
  • Page 169 Please ensure to use as much of the available thread length as possible for tightening the Node to prevent damage to the thread. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 169/224...

  • Page 170: Interference With Magnetic Fields

    3. Beside the motor but shielded from the motor’s magnetic field with a plate consisting of a magnetic shielding material such as steel or Mu-Metal. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 170/224...

  • Page 171: On-Site Installation Guide (Ul)

    The following fuse has been tested and approved by UL according to the requirements of UL 61800-5-1: Manufacturer Littelfuse Product designation JLLN050.T JDDZ/7 Class Cat. No. JLLN, 558 300V 160V Interrupt Rating (IR) 20kA (@160Vdc) I nominal © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 171/224...

  • Page 172: Field Wiring Terminal Marking

    Integral solid state short circuit protection does not provide branch circuit protection. Branch circuit protection must be provided in accordance with the Canadian Electrical Code, part I. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 172/224...

  • Page 173: Downloads

    Motor overtemperature sensing is not provided and must be provided in the field. 1.3.2.2.3.3 Downloads CERTIFICATE OF COMPLIANCE UL-LISTED SOMANET NODE CERTIFICATE OF COMPLIANCE UL-RECOGNIZED SOMANET NODE © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 173/224...

  • Page 174: Led Signals

    1.3.2.3.1.1 Legend Symbol Explanation Constantly luminous Single flashes (1 pulse per second) Slow blinking (3 pulses per second) Fast blinking (10 pulses per second) © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 174/224...

  • Page 175: Core Led

    CiA 402 State Switch on Ready Switched Operation Quick Fault and Ready Disabled Enabled Stop Fault Switch Reaction Switch BOOT INIT PREOP EtherCAT State SAFEOP © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 175/224...

  • Page 176: Bootloader

    LED 3: Red LED 4: Green Explanation No error Watchdog ticks fault Dead-time fault Phase A Dead-time fault Phase B Dead-time fault Phase C © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 176/224...

  • Page 177: Com Led

    ACT is blinking when there are transmissions on either OUT or IN. If none of the LEDs are active, check if the EtherCAT cables are connected properly. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 177/224...

  • Page 178: Somanet Node Safety (Original Instructions)

    Specifications of the safety functions Setup of the safety functions Using the safety functions Examples for realising safety functions Commissioning and maintenance © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 178/224...

  • Page 179: Dimensions

    Hardware Manuals Changelog of the safety-related documentation 1.3.2.4.1 Dimensions © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 179/224...

  • Page 180: Specifications Of The Safety Functions

    Mean Time to dangerous Failure (MTTF ) 3035 years (capped to 100 years) Diagnostic coverage (DC HW-type Type A Mission time T 20 a © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 180/224...
  • Page 181 Input voltage, logic 0 0-5 V Input current Max. 6 mA (@24 VDC) Test pulse toleration (OSSD pulses) Max. 1 ms Reverse voltage protected © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 181/224...

  • Page 182: Block Diagram

    1.3.2.4.2.3 Block diagram Simplified block diagram of SOMANET Node Safety: For details of the connectors please refer to: Safety connectors © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 182/224...

  • Page 183: Setup Of The Safety Functions

    (fixed) and protected against external damage, e.g. by cable ducting, armouring, OR separate multicore cables, OR within an electrical enclosure, OR individually shielded with earth connection. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 183/224...

  • Page 184: Connecting The Sto/Sbc Inputs

    STO/SBC input 2 Input 2 for STO/SBC Safety GND Must be isolated from main Ground Bypass- Connect to BY+ (Pin 1) to bypass STO/SBC © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 184/224...
  • Page 185 Please note that Safety GND is an isolated signal from drive GND. 1.3.2.4.3.1.2.1 Manual switch Allows safety functions up to SIL 3, PL e, cat.3. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 185/224...
  • Page 186 Allows safety functions up to SIL 3, PL e, cat.3. For example: Safety PLC output or safety sensors (e.g. Safety light curtain, safety scanner etc.) © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 186/224...

