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SYNAPTICON SOMANET Circulo 7 Documentation

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Synapticon
Documentation
Documentation v 4.19.0 | Built 2022-02-01
© 2021 Synapticon GmbH

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Summary of Contents for SYNAPTICON SOMANET Circulo 7

  • Page 1: Method

    Synapticon Documentation Documentation v 4.19.0 | Built 2022-02-01 © 2021 Synapticon GmbH...

  • Page 2: Table Of Contents

    1.2.2.1.5.1 Suitable batteries 1.2.2.1.5.2 Power consumption of multi-turn 1.2.2.1.6 EtherCAT-STO Cable 1.2.2.1.6.1 Overview 1.2.2.1.6.2 Pinout of the connectors 1.2.2.1.6.3 Instructions for manufacturing the cables © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 2/1031...
  • Page 3 1.2.4.3.2.1 Manual switch + drives 1.2.4.3.2.2 Safety PLC PM (Plus-Minus output) + drives 1.2.4.3.2.3 Safety PLC PP (Plus-Plus output) + drives 1.2.4.3.3 Connection diagram for the brake © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 3/1031...
  • Page 4 1.3.2.1.3.3 Encoder Port 3 / Digital IO 1.3.2.1.3.4 Analog IN 1.3.2.1.3.5 EtherCAT port 1.3.2.1.4 Connector details and mating parts numbers 1.3.2.2 Mounting instructions 1.3.2.2.1 Heat dissipation 1.3.2.2.2 Dimensions © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 4/1031...
  • Page 5 1.3.4.5.2 Stop category 0 (STO) 1.3.4.5.3 Stop category 1 (SS1) 1.3.4.5.3.1 Prerequisites 1.3.4.5.3.2 Wiring 1.3.4.5.3.3 Configuration 1.3.4.5.3.4 Verification 1.3.4.6 Commissioning and maintenance 1.3.4.6.1 Commissioning © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 5/1031...
  • Page 6 1.4.4.4 Mounting remarks 1.4.4.5 Strain relief 1.4.4.6 Soldered cables 1.4.4.7 Downloads 1.5 Samples & Legacy Products 1.5.1 Circulo Sample A.2 1.5.1.1 Technical specifications © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 6/1031...
  • Page 7 1.5.1.4.3.1 Timing diagrams 1.5.1.4.3.2 Truth table for digital inputs 1.5.1.4.3.3 Diagnostic functions 1.5.1.4.3.4 STO-SBC status register 1.5.1.4.3.5 Use cases 1.5.1.4.4 Commissioning and maintenance © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 7/1031...
  • Page 8 1.5.2.3.2.1 Firmware 1.5.2.3.2.2 Bootloader 1.5.2.3.3 EtherCAT LED 1.5.2.4 Safety functions (STO-SBC) 1.5.2.4.1 Safety specifications 1.5.2.4.1.1 System requirements 1.5.2.4.1.2 Technical specifications 1.5.2.4.2 Safety connectors © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 8/1031...
  • Page 9 1.5.3.3.4.1 Connecting a Brake 1.5.3.3.5 Mounting instructions 1.5.3.3.5.1 Heat dissipation 1.5.3.3.5.2 Dimensions 1.5.3.3.5.3 Interference with magnetic fields 1.5.3.4 LED signals 1.5.3.4.1 Overview 1.5.3.4.1.1 Legend © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 9/1031...
  • Page 10 2.1.1.3.1.2 Box connected to internet by LAN connection 2.1.1.3.1.3 Host-PC and Box not connected to Internet 2.1.1.3.2 Connection Host-PC ⇿ PC by LAN cable © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 10/1031...
  • Page 11 2.4.2.5 Position Auto-tuning 2.4.2.5.1 Prerequisites 2.4.2.5.2 Limitations 2.4.2.5.3 How to use 2.4.2.5.4 Next steps 2.4.2.5.5 F.A.Q. 2.4.2.6 Velocity Auto-tuning 2.4.2.6.1 Prerequisites 2.4.2.6.2 Limitations © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 11/1031...
  • Page 12 3.1.3.1.2 PWM frequency 3.1.3.1.3 Gear Ratio 3.1.3.1.4 Advanced configurations 3.1.3.1.5 Parameters 3.1.3.2 Generic brake output voltage 3.1.3.2.1 Overview 3.1.3.2.2 Usage 3.1.3.2.3 Limitations 3.1.3.2.3.1 Parameters © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 12/1031...
  • Page 13 3.1.4.3.1 Configuration of Digital I/Os as Input or Output 3.1.4.3.2 Using Digital I/Os for input actions or output events 3.1.4.3.3 Parameters 3.1.4.4 Digital GPIO © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 13/1031...
  • Page 14 3.1.6.3.4 Remedy for over-temperature 3.1.7 Logging 3.1.7.1 Overview 3.1.7.2 Types 3.1.7.3 Format 3.1.8 Motion Control 3.1.8.1 Control Loops 3.1.8.1.1 Current and Torque Control Loop © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 14/1031...
  • Page 15 3.1.8.3.1.3 Controlling the feature via EtherCAT 3.1.8.3.1.4 Subitems: 3.1.8.3.1.5 Parameters 3.1.8.3.2 Field Weakening 3.1.8.3.3 Anti-Windup Control 3.1.8.3.3.1 Parameters 3.1.8.3.4 Gain Scheduling 3.1.8.3.5 Motor Overload Protection (i2t) © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 15/1031...
  • Page 16 3.1.9.1.3 0x1005 COB-ID SYNC 3.1.9.1.4 0x1006 Communication cycle period 3.1.9.1.5 0x1008 Manufacturer device name 3.1.9.1.6 0x100A Manufacturer software version 3.1.9.1.7 0x100C Guard time © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 16/1031...
  • Page 17 3.1.9.1.49 0x2011 Velocity controller 3.1.9.1.49.1 Velocity PID Tuning (objects 2011:1...2011:4) 3.1.9.1.50 0x2012 Position controller 3.1.9.1.50.1 Parameter Tuning Guide for Position Controller with Cascaded Structure © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 17/1031...
  • Page 18 3.1.9.1.67.19 BiSS/SSI 3.1.9.1.67.20 BiSS 3.1.9.1.67.21 BiSS 3.1.9.1.67.22 BiSS 3.1.9.1.67.23 SSI 3.1.9.1.67.24 SSI 3.1.9.1.67.25 SSI 3.1.9.1.67.26 SSI 3.1.9.1.67.27 Incremental encoder/SinCos module 3.1.9.1.67.28 Incremental encoder © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 18/1031...
  • Page 19 3.1.9.1.73 0x2212 GPIO input actions 3.1.9.1.74 0x2213 GPIO position trigger 3.1.9.1.75 0x2214 GPIO global options 3.1.9.1.76 0x2401 Analog input 1 3.1.9.1.77 0x2402 Analog input 2 © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 19/1031...
  • Page 20 3.1.9.1.118 0x6081 Profile velocity 3.1.9.1.119 0x6083 Profile acceleration 3.1.9.1.120 0x6084 Profile deceleration 3.1.9.1.121 0x6085 Quick stop deceleration 3.1.9.1.122 0x6086 Motion profile type 3.1.9.1.123 0x6087 Torque slope © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 20/1031...
  • Page 21 4.1.2 Choosing a power supply 4.1.2.1 Supply voltage definitions 4.1.2.2 Regenerated voltage 4.1.2.3 Bus capacitance 4.1.2.4 Power supply sizing 4.1.2.5 Calculating the amperage © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 21/1031...
  • Page 22 4.1.7.4.2 Mode specific bits of the Controlword 4.1.7.5 Timing Diagram 4.1.8 Temperature sensors 4.1.8.1 Types of temperature sensors 4.1.8.1.1 Thermocouple 4.1.8.1.2 Thermistors 4.1.8.1.3 Resistance temperature detectors © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 22/1031...
  • Page 23 4.2.2 Drive operations through File Access over EtherCAT (FoE) 1022 4.2.2.1 Overview 1022 4.2.2.2 Updating the firmware 1022 4.2.2.2.1 Prerequisite 1023 4.2.2.2.2 Setup Information 1023 © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 23/1031...
  • Page 24 4.2.2.3.2 Steps of Operation 1026 4.3 About this documentation 1030 4.3.1 Warnings 1030 4.3.2 Reporting errors 1030 4.3.3 Using offline documentation 1031 4.3.4 Versioning 1031 © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 24/1031...

  • Page 25: Hardware Manuals

    Mating parts Mechanical integration Mounting Example Dimensions Mounting encoder rings Thermal Mounting Considerations Encoder calibration Encoder accuracy Calibration Procedure LED signals Safety functions (STO-SBC) © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 25/1031...
  • Page 26 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 4.19.0 | Built 2022-02-01 26/1031...
  • Page 27 ABI/BiSS Encoder Cable Adapter Samples & Legacy Products Note Please note that these products are no longer sold or updated. Circulo Sample B.1 © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 27/1031...
  • Page 28 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 4.19.0 | Built 2022-02-01 28/1031...
  • Page 29 SOMANET Node 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 4.19.0 | Built 2022-02-01 29/1031...
  • Page 30 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 4.19.0 | Built 2022-02-01 30/1031...

  • Page 31: 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 4.19.0 | Built 2022-02-01 31/1031...

  • Page 32: 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 4.19.0 | Built 2022-02-01 32/1031...

  • Page 33: 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 4.19.0 | Built 2022-02-01 33/1031...
  • Page 34 Please note that previously released samples of SOMANET Circulo were available which differed in several aspects, such as pin-out and dimensions. You can find the documentation for these versions in the legacy section © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 34/1031...

  • Page 35: 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 4.19.0 | Built 2022-02-01 35/1031...
  • Page 36 Synapticon Documentation Technical specifications Load cycle © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 36/1031...
  • Page 37 Synapticon Documentation Thermal considerations Downloads © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 37/1031...

  • Page 38: 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 4.19.0 | Built 2022-02-01 38/1031...
  • Page 39 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 4.19.0 | Built 2022-02-01 39/1031...

  • Page 40: 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 4.19.0 | Built 2022-02-01 40/1031...
  • Page 41 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 4.19.0 | Built 2022-02-01 41/1031...

  • Page 42: Accuracy And Repeatability Of The Integrated Encoders

    * The specified accuracy corresponds to the encoder-related errors only. Installation-related errors such as runout and eccentricity are not considered. For more details see Encoder accuracy. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 42/1031...

  • Page 43: 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 4.19.0 | Built 2022-02-01 43/1031...