  • Page 187: Connection Diagram For The Brake

    (SBC out) instead of phase D of the drive circuit. ensure to connect the brake GND signal to the Brake- signal of the safety circuit (SBC out) instead of the general GND. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 187/224...
  • Page 188 Pin # Designation Function Brake + Brake - Note The safe brake is PWM based and can be configured with the regular brake object. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 188/224...

  • Page 189: Connector Mating Parts And Cable Lengths

    Safe digital I/O port GHR-06V-S SSHL-002T-P0.2 0.05-0.13mm² / AWG 30- Please observe the maximum allowed cable lengths: Connection Maximum wire length STO-SBC 30 m © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 189/224...

  • Page 190: Using The Safety Functions

    To prevent damaging the brake, a Safe Stop Category 1 (SS1) is recommended. 1.3.2.4.4.1 Timing diagrams 1.3.2.4.4.1.1 Timing diagram for STO-function without connected brake © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 190/224...
  • Page 191 Hardware Manuals 1.3.2.4.4.1.2 Timing diagram for STO-function with SBC-function © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 191/224...
  • Page 192 Hardware Manuals © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 192/224...

  • Page 193: Truth Table For Digital Inputs

    In case a fault has been detected, the drive will stay in fault state until manual reset has been given and the brake is closed. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 193/224...

  • Page 194: Sto-Sbc Status Register

    This way an equivalent of SS1 with time monitoring is implemented. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 194/224...
  • Page 195 (e.g. modifying the motor cabling), the servo drive shall be completely isolated from mains supply with a mechanical switch. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 195/224...

  • Page 196: Examples For Realising Safety Functions

    (restarting can be done with a non-safety PLC). Attention IEC 60204-1:2016 requires “reset shall not initiate a restart” regarding emergency stop. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 196/224...

  • Page 197: Stop Category 1 (Ss1)

    It is necessary to use a momentary switch for Reset/Start function to fulfill the requirement regarding emergency stop “The reset of the emergency stop command shall not restart the machinery.” © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 197/224...
  • Page 198 Configure the time according to your application. The delay time should be longer than the maximum deceleration time of the application. Ramp time (in SOMANET) Configure the Quick stop deceleration (0x6085) according to your application. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 198/224...
  • Page 199 You can find the values for SOMANET Node Safety here. Commissioning Test and validate the safety functions before taking the system is put into operation. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 199/224...

  • Page 200: Commissioning And Maintenance

    SIL 3 , PL e / category 3 The maintenance test can be done by activating STO/SBC function through STO-SBC inputs and observe the reaction of the system. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 200/224...

  • Page 201: Changelog Of The Safety-Related Documentation

    2020-04- Add example “Wiring for a Safe Stop 1” 3.0.1 Update Remove Feedback Output from table 2020-04- 3.1.1 Update Correct truth table 2020-05- © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 201/224...

  • Page 202: Somanet Accessories

    These products help you integrate your SOMANET servo drive into your system. SOMANET Braking Chopper 48V 500W Sin/Cos Encoder Cable Adapter Industrial I/O Cable Adapter ABI/BiSS Encoder Cable Adapter © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 202/224...

  • Page 203: Somanet Braking Chopper 48V 500W

    To prevent this from happening, a shunt circuit is needed to burn this recuperated energy. More information about regenerative energy and how to use Braking Choppers can be found in our System integration guide. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 203/224...

  • Page 204: Technical Specs

    The shunts of the board will be activated if the voltage is above the Threshold Voltage with a deviation of 1%. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 204/224...

  • Page 205: Installing The Module And Setting The Threshold Voltage

    To set the threshold voltage please use the dip switches found on the top side of the board in five levels: 50 V, 53 V, 54 V, 55 V or 57 V. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 205/224...

  • Page 206: Connecting The Board To Dc-Bus

    For a permanent cable solution (16-22 AWG), this Pin Connector is recommended: 165167 from TE 1.4.1.4.2 Wiring Before connecting the cables please take care of the correct polarity which is shown by +/- © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 206/224...