  • Page 44: 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 4.19.0 | Built 2022-02-01 44/1031...

  • Page 45: 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 4.19.0 | Built 2022-02-01 45/1031...

  • Page 46: 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 4.19.0 | Built 2022-02-01 46/1031...

  • Page 47: 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 4.19.0 | Built 2022-02-01 47/1031...
  • Page 48 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 4.19.0 | Built 2022-02-01 48/1031...

  • Page 49: 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 4.19.0 | Built 2022-02-01 49/1031...

  • Page 50: 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 4.19.0 | Built 2022-02-01 50/1031...

  • Page 51: 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 4.19.0 | Built 2022-02-01 51/1031...

  • Page 52: Wiring Instructions

    Synapticon Documentation 1 .2.2.1 Wiring instructions ​ Overview of connectors Circulo 7 Circulo 9 © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 52/1031...
  • Page 53 Synapticon Documentation 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 4.19.0 | Built 2022-02-01 53/1031...

  • Page 54: Power And Brake

    Synapticon Documentation 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 4.19.0 | Built 2022-02-01 54/1031...
  • Page 55 * 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 4.19.0 | Built 2022-02-01 55/1031...
  • Page 56 (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 4.19.0 | Built 2022-02-01 56/1031...

  • Page 57: Connecting A Brake

    Attention The brake output is not short circuit protected. The brake power output may get irreversibly damaged in case of a short circuit. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 57/1031...
  • Page 58 Synapticon Documentation Circulo 7 Circulo 9 © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 58/1031...

  • Page 59: 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 4.19.0 | Built 2022-02-01 59/1031...

  • Page 60: 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 4.19.0 | Built 2022-02-01 60/1031...

  • Page 61: 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 4.19.0 | Built 2022-02-01 61/1031...
  • Page 62 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 4.19.0 | Built 2022-02-01 62/1031...
  • Page 63 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 4.19.0 | Built 2022-02-01 63/1031...
  • Page 64 * 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 4.19.0 | Built 2022-02-01 64/1031...
  • Page 65 * 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 4.19.0 | Built 2022-02-01 65/1031...

  • Page 66: 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 4.19.0 | Built 2022-02-01 66/1031...
  • Page 67 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 4.19.0 | Built 2022-02-01 67/1031...

  • Page 68: 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 4.19.0 | Built 2022-02-01 68/1031...
  • Page 69 Synapticon Documentation Circulo 7 Circulo 9 Pin # STO-SBC In 1 STO-SBC In 2 Safety GND RX_N RX_P © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 69/1031...
  • Page 70 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 4.19.0 | Built 2022-02-01 70/1031...
  • Page 71 Synapticon Documentation Circulo 9 © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 71/1031...
  • Page 72 Synapticon Documentation Wiring diagrams for the safety digital inputs © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 72/1031...

  • Page 73: 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 4.19.0 | Built 2022-02-01 73/1031...

  • Page 74: 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 4.19.0 | Built 2022-02-01 74/1031...

  • Page 75: 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 76 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 4.19.0 | Built 2022-02-01 76/1031...

  • Page 77: 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 4.19.0 | Built 2022-02-01 77/1031...
  • Page 78 >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 4.19.0 | Built 2022-02-01 78/1031...

  • Page 79: 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 4.19.0 | Built 2022-02-01 79/1031...

  • Page 80: Power Consumption Of Multi-Turn

    In this case, the current consumption will be 800 µA. This could be negligible in most of the battery life time calculations. If Circulo is powered on, the power consumption is 0 © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 80/1031...

  • Page 81: 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 4.19.0 | Built 2022-02-01 81/1031...

  • Page 82: 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 STO-SBC2 Black Safety GND White RX_N Green RX_P Green/White TX_N Orange TX_P Orange/White © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 82/1031...
  • Page 83 On the Y-Splitter cable these wires are open strands at the master side. 1.2.2.1.6.2.3 EtherCAT Connection Pin # Function Color TX_P Orange/White TX_N Orange RX_P Green/White © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 83/1031...

  • Page 84: Instructions For Manufacturing The Cables

    Wires 2 and 3 may be twisted, but it is not mandatory. Attention The cable should be able to withstand a maximum voltage of 100 V wire-to-wire and wire to shield. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 84/1031...
  • Page 85 Cable Thickness Cable Flexibility Manufacturer Part Number GHR-08V-S As thin as possible while conforming As thin as possible while conforming to specs to specs © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 85/1031...
  • Page 86 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 4.19.0 | Built 2022-02-01 86/1031...
  • Page 87 As thin as possible while As thin as possible while Cable conforming to specs conforming to specs EtherCAT any* RJ45* Cable *According to |LINK5| © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 87/1031...
  • Page 88 The STO cable has open wires on the other side. The EtherCAT cable is connectorized on the other side with standard RJ45 connector. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 88/1031...
  • Page 89 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 4.19.0 | Built 2022-02-01 89/1031...

  • Page 90: 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 4.19.0 | Built 2022-02-01 90/1031...

  • Page 91: 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 4.19.0 | Built 2022-02-01 91/1031...
  • Page 92 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 4.19.0 | Built 2022-02-01 92/1031...

  • Page 93: Mechanical Integration

    Synapticon Documentation 1 .2.2.2 Mechanical integration ​ Mounting Example Dimensions Mounting encoder rings © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 93/1031...

  • Page 94: 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 4.19.0 | Built 2022-02-01 94/1031...

  • Page 95: 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 4.19.0 | Built 2022-02-01 95/1031...

  • Page 96: 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 4.19.0 | Built 2022-02-01 96/1031...

  • Page 97: Routing The Motor Phase Cables

    © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 97/1031...
  • Page 98 Synapticon Documentation © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 98/1031...

  • Page 99: 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 4.19.0 | Built 2022-02-01 99/1031...
  • Page 100 Synapticon Documentation © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 100/1031...
  • Page 101 Synapticon Documentation Circulo 9 © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 101/1031...
  • Page 102 Synapticon Documentation © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 102/1031...

  • Page 103: 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 4.19.0 | Built 2022-02-01 103/1031...
  • Page 104 Synapticon Documentation © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 104/1031...
  • Page 105 Synapticon Documentation Circulo 9 © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 105/1031...

  • Page 106: 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 4.19.0 | Built 2022-02-01 106/1031...

  • Page 107: Side View With Phase Connectors

    Synapticon Documentation 1.2.2.2.2.5 Side view with phase connectors Circulo 7 © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 107/1031...
  • Page 108 Synapticon Documentation Circulo 9 © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 108/1031...

  • Page 109: 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 4.19.0 | Built 2022-02-01 109/1031...
  • Page 110 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 4.19.0 | Built 2022-02-01 110/1031...

  • Page 111: 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 4.19.0 | Built 2022-02-01 111/1031...
  • Page 112 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 4.19.0 | Built 2022-02-01 112/1031...

  • Page 113: 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 4.19.0 | Built 2022-02-01 113/1031...

  • Page 114: 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 4.19.0 | Built 2022-02-01 114/1031...

  • Page 115: 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 4.19.0 | Built 2022-02-01 115/1031...

  • Page 116: 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 4.19.0 | Built 2022-02-01 116/1031...

  • Page 117: 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 4.19.0 | Built 2022-02-01 117/1031...

  • Page 118: 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 4.19.0 | Built 2022-02-01 118/1031...
  • Page 119 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 4.19.0 | Built 2022-02-01 119/1031...
  • Page 120 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 4.19.0 | Built 2022-02-01 120/1031...
  • Page 121 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 4.19.0 | Built 2022-02-01 121/1031...
  • Page 122 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 4.19.0 | Built 2022-02-01 122/1031...

  • Page 123: 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 4.19.0 | Built 2022-02-01 123/1031...
  • Page 124 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 4.19.0 | Built 2022-02-01 124/1031...

  • Page 125: 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 4.19.0 | Built 2022-02-01 125/1031...
  • Page 126 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 4.19.0 | Built 2022-02-01 126/1031...
  • Page 127 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 4.19.0 | Built 2022-02-01 127/1031...
  • Page 128 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 4.19.0 | Built 2022-02-01 128/1031...
  • Page 129 Save To Device. Power cycle the drive. If the error is still present, configuration, connect a please contact support. battery. Power cycle the drive. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 129/1031...
  • Page 130 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 4.19.0 | Built 2022-02-01 130/1031...

  • Page 131: 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 4.19.0 | Built 2022-02-01 131/1031...

  • Page 132: Status Led

    Switch on Ready to Switched Operation Quick Fault and Ready Disabled Switch Enabled Stop Fault Reaction Switch BOOT INIT PREOP EtherCAT State SAFEOP © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 132/1031...

  • Page 133: 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 4.19.0 | Built 2022-02-01 133/1031...

  • Page 134: 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 4.19.0 | Built 2022-02-01 134/1031...

  • Page 135: 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 4.19.0 | Built 2022-02-01 135/1031...
  • Page 136 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 4.19.0 | Built 2022-02-01 136/1031...
  • Page 137 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 4.19.0 | Built 2022-02-01 137/1031...

  • Page 138: 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 4.19.0 | Built 2022-02-01 138/1031...

  • Page 139: 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 4.19.0 | Built 2022-02-01 139/1031...

  • Page 140: 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 4.19.0 | Built 2022-02-01 140/1031...

  • Page 141: 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 4.19.0 | Built 2022-02-01 141/1031...

  • Page 142: 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 4.19.0 | Built 2022-02-01 142/1031...

  • Page 143: Timing Diagram For Sto-Function With Sbc-Function

    Synapticon Documentation 1.2.4.4.1.2 Timing diagram for STO-function with SBC-function © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 143/1031...
  • Page 144 Synapticon Documentation © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 144/1031...

  • Page 145: 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 4.19.0 | Built 2022-02-01 145/1031...
  • Page 146 (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 4.19.0 | Built 2022-02-01 146/1031...

  • Page 147: 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 4.19.0 | Built 2022-02-01 147/1031...

  • Page 148: 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 4.19.0 | Built 2022-02-01 148/1031...

  • Page 149: 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 4.19.0 | Built 2022-02-01 149/1031...

  • Page 150: 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 4.19.0 | Built 2022-02-01 150/1031...

  • Page 151: 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 4.19.0 | Built 2022-02-01 151/1031...

  • Page 152: 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 4.19.0 | Built 2022-02-01 152/1031...

  • Page 153: 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 4.19.0 | Built 2022-02-01 153/1031...

  • Page 154: 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 4.19.0 | Built 2022-02-01 154/1031...

  • Page 155: Somanet Node

    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 4.19.0 | Built 2022-02-01 155/1031...

  • Page 156: Overview

    1 .3.1 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 4.19.0 | Built 2022-02-01 156/1031...

  • Page 157: Technical Specifications

    4 (2 x single-ended 0-10V, 2 x differential ±5V) Digital IOs 4 × GPIO / SPI / I C (3.3 V CMOS logic) © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 157/1031...
  • Page 158 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 4.19.0 | Built 2022-02-01 158/1031...
  • Page 159 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 4.19.0 | Built 2022-02-01 159/1031...

  • Page 160: 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 4.19.0 | Built 2022-02-01 160/1031...

  • Page 161: 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 162 Synapticon Documentation © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 162/1031...

  • Page 163: Downloads

    DECLARATION OF CONFORMITY SOMANET NODE SAFETY EC-TYPE EXAMINATION SOMANET NODE SAFETY CERTIFICATE SOMANET NODE SAFETY 1.3.1.4.2 CAD Files STEP MODEL SOMANET NODE STEP MODEL SOMANET NODE SAFETY © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 163/1031...

  • Page 164: 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 4.19.0 | Built 2022-02-01 164/1031...

  • Page 165: Wiring Instructions

    Synapticon Documentation 1 .3.2.1 Wiring instructions ​ 1.3.2.1.1 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 4.19.0 | Built 2022-02-01 165/1031...

  • Page 166: 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 Main Power Supply 12-48 V © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 166/1031...
  • Page 167 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 4.19.0 | Built 2022-02-01 167/1031...
  • Page 168 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 4.19.0 | Built 2022-02-01 168/1031...

  • Page 169: Connecting A Brake

    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 4.19.0 | Built 2022-02-01 169/1031...
  • Page 170 Synapticon Documentation 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 4.19.0 | Built 2022-02-01 170/1031...

  • Page 171: 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 4.19.0 | Built 2022-02-01 171/1031...
  • Page 172 *** 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 4.19.0 | Built 2022-02-01 172/1031...

  • Page 173: Encoder Port 3 / Digital Io

    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 4.19.0 | Built 2022-02-01 173/1031...

  • Page 174: Analog In

    * 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 4.19.0 | Built 2022-02-01 174/1031...
  • Page 175 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 4.19.0 | Built 2022-02-01 175/1031...
  • Page 176 GND. the analog input’s circuitry. 20.4kΩ Internal input resistance Error Error in ticks 1.3.2.1.3.4.2 Analog input resistance 1.3.2.1.3.4.2.1 Differential 1.3.2.1.3.4.2.2 Single-ended © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 176/1031...
  • Page 177 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 4.19.0 | Built 2022-02-01 177/1031...

  • Page 178: Ethercat Port

    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 .3.2.1.3.5 EtherCAT port ​ © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 178/1031...
  • Page 179 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 4.19.0 | Built 2022-02-01 179/1031...

  • Page 180: 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 4.19.0 | Built 2022-02-01 180/1031...

  • Page 181: 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 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 4.19.0 | Built 2022-02-01 181/1031...
  • Page 182 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 4.19.0 | Built 2022-02-01 182/1031...

  • Page 183: 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 4.19.0 | Built 2022-02-01 183/1031...

  • Page 184: 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 4.19.0 | Built 2022-02-01 184/1031...

  • Page 185: 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 4.19.0 | Built 2022-02-01 185/1031...

  • Page 186: Downloads

    Motor overtemperature sensing is not provided and must be provided in the field. 1.3.2.3.3 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 4.19.0 | Built 2022-02-01 186/1031...

  • Page 187: Led Signals

    1.3.3.1.1 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 4.19.0 | Built 2022-02-01 187/1031...

  • Page 188: Core Led

    Switch on Ready to Switched Operation Quick Fault and Ready Disabled Switch Enabled Stop Fault Reaction Switch BOOT INIT PREOP EtherCAT State SAFEOP © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 188/1031...

  • Page 189: 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 4.19.0 | Built 2022-02-01 189/1031...

  • Page 190: 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 4.19.0 | Built 2022-02-01 190/1031...

  • Page 191: 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 4.19.0 | Built 2022-02-01 191/1031...

  • Page 192: Dimensions

    Synapticon Documentation Changelog of the safety-related documentation 1.3.4.1 Dimensions © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 192/1031...

  • Page 193: 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 4.19.0 | Built 2022-02-01 193/1031...
  • Page 194 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 4.19.0 | Built 2022-02-01 194/1031...

  • Page 195: Block Diagram

    1.3.4.2.3 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 4.19.0 | Built 2022-02-01 195/1031...

  • Page 196: 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 4.19.0 | Built 2022-02-01 196/1031...

  • Page 197: 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 4.19.0 | Built 2022-02-01 197/1031...

  • Page 198: Wiring Examples For The Sto/Sbc Inputs

    Please note that Safety GND is an isolated signal from drive GND. 1.3.4.3.1.2.1 Manual switch Allows safety functions up to SIL 3, PL e, cat.3. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 198/1031...
  • Page 199 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 4.19.0 | Built 2022-02-01 199/1031...

  • Page 200: 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 4.19.0 | Built 2022-02-01 200/1031...

  • Page 201: Brake Power Output (Sto/Sbc)

    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 4.19.0 | Built 2022-02-01 201/1031...

  • Page 202: 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 4.19.0 | Built 2022-02-01 202/1031...

  • Page 203: Using The Safety Functions

    To prevent damaging the brake, a Safe Stop Category 1 (SS1) is recommended. 1.3.4.4.1 Timing diagrams 1.3.4.4.1.1 Timing diagram for STO-function without connected brake © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 203/1031...

  • Page 204: Timing Diagram For Sto-Function With Sbc-Function

    Synapticon Documentation 1.3.4.4.1.2 Timing diagram for STO-function with SBC-function © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 204/1031...
  • Page 205 Synapticon Documentation © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 205/1031...

  • Page 206: 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 4.19.0 | Built 2022-02-01 206/1031...

  • Page 207: Resetting Diagnostic Faults

    This way an equivalent of SS1 with time monitoring is implemented. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 207/1031...
  • Page 208 (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 4.19.0 | Built 2022-02-01 208/1031...

  • Page 209: 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 4.19.0 | Built 2022-02-01 209/1031...

  • Page 210: 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 4.19.0 | Built 2022-02-01 210/1031...

  • Page 211: 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 4.19.0 | Built 2022-02-01 211/1031...

  • Page 212: Verification

    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 4.19.0 | Built 2022-02-01 212/1031...

  • Page 213: 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 4.19.0 | Built 2022-02-01 213/1031...

  • Page 214: 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 4.19.0 | Built 2022-02-01 214/1031...

  • Page 215: Somanet Accessories

    When dealing with electronic devices, always consider these handling instructions! 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 4.19.0 | Built 2022-02-01 215/1031...

  • Page 216: 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 4.19.0 | Built 2022-02-01 216/1031...

  • Page 217: 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 4.19.0 | Built 2022-02-01 217/1031...

  • Page 218: 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 4.19.0 | Built 2022-02-01 218/1031...

  • Page 219: 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 4.19.0 | Built 2022-02-01 219/1031...

  • Page 220: Failsafe Behavior

    Drive 1000 can even exceed the capabilities of one Chopper 500. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 220/1031...

  • Page 221: 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 4.19.0 | Built 2022-02-01 221/1031...

  • Page 222: Dimensions

    Synapticon Documentation 1.4.1.8 Dimensions DOWNLOAD STEP MODEL © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 222/1031...

  • Page 223: Sin/Cos Encoder Cable Adapter

    This feature can be used by any board that supports BiSS, for example SOMANET Node rev. D.4/E.1 or SOMANET Circulo. 1.4.2.2 Block Diagram © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 223/1031...

  • Page 224: 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 4.19.0 | Built 2022-02-01 224/1031...

  • Page 225: 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 4.19.0 | Built 2022-02-01 225/1031...

  • Page 226: 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 4.19.0 | Built 2022-02-01 226/1031...

  • Page 227: 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 228: 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 4.19.0 | Built 2022-02-01 228/1031...
  • Page 229 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 4.19.0 | Built 2022-02-01 229/1031...

  • Page 230: Pinouts

    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 Part number 1771059 © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 230/1031...

  • Page 231: 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 232: Soldered Cables

    It’s also possible to attach it using a zip tie. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 232/1031...

  • Page 233: 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 or SOMANET Circulo. 1.4.4.2 Block Diagram © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 233/1031...

  • Page 234: 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 4.19.0 | Built 2022-02-01 234/1031...

  • Page 235: 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 4.19.0 | Built 2022-02-01 235/1031...

  • Page 236: 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 4.19.0 | Built 2022-02-01 236/1031...

  • Page 237: 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 238: Samples & Legacy Products

    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 4.19.0 | Built 2022-02-01 238/1031...
  • Page 239 SOMANET Node 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 4.19.0 | Built 2022-02-01 239/1031...
  • Page 240 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 4.19.0 | Built 2022-02-01 240/1031...

  • Page 241: Circulo Sample

    This is the documentation for Sample A.2. These samples are no longer sold. Please refer to our production version. Attention When dealing with electronic devices, always consider these handling instructions! © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 241/1031...
  • Page 242 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 4.19.0 | Built 2022-02-01 242/1031...

  • Page 243: Technical Specifications

    Inner diameter: 40 mm, Outer drawings) diameter: 72.2 mm, height: 26.3 diameter: 92.2 mm, height: 28.5 Operating temperature Storage temperature -35 to 85 °C © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 243/1031...

  • Page 244: 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 4.19.0 | Built 2022-02-01 244/1031...
  • Page 245 Encoder resolution 19 bit 20 bit Absolute position On both encoders Multiturn resolution 18 bit (battery based) Maximum speed 12000 RPM 6000 RPM © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 245/1031...

  • Page 246: Accuracy And Repeatability Of The Encoder Rings

    Configuration 1: position Configuration 2: position/velocity/commutation Encoder 2 (outer) Mounted Configuration 1: motor Configuration 2: - Functions Configuration 1: velocity/commutation Configuration 2: - © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 246/1031...

  • Page 247: Optional Integrated Brake

    Operating magnetic field frequency max 7 External magnetic field max 20 1.5.1.1.4 Optional Integrated Brake Brake specifications Type Solenoid latch Detailed specifications © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 247/1031...

  • Page 248: 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 4.19.0 | Built 2022-02-01 248/1031...

  • Page 249: Wiring Instructions

    1.5.1.2.1.1 Overview of connectors Pinouts and details for each connector: Power supply and motor brake Encoders and IO Temperature sensor Mating parts and encoder battery © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 249/1031...