  • Page 207: Failsafe Behavior

    Drive 1000 can even exceed the capabilities of one Chopper 500. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 207/224...

  • Page 208: Led

    When all LEDs are turned on, it means that another Chopper might be needed. However the DC bus voltage is still needs to be measured to determine how many choppers are necessary. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 208/224...

  • Page 209: Dimensions

    Hardware Manuals 1.4.1.8 Dimensions DOWNLOAD STEP MODEL © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 209/224...

  • Page 210: Sin/Cos Encoder Cable Adapter

    BiSS Protocol. This feature can be used by any board that supports BiSS, for example SOMANET Node rev. D.4/E.1 SOMANET Circulo. 1.4.2.2 Block Diagram © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 210/224...

  • Page 211: Connectors

    ZERO + Input * If used with SOMANET Node, this 5 V supply that can provide up to 100 mA for external use. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 211/224...

  • Page 212: Encoder Connector Bottom

    The interface connector comes with a cable which will be connected to the encoder port that features BiSS. For connecting, please use a flat ribbon cable with 1.27mm pitch. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 212/224...

  • Page 213: Mounting Remarks

    Input SLO- Output SLO+ Output 1.4.2.4 Mounting remarks The PCB can be shrinked to a shrink tube with a diameter of 20 mm. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 213/224...

  • Page 214: Strain Relief

    The board will be delivered with a strain relief. A cable tie can be used as a strain reliever: On the right side of the image, the cable tie is symbolized in red and the cables in black. The Synapticon Logo can be connected to PE, e.g.

  • Page 215: Industrial I/O Cable Adapter

    24 V I/Os. It converts 4 GPIOs to two digital inputs and outputs. The main purpose of the adapter is to enable connection of 24 V I/O industrial devices to SOMANET servo drives. 1.4.3.2 Block diagram © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 215/224...
  • Page 216 Output current 0.35 A (short-circuit-proof) per channel Output short circuit current typ. < 1 A With attached strain relief. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 216/224...

  • Page 217: Pinouts

    Conductor cross section AWG min. Conductor cross section AWG max. Mating part for Housing GHR-08V-S Crimping Contact SSHL-002T-P0.2 J2 and J3 Connectors Manufacturer Phoenix Contact © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 217/224...

  • Page 218: Strain Relief

    The board will be delivered with a strain relief. A cable tie can be used as a strain reliever: On the right side of the image, the cable tie is symbolized in red and the cables in black. The Synapticon Logo can be connected to PE, e.g.

  • Page 219: Soldered Cables

    It’s also possible to attach it using a zip tie. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 219/224...

  • Page 220: Abi/Biss Encoder Cable Adapter

    ABI encoders to BiSS Protocol. This adapter can be used by any board that supports BiSS, for example SOMANET Node SOMANET Circulo. 1.4.4.2 Block Diagram © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 220/224...

  • Page 221: Connectors

    Input Input Input * If used with SOMANET Node, this 5 V supply that can provide up to 100 mA for external use. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 221/224...

  • Page 222: Encoder Connector Bottom

    The interface connector comes with a cable which will be connected to the encoder port that features BiSS. For connecting, please use a flat ribbon cable with 1.27mm pitch. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 222/224...

  • Page 223: Mounting Remarks

    Input SLO- Output SLO+ Output 1.4.4.4 Mounting remarks The PCB can be shrinked to a shrink tube with a diameter of 20 mm. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.18.2 | Built 2022-01-12 223/224...

  • Page 224: Strain Relief

    The board will be delivered with a strain relief. A cable tie can be used as a strain reliever: On the right side of the image, the cable tie is symbolized in red and the cables in black. The Synapticon Logo can be connected to PE, e.g.

This manual is also suitable for:

Node 1000Node 2000Somanet circulo seriesSomanet circulo 7Somanet circulo 9

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