  • Page 250: Power Supply And Motor Brake

    1 .5.1.2.1.2 Power supply and motor brake ​ 1 .5.1.2.1.2.1 Power Terminal ​ 1.5.1.2.1.2.2 Motor phases Important The motor and power cables must be twisted for EMC reasons. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 250/1031...
  • Page 251 * 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 4.19.0 | Built 2022-02-01 251/1031...
  • Page 252 Note This brake integrates Safe Brake Control functionality (SBC). © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 252/1031...
  • Page 253 Synapticon Documentation Important Please make sure the servo drive is properly grounded. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 253/1031...

  • Page 254: Encoders And Io

    1.5.1.2.1.3.1 Connector overview 1.5.1.2.1.3.2 Analog Input Note Details about measuring Analog signals can be found in our system integration guideline: Connecting and configuring analog inputs © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 254/1031...
  • Page 255 ** This is a 10 V supply that can provide up to 25 mA for external use. The supply is protected against short to ground and keeps the current below 100mA in a continuous short. 1.5.1.2.1.3.3 External Encoder © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 255/1031...
  • Page 256 Ground Ground Ground Ground Ground Ground Clock+ SD+ / B SLO- Data- H3 / C SLO+ Data+ H2 / B H1 / A © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 256/1031...
  • Page 257 * This is a +3.3 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 400mA in a continuous short. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 257/1031...
  • Page 258 The object can also be used to activate a pull-down resistor. Changes may require to powercycle the servo drive. 1.5.1.2.1.3.5 Safety STO-SBC Pin # Signal STO/SBC1 input 1 STO/SBC2 input 2 Safety Ground © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 258/1031...
  • Page 259 When not using the STO-SBC feature, the function must be bypassed by bridging the jumpers: 1.5.1.2.1.3.6 Encoder Battery (for multi-turn) Pin # Signal © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 259/1031...
  • Page 260 Synapticon Documentation +V_BAT Ground For selecting a suitable battery, please check these notes. 1.5.1.2.1.3.7 EtherCAT In/Out Pin # Signal Shield / PE © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 260/1031...

  • Page 261: Temperature Sensor

    The desired value can be selected via software through object 0x2038 subindex 3. Details are described in Analog Input Scaling. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 261/1031...

  • Page 262: Mating Parts And Encoder Battery

    JST Sales America Inc. ZER-02V-S SSHL-002T-P0.2 26 AWG STO-SBC Jumper Harwin Inc. M50-2020005 24V-48V Supply TE Connectivity 2-520084-2 18-22 AWG Motor Phases TE Connectivity 62112-2 18-22 AWG © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 262/1031...
  • Page 263 Crimped cable from JST Sales America can be used, Parts number: ASZESZE26K305 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 4.19.0 | Built 2022-02-01 263/1031...
  • Page 264 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 4.19.0 | Built 2022-02-01 264/1031...

  • Page 265: Dimensions And Mechanical Mounting

    Please ensure sufficient contact to heat conducting materials and use thermal paste if necessary. Attention Servo drives should not be mounted in direct sunlight. 1.5.1.2.2.1 Dimensions Circulo 7 © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 265/1031...
  • Page 266 Synapticon Documentation © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 266/1031...
  • Page 267 Synapticon Documentation Circulo 9 © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 267/1031...

  • Page 268: Drilling Patterns For Mounting

    Synapticon Documentation 1.5.1.2.2.2 Drilling patterns for mounting Circulo 7 © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 268/1031...
  • Page 269 Synapticon Documentation © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 269/1031...
  • Page 270 Synapticon Documentation Circulo 9 © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 270/1031...

  • Page 271: Heat Dissipation

    Commissioning and tuning with OBLAC Drives 1.5.1.2.2.3.1 Downloads DOWNLOAD STEP MODEL OF SOMANET CIRCULO 7 A.2 DOWNLOAD STEP MODEL OF SOMANET CIRCULO 9 A.2 © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 271/1031...

  • Page 272: Mounting Encoder Rings

    If your application has limited requirements in accuracy, you can use these fallback values: 0.5 mm +/- 0.25 This is not recommended for productive use. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 272/1031...
  • Page 273 Synapticon Documentation Circulo 7 © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 273/1031...
  • Page 274 Synapticon Documentation Circulo 9 © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 274/1031...

  • Page 275: Mounting Tolerances

    It is possible to obtain a positioning feedback directly from the encoder chip in OBLAC Drives. This will help to adjust the axial distance. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 275/1031...
  • Page 276 This is usually known as the wide angle error or the long wave error. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 276/1031...

  • Page 277: Encoder Accuracy

    In this section the main encoder error types will be considered: Wide angle error Narrow angle error The following figure shows a typical behavior before Wide angle calibration: © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 277/1031...

  • Page 278: Wide Angle Error (Long Wave Error, Integral Nonlinearity)

    A tool for calibrating the narrow angle is available in OBLAC Drives. Important it is of vital importance for good performance to calibrate the setup with the routine. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 278/1031...

  • Page 279: Led Signals

    For your reference the position of the LED with the heatsink removed is given in the picture below. 1.5.1.3.1.1 Legend Symbol Explanation Constantly luminous Single flashes (1 pulse per second) Slow blinking (3 pulses per second) © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 279/1031...

  • Page 280: Core Led

    Switch on Ready to Switched Operation Quick Fault and Ready Disabled Switch Enabled Stop Fault Reaction Switch BOOT INIT PREOP EtherCAT State SAFEOP © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 280/1031...

  • Page 281: 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 4.19.0 | Built 2022-02-01 281/1031...

  • Page 282: Ethercat 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 4.19.0 | Built 2022-02-01 282/1031...

  • Page 283: 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 4.19.0 | Built 2022-02-01 283/1031...

  • Page 284: Safety Specifications

    Digital input type according to IEC61131-2:2007 Type 1 Voltage range 0-30 VDC Max. peak input voltage. 60 VDC Input voltage, logic 1 15-30 V © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 284/1031...
  • Page 285 IEC 61800-5-1: During normal operation only non-conductive pollution may occur, temporarily occurring conductivity caused by condensation may only be expected when the servo drive is out of operation. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 285/1031...

  • Page 286: Block Diagram

    Synapticon Documentation 1.5.1.4.1.3 Block diagram Simplified block diagram of the safety logic: © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 286/1031...

  • Page 287: Wiring The Safety Inputs

    1.5.1.4.2.1 Connection diagrams for the STO inputs 1 .5.1.4.2.1.1 Manual switch + drive ​ Allows safety functions up to SIL 3, PL e, cat.3. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 287/1031...
  • Page 288 Allows safety functions up to SIL 1, PL c, cat. 1. 1 .5.1.4.2.1.3 Manual switch + multiple drives ​ Allows safety functions up to SIL 3, PL e, cat.3. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 288/1031...
  • Page 289 1 .5.1.4.2.1.4 Safety PLC PM (Plus-Minus output) + drive ​ Allows safety functions up to SIL 3, PL e, cat.3. For example: Safety PLC digital output © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 289/1031...
  • Page 290 Allows safety functions up to SIL 3, PL e, cat.3. 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 4.19.0 | Built 2022-02-01 290/1031...
  • Page 291 For example: Safety PLC output or safety sensors (e.g. Safety light curtain, safety scanner etc.) 1 .5.1.4.2.1.7 Safety PLC PP (Plus-Plus output) + multiple drives ​ Allows safety functions up to SIL 3, PL e, cat.3. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 291/1031...

  • Page 292: Connection Diagrams For The Sto/Sbc Feedback Output

    The STO/SBC feedback can be used as an indication of safe state of the drive/system (e.g. LED). Attention STO/SBC feedback shall not be used as a safety function! © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 292/1031...
  • Page 293 STO/SBC feedback is not mandatory for reaching SIL 3 or PL e safety levels 1 .5.1.4.2.2.1 High side driver ​ 1 .5.1.4.2.2.2 Low side driver ​ © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 293/1031...

  • Page 294: Connection Diagram For The Brake

    When using a safe brake ensure to connect the safe brake GND to Brake- instead of a general GND Now you are ready to use the feature: Safety functions © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 294/1031...

  • Page 295: Using The Safety Functions

    Synapticon Documentation 1 .5.1.4.3 Using the safety functions ​ 1.5.1.4.3.1 Timing diagrams 1.5.1.4.3.1.1 Timing diagram for STO-function without SBC © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 295/1031...
  • Page 296 Synapticon Documentation 1.5.1.4.3.1.2 Timing diagram for STO-function with SBC-function © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 296/1031...

  • Page 297: Truth Table For Digital Inputs

    1.5.1.4.3.3.2 Hardware diagnostics The STO-SBC feedback is a hardware feature that outputs a signal when both digital inputs have received the STO-SBC signal correctly. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 297/1031...

  • Page 298: Sto-Sbc Status Register

    (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 4.19.0 | Built 2022-02-01 298/1031...

  • Page 299: Use Cases

    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 4.19.0 | Built 2022-02-01 299/1031...

  • Page 300: Commissioning And Maintenance

    The maintenance test can be done by activating STO/SBC function through STO-SBC inputs and observe the reaction of the system. The STO/SBC feedback functionality can be used as a part of the maintenance test. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 300/1031...

  • Page 301: Circulo Sample

    This is the documentation for Sample B.1. These samples are no longer sold. Please refer to our production version. Attention When dealing with electronic devices, always consider these handling instructions! © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 301/1031...
  • Page 302 Synapticon Documentation Technical specifications © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 302/1031...
  • Page 303 Safety connectors Wiring the safety inputs 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 4.19.0 | Built 2022-02-01 303/1031...

  • Page 304: Technical Specifications

    I = 0 between them, the maximum allowable duty cycle would be 11.1% (e.g. 10 seconds of 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 4.19.0 | Built 2022-02-01 304/1031...

  • Page 305: General Specification

    Encoder port 1 1 x BiSS-C / SSI Encoder port 2 1 x ABZ / SSI / BiSS-C / A-Format © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 305/1031...

  • Page 306: 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 4.19.0 | Built 2022-02-01 306/1031...
  • Page 307 Interface BiSS Encoder resolution 19 bit Absolute position On both encoders Multiturn resolution 18 bit (battery based) Maximum speed 12000 RPM Circulo 9 © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 307/1031...

  • Page 308: Accuracy And Repeatability Of The Integrated Encoders

    Accuracy ±90” ±72” ±0.025° ±0.02° Repeatability ±14” ±25” ±0.0039° ±0.0069° Note These preliminary values are the achievable accuracy and repeatability after encoder calibration. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 308/1031...
  • Page 309 Configuration 1: position Configuration 2: position/velocity/commutation Encoder Position 2 Mounted on Configuration 1: motor Configuration 2: - Functions Configuration 1: velocity/commutation Configuration 2: - © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 309/1031...

  • Page 310: Optional Integrated Brake

    SOMANET Circulo 9 (CR9-48-60- ECNN) Single Encoder Position 1 CR9-48-60-ECAN SOMANET Circulo 9 (CR9-48-60- ECAN) Single Encoder Position 2 CR9-48-60-ECBN SOMANET Circulo 9 (CR9-48-60- ECBN) © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 310/1031...
  • Page 311 Synapticon Documentation Dual Encoder CR9-48-60-ECNN SOMANET Circulo 9 (CR9-48-60- ECNN) * this name will appear in your order confirmation and invoice. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 311/1031...

  • Page 312: 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 4.19.0 | Built 2022-02-01 312/1031...

  • Page 313: Wiring Instructions

    Synapticon Documentation 1 .5.2.2.1 Wiring instructions ​ Overview of connectors Circulo 7 Circulo 9 © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 313/1031...
  • Page 314 Synapticon Documentation Power and brake Encoders and IO Temperature sensor EtherCAT-STO Cable Mating parts © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 314/1031...

  • Page 315: Power And Brake

    Synapticon Documentation 1 .5.2.2.1.1 Power and brake ​ 1 .5.2.2.1.1.1 Supply and phases ​ Circulo 7 Circulo 9 © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 315/1031...
  • Page 316 Please ensure by design of your mounting situation that the heat interface is connected to sufficient structure to appropriately dissipate generated heat. Note Use a protected extra-low voltage (PELV) power supply. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 316/1031...
  • Page 317 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 4.19.0 | Built 2022-02-01 317/1031...
  • Page 318 (marked blue in the following picture) to the chassis of the motor or the robot. Important Please ensure that the chassis is properly grounded. Note Protective Earthing is not required for Extra-Low Voltage Drives. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 318/1031...
  • Page 319 Note This brake integrates Safe Brake Control functionality (SBC). Circulo 7 Circulo 9 © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 319/1031...
  • Page 320 Synapticon Documentation © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 320/1031...

  • Page 321: Encoders And Io

    Synapticon Documentation 1 .5.2.2.1.2 Encoders and IO ​ 1.5.2.2.1.2.1 Encoder overview Circulo 7 Circulo 9 © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 321/1031...
  • Page 322 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 4.19.0 | Built 2022-02-01 322/1031...
  • Page 323 *** The supply is protected against short to ground and keeps the current below 100mA in a continuous short. The Analog Inputs have a 12 bit resolution 1.5.2.2.1.2.2.1 Analog input resistance 1.5.2.2.1.2.2.1.1 Differential © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 323/1031...
  • Page 324 Synapticon Documentation 1.5.2.2.1.2.2.1.2 Single-ended 1 .5.2.2.1.2.3 External Encoder ​ © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 324/1031...
  • Page 325 ABI or HALL only when the integrated encoder 2 is used. Please refer to the following image for details: 1.5.2.2.1.2.3.1 External Encoder 1 Circulo 7 © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 325/1031...
  • Page 326 Multi-Turn. For selecting a suitable battery, please check these notes. Attention If the integrated encoder 1 is used, the external encoder 1 can not be used. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 326/1031...
  • Page 327 Config. # 1 Config. # 2 Config. # 3 Clock- Clock+ Ground SLO- Data- SLO+ Data+ V_BAT 1.5.2.2.1.2.3.2 External Encoder 2 Circulo 7 © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 327/1031...
  • Page 328 Ground SLO- Data- H3 / C SLO+ Data+ H2 / B H1 / A * Fast ABI is supported from firmware 5.0 on © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 328/1031...
  • Page 329 Simultaneously, the integrated encoder 2 and the external encoder 2 can only be used with HALL or ABI (Single-Ended or Differential but not Fast ABI). 1 .5.2.2.1.2.4 Digital IO ​ Circulo 7 © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 329/1031...
  • Page 330 The supply is protected against short to ground and keeps the current below 400mA in a continuous short. ** Current output capacity of all configured digital outputs is ±20 mA (Sink and source) © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 330/1031...
  • Page 331 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 4.19.0 | Built 2022-02-01 331/1031...
  • Page 332 Synapticon Documentation Circulo 7 Circulo 9 Pin # STO-SBC1 STO-SBC2 Safety Ground RX_N RX_P © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 332/1031...
  • Page 333 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 Circulo 9 © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 333/1031...
  • Page 334 Synapticon Documentation Wiring diagrams for the safety digital inputs © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 334/1031...

  • Page 335: Temperature Sensor

    You can add a temperature sensor to your SOMANET Circulo. 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 336 Synapticon Documentation Details are described in Analog Input Scaling. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 336/1031...

  • Page 337: 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 4.19.0 | Built 2022-02-01 337/1031...
  • Page 338 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 STO-SBC1 STO-SBC2 Safety Ground RX_N RX_P TX_N TX_P © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 338/1031...
  • Page 339 The Pins in the table below are the standard pins of a RJ45 while the red numbers in the image indicate the reference pins of the hybrid connector. Pin # Function TX_P TX_N © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 339/1031...
  • Page 340 Wires 2 and 3 may be twisted, but it is not mandatory. Attention The cable should be able to withstand a maximum voltage of 100 V wire-to-wire and wire to shield. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 340/1031...
  • Page 341 Cable Thickness Cable Flexibility Manufacturer Part Number GHR-08V-S As thin as possible while conforming As thin as possible while conforming to specs to specs © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 341/1031...
  • Page 342 Both sides must be provided with this connector: GHR-08V-S from manufacturer JST. 1.5.2.2.1.4.3.3 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 4.19.0 | Built 2022-02-01 342/1031...
  • Page 343 As thin as possible while As thin as possible while Cable conforming to specs conforming to specs EtherCAT any* RJ45* Cable *According to EtherCAT standards © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 343/1031...
  • Page 344 The STO cable has open wires on the other side. The EtherCAT cable is connectorized on the other side with standard RJ45 connector. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 344/1031...
  • Page 345 The cables should be able to withstand a maximum voltage of 100V wire-to-wire and wire to shield. 1.5.2.2.1.4.3.3.5 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 4.19.0 | Built 2022-02-01 345/1031...

  • Page 346: 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 4.19.0 | Built 2022-02-01 346/1031...
  • Page 347 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 4.19.0 | Built 2022-02-01 347/1031...

  • Page 348: Dimensions And Mechanical Mounting

    Please ensure sufficient contact to heat conducting materials and use thermal paste if necessary. Attention Servo drives should not be mounted in direct sunlight. 1.5.2.2.2.1 Dimensions Circulo 7 © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 348/1031...
  • Page 349 Synapticon Documentation © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 349/1031...
  • Page 350 Synapticon Documentation Circulo 9 © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 350/1031...

  • Page 351: Drilling Patterns For Mounting

    Synapticon Documentation 1.5.2.2.2.2 Drilling patterns for mounting Circulo 7 © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 351/1031...
  • Page 352 Synapticon Documentation © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 352/1031...
  • Page 353 Synapticon Documentation Circulo 9 © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 353/1031...

  • Page 354: Heat Dissipation

    That’s it! The next step is commissioning and tuning your drive: Commissioning and tuning with OBLAC Drives 1.5.2.2.2.3.1 Downloads DOWNLOAD STEP MODEL OF CIRCULO 7 DOWNLOAD STEP MODEL OF CIRCULO 9 © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 354/1031...

  • Page 355: Mounting Encoder Rings

    If your application has limited requirements in accuracy, you can use these fallback values: 0.5 mm +/- 0.25 This is not recommended for productive use. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 355/1031...
  • Page 356 The values in the image are optimal values, if needed the maximum values in the table below “Mounting tolerances” can be used. Attention Before they can be used, the encoders need to be calibrated © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 356/1031...

  • Page 357: Mounting Tolerances

    It is possible to obtain a positioning feedback directly from the encoder chip in OBLAC Drives. This will help to adjust the axial distance. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 357/1031...

  • Page 358: Battery For Multi-Turn

    Description Factor 1/2 AA A cylindrical cell with 25.2 mm length and 14.5 mm diameter. Nominal capacities up to 1.2 Ah are available. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 358/1031...
  • Page 359 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 4.19.0 | Built 2022-02-01 359/1031...

  • Page 360: Mounting A Bearing

    1 .5.2.2.4 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 4.19.0 | Built 2022-02-01 360/1031...
  • Page 361 Synapticon Documentation © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 361/1031...

  • Page 362: Encoder Accuracy

    In this section the main encoder error types will be considered: Wide angle error Narrow angle error The following figure shows a typical behavior before Wide angle calibration: © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 362/1031...

  • Page 363: Wide Angle Error (Long Wave Error, Integral Nonlinearity)

    A tool for calibrating the narrow angle is available in OBLAC Drives. Important it is of vital importance for good performance to calibrate the setup with the routine. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 363/1031...

  • Page 364: Encoder Calibration

    Make sure you always use the latest release of the calibration firmware. You will find it in the list of firmwares in OBLAC Drives on the calibration page. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 364/1031...

  • Page 365: Prerequisite

    The obtained data will be used to compute a distance map over a full revolution. This is helpful to detect distance variations and hence mounting eccentricity or encoder ring wobbling. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 365/1031...
  • Page 366 Multiturn counter doesn’t work properly. Check if the MT battery is error: counted multiturn ↔ connected and power cycle the drive. external MT data © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 366/1031...

  • Page 367: Calibration Procedure

    A smaller margin results in more robust behavior of the encoder system: small mechanical changes, vibration and temperature expansion are less likely to cause an error. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 367/1031...
  • Page 368 This can also occur when mechanical wear has impaired the system performance. An error will be triggered during startup in the Error Report Object when the calibration is required again: BisErBit © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 368/1031...

  • Page 369: 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 4.19.0 | Built 2022-02-01 369/1031...

  • Page 370: Status Led

    Switch on Ready to Switched Operation Quick Fault and Ready Disabled Switch Enabled Stop Fault Reaction Switch BOOT INIT PREOP EtherCAT State SAFEOP © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 370/1031...

  • Page 371: 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 4.19.0 | Built 2022-02-01 371/1031...

  • Page 372: Safety Functions (Sto-Sbc)

    Safety connectors Wiring the safety inputs 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 4.19.0 | Built 2022-02-01 372/1031...

  • Page 373: Safety Specifications

    Mean Time to dangerous Failure (MTTF ) Diagnostic coverage (DC HW-type Type A Mission time T Supported safety modes High, Low Installation requirements © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 373/1031...
  • Page 374 2 (dual-channel safety output for one brake system) Max. output voltage Servo drive main power supply (48 VDC) Min. output voltage Max. current. Max. peak current. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 374/1031...
  • Page 375 Synapticon Documentation 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 4.19.0 | Built 2022-02-01 375/1031...

  • Page 376: 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 4.19.0 | Built 2022-02-01 376/1031...

  • Page 377: Wiring The Safety Inputs

    STO-SBC 30 m 1.5.2.4.3.2 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 4.19.0 | Built 2022-02-01 377/1031...
  • Page 378 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 4.19.0 | Built 2022-02-01 378/1031...

  • Page 379: Connection Diagram For The Brake

    When using a safe brake ensure to connect the safe brake GND to Brake- instead of a general GND Now you are ready to use the feature: © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 379/1031...
  • Page 380 Synapticon Documentation Safety functions © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 380/1031...

  • Page 381: Using The Safety Functions

    Synapticon Documentation 1 .5.2.4.4 Using the safety functions ​ 1.5.2.4.4.1 Timing diagrams 1.5.2.4.4.1.1 Timing diagram for STO-function without SBC © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 381/1031...
  • Page 382 Synapticon Documentation 1.5.2.4.4.1.2 Timing diagram for STO-function with SBC-function © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 382/1031...

  • Page 383: Truth Table For Digital Inputs

    1.5.2.4.4.3.2 Hardware diagnostics The STO-SBC feedback is a hardware feature that outputs a signal when both digital inputs have received the STO-SBC signal correctly. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 383/1031...

  • Page 384: Sto-Sbc Status Register

    (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 4.19.0 | Built 2022-02-01 384/1031...

  • Page 385: 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 4.19.0 | Built 2022-02-01 385/1031...

  • Page 386: 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 4.19.0 | Built 2022-02-01 386/1031...

  • Page 387: 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 4.19.0 | Built 2022-02-01 387/1031...
  • Page 388 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 4.19.0 | Built 2022-02-01 388/1031...
  • Page 389 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 4.19.0 | Built 2022-02-01 389/1031...

  • Page 390: 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 4.19.0 | Built 2022-02-01 390/1031...

  • Page 391: 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 4.19.0 | Built 2022-02-01 391/1031...

  • Page 392: Changelog Of The Safety-Related Documentation

    Synapticon Documentation 1.5.2.4.7 Changelog of the safety-related documentation ​ Version Reason Details Date released 4.3.3 Initial release Circulo B1 Original Safety Documentation 2020-12- Safety © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 392/1031...

  • Page 393: Somanet Node Rev

    When dealing with electronic devices, always consider these handling instructions! 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 4.19.0 | Built 2022-02-01 393/1031...

  • Page 394: Technical Specifications

    (3.3 V CMOS logic) Encoder Connectors 2 x 4ch. RS-422 Supported Standard Encoder Incremental Encoder (ABI), HALL, BiSS-C, SSI, SPI , I C Interfaces © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 394/1031...
  • Page 395 Two Digital IO can be configured as 5.0 V CMOS logic. Upon request only, please contact sales@synapticon.com Depends on the firmware used. Value given for v4.1 © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 395/1031...

  • Page 396: Hardware Diagrams

    1 .5.3.2 Hardware Diagrams ​ Due to the modular nature of SOMANET Node, the hardware diagrams of each module are listed separately. 1.5.3.2.1 EtherCAT module © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 396/1031...

  • Page 397: Processor Module

    Synapticon Documentation 1.5.3.2.2 Processor module © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 397/1031...

  • Page 398: Drive Module

    Synapticon Documentation 1.5.3.2.3 Drive module © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 398/1031...

  • Page 399: Installation Guide

    After you have succussfully set up your servo drive you can proceed to commission and tune your drive: Commissioning and tuning with OBLAC Drives 1.5.3.3.1 Downloads DOWNLOAD STEP MODEL © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 399/1031...

  • Page 400: Wiring Instructions

    * 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 4.19.0 | Built 2022-02-01 400/1031...
  • Page 401 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. Now proceed to connecting your motor and encoders: Connector Pinouts © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 401/1031...

  • Page 402: Connectors

    Synapticon Documentation 1 .5.3.3.3 Connectors ​ Before attaching cables, please check these guidelines: Wiring instructions 1 .5.3.3.3.1 Power Terminal ​ Terminal © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 402/1031...

  • Page 403: Encoder Port

    5 V *** 5 V *** 5 V *** 5 V *** Ground Ground Ground Ground Ground – – – Clock+ W (C) SLO- Data- © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 403/1031...
  • Page 404 5 V ** 5 V ** 5 V ** 5 V ** 5 V ** Ground Ground Ground Ground Ground – – – Clock+ © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 404/1031...

  • Page 405: Encoder Port 3 / Digital Io

    Digital IO 3** MISO – – Digital IO 4** MOSI – – 5 V *** 5 V *** 5 V *** 5 V *** © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 405/1031...

  • Page 406: Analog In

    Note Details about measuring Analog signals can be found in our system integration guideline: Connecting and configuring analog inputs Default Setting * – © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 406/1031...

  • Page 407: Ethercat Port

    The supply is protected against short to ground and keeps the current below 100mA in a continuous short. 1 .5.3.3.3.6 EtherCAT port ​ © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 407/1031...
  • Page 408 Shield Differential receive pair, positive line Differential receive pair, negative line * Pin 1 is on left * Pin 1 is on left © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 408/1031...

  • Page 409: Connector Types And Mating Parts Numbers

    * Crimped cable from JST Sales America can be used, Parts number: AGHGH28K305 ** Housing only. Complete cable assemblies in various lenght also available, for example 151340501 (50 mm) © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 409/1031...

  • Page 410: Grounding And Connecting A Brake

    By default, Logic Supply is deactivated, it is therefore recommended to use Logic Ground (pin 7 of the Main Supply Connector) for the brake. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 410/1031...
  • Page 411 Ground of the 48V supply to the pin 5 of the Main Supply connector if they fit in there. For mounting please refer to our mounting instructions: Mounting instructions © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 411/1031...

  • Page 412: Mounting Instructions

    Ensure that the servo drive is screwed properly to the heat conducting surface to facilitate the heat transfer. 1.5.3.3.5.2 Dimensions © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 412/1031...

  • Page 413: 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 4.19.0 | Built 2022-02-01 413/1031...
  • Page 414 Synapticon Documentation That’s it! The next step is commissioning and tuning your drive: Commissioning and tuning with OBLAC Drives © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 414/1031...

  • Page 415: Led Signals

    1.5.3.4.1.1 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 4.19.0 | Built 2022-02-01 415/1031...

  • Page 416: Core Led

    Switch on Ready to Switched Operation Quick Fault and Ready Disabled Switch Enabled Stop Fault Reaction Switch BOOT INIT PREOP EtherCAT State SAFEOP © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 416/1031...

  • Page 417: Bootloader

    Synapticon Documentation 1.5.3.4.2.2 Bootloader Signals that are shown when the Bootloader is active: Bootloader State No Fault Fault (firmware exists) (no firmware exists) © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 417/1031...

  • Page 418: Somanet Node Rev

    When dealing with electronic devices, always consider these handling instructions! 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 4.19.0 | Built 2022-02-01 418/1031...

  • Page 419: Technical Specifications

    33 A RMS Current RMS Efficiency (at Maximum 98 % Power) Brake control power 0-48 V PWM Phase D output Details about the power terminal © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 419/1031...

  • Page 420: General Specifications

    **** To use ABI/ABZ with TTL please ensure that your Encoder is capable to sink 5 mA to GND when the output of the encoder is 0 © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 420/1031...
  • Page 421 Synapticon Documentation ***** Currently not supported by our standard software. Can be developed upon request, please contact sales@synapticon.com ****** External shunt resistor is needed © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 421/1031...

  • Page 422: Hardware Diagrams

    1 .5.4.2 Hardware Diagrams ​ Due to the modular nature of SOMANET Node, the hardware diagrams of each module are listed separately. 1.5.4.2.1 EtherCAT module © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 422/1031...

  • Page 423: Processor Module

    Synapticon Documentation 1.5.4.2.2 Processor module © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 423/1031...

  • Page 424: Drive Module

    Synapticon Documentation 1.5.4.2.3 Drive module © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 424/1031...

  • Page 425: Installation Guide

    After you have succussfully 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 4.19.0 | Built 2022-02-01 425/1031...

  • Page 426: Wiring Instructions

    * 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 4.19.0 | Built 2022-02-01 426/1031...
  • Page 427 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. Now proceed to connecting your motor and encoders: Connector Pinouts © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 427/1031...

  • Page 428: Connectors

    Synapticon Documentation 1 .5.4.3.2 Connectors ​ Before attaching cables, please check these guidelines: Wiring instructions 1.5.4.3.2.1 EtherCAT IN/OUT © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 428/1031...

  • Page 429: Power Terminal

    Main Power Supply 24 - 48 V Phase A Phase B Phase C Phase D Shunt Res - Shunt Res + Grounding and attaching power and brake cables © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 429/1031...

  • Page 430: Encoder Port

    * To use ABI/ABZ with TTL please ensure that your Encoder is capable to sink 5 mA to GND when the output of the encoder is 0 © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 430/1031...
  • Page 431 HALL. To ensure your configuration will work with future versions of this drive, please use connector 1 instead for current development. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 431/1031...

  • Page 432: Encoder Port 3 / Digital Io

    – – – All Digital IOs are 3.3 V LVTTL CMOS logic and can be used for data rates up to 20 Mbps © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 432/1031...

  • Page 433: Analog In

    Single-ended 0-5 V 10 V * All Analog Inputs can be configured as single-ended 0-5 V, 0-10 V independently. Upon request only, please contact sales@synapticon.com © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 433/1031...

  • Page 434: Ethercat Port

    Pin Name Type Function Differential transmit output Differential transmit output Ground Differential receive input Differential receive input * Pin 1 is on left © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 434/1031...

  • Page 435: Connector Types 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 4.19.0 | Built 2022-02-01 435/1031...
  • Page 436 Synapticon Documentation © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 436/1031...

  • Page 437: Grounding And Connecting A Brake

    For mounting please refer to our mounting instructions: Mounting instructions © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 437/1031...

  • Page 438: Mounting Instructions

    Ensure that the servo drive is screwed properly to the heat conducting surface to facilitate the heat transfer. 1.5.4.3.4.2 Dimensions © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 438/1031...

  • Page 439: Interference With Magnetic Fields

    1. At any position but shielded with a Faraday’s cage 2. Behind the motor 3. Beside the motor but shielded from the motor’s magnetic field with a plate © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 439/1031...

  • Page 440: Led Signals

    1.5.4.4.1.1 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 4.19.0 | Built 2022-02-01 440/1031...

  • Page 441: Core Led

    Switch on Ready to Switched Operation Quick Fault and Ready Disabled Switch Enabled Stop Fault Reaction Switch BOOT INIT PREOP EtherCAT State SAFEOP © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 441/1031...

  • Page 442: Bootloader

    Synapticon Documentation 1.5.4.4.2.2 Bootloader Signals that are shown when the Bootloader is active: Bootloader State No Fault Fault (firmware exists) (no firmware exists) © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 442/1031...

  • Page 443: Commissioning And Tuning Guide

    Install and run any version of OBLAC Drives that fits your drive. Troubleshooting If something goes wrong while using OBLAC Drives you can find troubleshooting instructions here. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 443/1031...

  • Page 444: Oblac Drives Setup

    Box: is a physical machine that comes preinstalled with Linux OS and runs OBLAC Drives. OBLAC Drives Virtual Machine: comes preinstalled with OBLAC Drives. It can be run on Windows, Linux and macOS. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 444/1031...

  • Page 445: Oblac Drives Box

    In case you are not using OBLAC Drives Box, please refer to our OBLAC Drives virtual machine installation guide OBLAC Drives Box OBLAC Drives Box 2 © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 445/1031...

  • Page 446: Connectors

    OBLAC Drives Box is a physical machine that comes preinstalled with Linux OS and runs OBLAC Drives and the related services. It supports access over WiFi or local area network. 2.1.1.1 Connectors OBLAC Drives Box © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 446/1031...

  • Page 447: Installation

    1. Plug in the power connector; the box will automatically boot. OBLAC Drives Box Note The power supply has an output rating of 12 V , 3000 mA. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 447/1031...
  • Page 448 (e.g. operate and get diagnostic information at the same time). But the last action will override the previous. There is no interlock between the instances. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 448/1031...

  • Page 449: Network Connection To The Oblac Box

    EtherCAT port of the box. Some important device specific information is written on the sticker placed on the box: © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 449/1031...

  • Page 450: Connection Host-Pc ↔ Box By Wi-Fi

    If the host PC is connected to the internet by a LAN connection or a second Wi-Fi connection, the box will automatically connect to the Internet through the host PC. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 450/1031...

  • Page 451: Box Connected To Internet By Lan Connection

    In some companies, unknown devices will not get an IP address from the server out of security reasons. In this case this will not work. Ask your IT/network responsible if you fail to get online with the box. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 451/1031...

  • Page 452: Host-Pc And Box Not Connected To Internet

    (http://oblac-drives-xxxxxxxx.local) Attention: Some in some companies, unknown devices will not get an IP address from the server out of security reasons. In this case this will not work. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 452/1031...

  • Page 453: Lan Connection Peer To Peer

    Go to Windows Settings - Network & Internet: Right-click on the Ethernet Port you are connected to the internet. Open properties and Sharing tab. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 453/1031...
  • Page 454 The ICS is not working if the IP-address is manually set to a fixed address in the PC. Please ensure that the port is configured to “obtain IP address automatically”. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 454/1031...

  • Page 455: No Connection To Oblac Update Server

    This bundle includes files for all hardware variants of a single firmware version, e.g. v4.4.3. Install it using the OBLAC Drives Install Firmware dialog onto one or more devices. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 455/1031...

  • Page 456: Open Oblac Drives

    Newer versions of OBLAC Drives that get installed will be cached on the box, but they will have to be downloaded from the Internet. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 456/1031...

  • Page 457: Oblac Drives Virtual Machine

    1. Download the OBLAC Drives Virtual Machine image DOWNLOAD OBLAC DRIVES If you have trouble downloading from Amazon webservice, please try our Baidu server: DOWNLOAD OBLAC DRIVES FROM BAIDU Windows © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 457/1031...
  • Page 458 Ensure that the “Replicate physical network connection state” option is checked Press OK to save changes 6. Power up and connect the slaves. 7. Power on the virtual machine © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 458/1031...
  • Page 459 You may also check “Do not show this message again” 4. Edit the Virtual Machine Settings and set the following (if not already set) © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 459/1031...
  • Page 460 Set the number of processor cores to 2 Check the “Enable hypervisor application” option The network adapters should be set to: Private to my Mac © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 460/1031...
  • Page 461 5. Go to Virtual Machine Settings and check if two network adapters are available - one set to NAT and one set to Bridged (Automatic) Ensure that the “Replicate physical network connection state” option is checked Press OK to save changes © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 461/1031...
  • Page 462 7. Power up and connect the slaves. To connect your host PC with the servo drive, simply plug the EtherCAT cable on your Ethernet port (RJ45) of © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 462/1031...

  • Page 463: Connecting To Oblac Drives

    Once your virtual machine is powered up, you will find the IP address of OBLAC Drives at the top of the screen. Enter this IP address in your browser and wait for OBLAC Drives to show the connected drives. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 463/1031...
  • Page 464 Connect your PC via EtherCAT cable to the servo drive. For tuning, you may connect several servo drives via EtherCAT and tune one by one. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 464/1031...
  • Page 465 Synapticon Documentation Please check in you browser that the Drive is connected: © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 465/1031...

  • Page 466: Update Oblac Drives

    2. If the drives aren’t found, or anything else seems to be wrong, please try refreshing the web page first and then power cycling the drive(s) 3. If you are running Windows, please ensure that the power-saving functionality for LAN is turned OFF © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 466/1031...
  • Page 467 In that case, please try switching the order of the network adapters in the VMware setting for that virtual machine: 1. Bridged (Automatic) 2. NAT There are more issues listed in our Troubleshooting Guide. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 467/1031...

  • Page 468: Using Oblac Drives

    Use this list also to select between different versions of OBLAC Drives. Note Please ensure that the release you want to install supports the firmware that you want to run on your drive. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 468/1031...

  • Page 469: User Interface Overview

    When this button is clicked, a box appears listing the most recent firmwares available for your hardware. The list is being filtered by the device hardware description and the running release of OBLAC Drives. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 469/1031...

  • Page 470: Launch Setup Wizard

    When serious issues occur, you can set the system back to Factory settings. Attention This action is irreversible. It will remove all files from a drive and install an empty firmware. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 470/1031...

  • Page 471: Using Keyboard Shortcuts

    You can edit the value directly in the Quick Open input box or view the parameter documentation by clicking on the (i) button. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 471/1031...

  • Page 472: Set Up Your Servo Drive

    After the firmware is installed, OBLAC Drives will restart the tools, this will take a few moments. Once the connected drives are initialized again, OBLAC Drives will show a message that the drive isn’t configured yet. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 472/1031...
  • Page 473 Click on the “Launch Setup Wizard” link to open the setup wizard. It will first ask you to give a name to your drive. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 473/1031...
  • Page 474 Synapticon Documentation First you need to determine if you have an attached brake. If you have a brake, insert the parameters. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 474/1031...
  • Page 475 After clicking on “Next” you will be asked for details of the connected motor. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 475/1031...
  • Page 476 To configure an encoder, click onto “details” and set the parameters as you wish. If you want to use this encoder as a motion control sensor, you will be able to test if it is properly configured in the testing area. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 476/1031...
  • Page 477 When using a power supply that can’t provide the rated motor phase currents, set the slider to a lower value. This may be indicated by the error “Undervoltage”. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 477/1031...
  • Page 478 “Playground”, where you can test the basic functionality of your new SOMANET drive setup. Now you should tune the controller gains for precise motion: NEXT STEP: Motion control tuning © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 478/1031...

  • Page 479: Motion Control Tuning

    1. Start tuning by identifying the mechanical properties with our System Identification feature 2. Use the feedback graph to determine the best values 3. Finetune the controller gains and design the optimal control structure © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 479/1031...
  • Page 480 Synapticon Documentation 4. Save the values to the drives © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 480/1031...

  • Page 481: Auto-Tuning

    The Position Auto-tuning process calculates the gains for the cascaded controller automatically. The core of the cascaded controller is linear. However, there are multiple nonlinear additions: saturation, feedforward terms integrator clamping. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 481/1031...

  • Page 482: Goal Of Velocity Auto-Tuning

    PID Controllers: Theory, Design, and Tuning 2.4.2.3 Goal of Velocity Auto-tuning The Velocity Auto-tuning process calculates the gains for the velocity controller automatically. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 482/1031...

  • Page 483: System Identification

    4. The accurate frequency response of the system can be obtained only for frequencies up to 100 Hz due to communication limitations. 5. If the system has very high static friction, small amplitude torque signal will overestimate viscous friction and inertia. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 483/1031...

  • Page 484: How To Use

    An example of low amplitude can be seen in the image below: © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 484/1031...
  • Page 485 Low values will result in a more precise identification procedure and more stress on the mechanical structure. High values will result in less stress and the identification procedure will be less precise due to the © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 485/1031...

  • Page 486: F.a.q

    # The system goes to overcurrent or the software resets during the system identification. Check the configuration parameters and compare them to the official motor and sensor datasheet. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 486/1031...
  • Page 487 Synapticon Documentation Ensure that the torque controller works correctly. Lower the torque excitation signal amplitude. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 487/1031...

  • Page 488: Position Auto-Tuning

    The control loop bandwidth is higher than the P-PI configuration. However, it tends to overshoot: © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 488/1031...
  • Page 489 There are currently 4 repeatable test signals: square wave, ramp, bidirectional ramp and sine. It is possible to drag sliders and manually change gains during the reference signal following: © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 489/1031...
  • Page 490 Settling time is the time [in ms] needed to settle the step response within 2% of the reference value. The auto-tuning procedure will try to find gains to ensure the specified settling time given the identified model. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 490/1031...
  • Page 491 Values > 1 can be used for removing overshoot but at cost of slower settling time, it may also lead to undershoot and non-zero steady state error. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 491/1031...
  • Page 492 Values < 1 can be used to achieve a sharper response and a better bandwidth at a cost of overshoot: Damping ratio is minimal: © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 492/1031...

  • Page 493: Next Steps

    Make sure that correct power supply is used. # Is there a PID controller auto-tuning? A simple PID is usually not used for position control. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 493/1031...
  • Page 494 Using a velocity filter results in a phase delay based on the filter order and its cutoff frequency. It is recommended to perform a system identification and tuning after filters were configured. Be careful, filters severely reduce stability due to phase delay. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 494/1031...

  • Page 495: Velocity Auto-Tuning

    Underdamped < 1: overshoot is allowed, results in a sharper response. Example of a velocity control loop step response with a damping ratio of 0.4: © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 495/1031...
  • Page 496 It is a frequency the system may follow while keeping 71% of the amplitude. Example of velocity control loop 10 Hz sine wave tracking with a requested bandwidth of 10 Hz: © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 496/1031...
  • Page 497 Synapticon Documentation An example of velocity control loop 10 Hz sine wave tracking with a requested bandwidth of 80 Hz: © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 497/1031...

  • Page 498: Next Steps

    Using a velocity filter results in a phase delay based on the filter order and its cutoff frequency. It is recommended to perform a system identification and tuning after filters were configured. Be careful, filters severely reduce stability due to phase delay. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 498/1031...

  • Page 499: Manual Tuning

    However, all controller gains can also be adjusted manually. Manual Tuning of the current controller Manual Tuning of the velocity control loop Manual Tuning of the position control loop © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 499/1031...

  • Page 500: Manual Tuning Of The Current Controller

    Set Kp = 2,500 and Ki = 40,000 Increase Kp by 20%, and send a step torque command with a period of 1 second and amplitude of 5% of © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 500/1031...
  • Page 501 Repeat this step until a vibration is felt in the system. This vibration means that the system is close to its instability margine. At this point reduce the kp by 30%. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 501/1031...

  • Page 502: Manual Tuning Of The Velocity Control Loop

    This applies if either acceleration and deceleration duration shall be reduced even further (to less than about 1 second) one if the speed shows undesired fast osculations which often become perceptible acoustically. Further reference © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 502/1031...

  • Page 503: Manual Tuning Of The Position Control Loop: Cascaded Controller

    The PI-P cascade controller may look similar to the simple PID controller, however the structure is different and therefore a different tuning method should be used. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 503/1031...

  • Page 504: Test A Drive At The Playground

    The motor should start rotating now and you should be able to observe the motion in OBLAC Drives. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 504/1031...

  • Page 505: Rotate A Motor At Defined Velocities

    Finally, you can check the performance of your position control loop by using one of the position setpoint test functions available in OBLAC Drives. Depending on what suits your application best, you can choose from: step sinusoidal trapezoidal © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 505/1031...
  • Page 506 If you encounter any problems, make sure they are sorted out before you continue. Reviewing the above- mentioned list of prerequisites should be your first step. You can also have a look at our troubleshooting site. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 506/1031...

  • Page 507: Update/Downgrade Oblac Drives

    When you have downgraded to a version older than 19.0.0 you wont find the Link anymore. To access OBLAC Drives Update Service please manually enter port 64000 in your URL (e.g 192.168.0.1:64000) © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 507/1031...

  • Page 508: Troubleshooting

    If your computer does not have the virtualization technology activated, OBLAC Drives will most likely not work correctly. To fix that issue, you have to activate the virtualization technology of your processor (VT-x / AMD-V) in your BIOS. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 508/1031...

  • Page 509: Memory Warning

    2.7.3 Runtime Issues One of the most common issues appears directly after installing OLAC Drives. The browser will be opened and the following screen appears: © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 509/1031...

  • Page 510: Other Issues

    Make sure no native EtherCAT master is running on the host machine or in the same network Make sure that none of the Synapticon tool components (OBLAC Drives, motion master bridge or motion- master) are already running on the host machine as a native installation If your laptop is connected to a docking station, undock and restart it, then try to run OBLAC Drives again Other installed or running software on the PC is occupying the Ethernet port.
  • Page 511 Stop all other software that is running or try with a different, more powerful PC Note If you couldn’t find a solution to your problem, please contact us at support@synapticon.com. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 511/1031...

  • Page 512: Software Reference

    Control Loops Current and Torque Control Loop Velocity Control Loop Position Control Loop Dual Loop Cascaded Postion Control Modes of operation Cyclic modes © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 512/1031...
  • Page 513 Profile specific area Process Data Objects Standard RxPDO mapped objects Standard TxPDO mapped objects Advanced PDO mapping Device info Saving and restoring configurations Changelog v5.0 © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 513/1031...
  • Page 514 Cyclic synchronous torque control (CST) Cyclic synchronous velocity control (CSV) Cyclic synchronous position control (CSP) Profile modes Profile position mode Profile velocity mode © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 514/1031...
  • Page 515 Manufacturer specific area Profile specific area Process Data Objects Standard RxPDO mapped objects Standard TxPDO mapped objects Advanced PDO mapping Device info Changelog v4.4 © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 515/1031...
  • Page 516 Cyclic synchronous torque control (CST) Cyclic synchronous velocity control (CSV) Cyclic synchronous position control (CSP) Profile modes Profile position mode Profile velocity mode Profile torque mode © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 516/1031...
  • Page 517 Manufacturer specific area Profile specific area Process Data Objects Standard RxPDO mapped objects Standard TxPDO mapped objects Advanced PDO mapping Device info Changelog v4.2 v4.1 © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 517/1031...
  • Page 518 Manufacturer specific area Profile specific area Process Data Objects Standard RxPDO mapped objects Standard TxPDO mapped objects Advanced PDO mapping Device info Changelog v4.1 © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 518/1031...
  • Page 519 All objects Communication area Manufacturer specific area Profile specific area Process Data Objects Standard RxPDO mapped objects Standard TxPDO mapped objects Device info © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 519/1031...

  • Page 520: Software Reference Manual V5.0

    A list of all standard and SOMANET specific errors. Errors thrown by the firmware SOMANET throws firmware errors as specified in CiA 402. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 520/1031...
  • Page 521 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 © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 521/1031...
  • Page 522 These objects describe your Drive system for internal identification. Saving and restoring configurations: Configurations can be saved for later use and default configurations can be restored Changelog v5.0 © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 522/1031...

  • Page 523: Firmware Overview

    An object dictionary according to CiA 402 is available, complemented with manufacturer specific objects to expand the feature set. The following diagram depicts the basic architecture of the servo drive system: © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 523/1031...

  • Page 524: Functionality Description

    Field weakening Anti-Windup Control Gain Scheduling Motor Overload Protection (i2t) Feed Forward Control Torque Offset Velocity Offset Control supervision Command smoothing and Interpolation © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 524/1031...

  • Page 525: Canopen Over Ethercat (Coe)

    Function FSA States Switch Ready Switched Operation Quick Fault Fault ready enabled Stop reaction disabled switch active active switch Brake applied, if present © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 525/1031...

  • Page 526: Pdo

    EtherCAT Network. This isn’t done in real-time. They provide read and write access to all entries in the device object dictionary. Typical examples are: Configuring the Drive system Reading error codes For more information about SDO refer to ETG1000.5 and ETG1000.6. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 526/1031...

  • Page 527: Actuator Configuration

    Motor and Gear settings Generic brake output voltage Brake release User defined velocity units Commutation Offset Detection Power limit © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 527/1031...

  • Page 528: Motor And Gear Settings

    If in the motor datasheet, the unit of torque constant is in [Nm / A ], the following equation can be used to peak convert the unit of torque constant to [µNm / A © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 528/1031...

  • Page 529: Phase Resistance

    Attention Phase inductance = Phase to phase inductance © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 529/1031...

  • Page 530: Errors In Phase Resistance And Inductance

    If Motor phases inverted is set wrong (manually), the following problems might appear: Wrong motion polarity (positive “torque target” resulting in negative “motor generated torque”). Low efficiency of motor © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 530/1031...

  • Page 531: Pwm Frequency

    Field Weakening The velocity range of electric motors can be extended by weakening the magnetic field of the rotor linearly over the speed range. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 531/1031...

  • Page 532: Parameters

    Values Damping Ration and Settling time for tuning the current controller and switching frequency (PWM). 0x6091 Gear Ratio Object for indicating the revolutions of motor and shaft © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 532/1031...

  • Page 533: Generic Brake Output Voltage

    While the master is running, control the output voltage by writing the value in mV to ‘Output voltage’. To turn off the output, write a 0 to ‘Output voltage’ © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 533/1031...

  • Page 534: Limitations

    Release strategy can be used to activate the voltage on the brake output, Brake options: Brake status turns it On and Off, Brake options: Output voltage sets the voltage. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 534/1031...

  • Page 535: Brake Configuration

    Once the motion system leaves the state “operation enabled” the voltage is automatically dropped to Ground after the designated time “Brake engage delay” and the brake is mechanically activated. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 535/1031...

  • Page 536: Pin-Brake Mode

    (e.g. robot arm) where gravity is producing a torque pressing the wheel notch against the actuator pin. The following method is implemented to ensure reliable pin-type brake operation. 3 .1.3.3.1.1 Timing diagram ​ © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 536/1031...
  • Page 537 The brake release is an open loop system. After the brake pull time it is assumed that releasing was successful and the hold voltage is applied. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 537/1031...

  • Page 538: Brake Pwm Frequency

    It is also possible to implement custom brake modes. For information please refer to Generic brake output voltage 3.1.3.3.1.4 Parameters 0x2004 Brake Release All options that are required for brake release. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 538/1031...

  • Page 539: User Defined Velocity Units

    “gear-ratio”. For better precision, it is recommended to change the SI unit to mrpm. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 539/1031...

  • Page 540: Usage

    0x6085 Quick stop deceleration 0x609A Homing acceleration 0x60B1 Velocity offset 0x60FA Control effort 0x60FF Target velocity These subitems are also affected by the value: © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 540/1031...

  • Page 541: Example

    Sets the maximum allowed speed for the motor in either direction. 0x6081 Profile velocity Configures the velocity target for the end of the acceleration ramp during profiled motion. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 541/1031...
  • Page 542 0x2012 Position Controller Values Kp, Ki and Kd for Cascaded Position Controller (Both loops: Position and Velocity) 0x2013 Gain Scheduling Parameters needed for Gain Scheduling © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 542/1031...

  • Page 543: Commutation Offset Detection

    Diagnostics Opmode using OS-Commands. Note When quick stop is commanded during Offset detection, the procedure is aborted and the drive is disabled. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 543/1031...
  • Page 544 Fig. 1: Normal motor phase configuration (sensor angle and rotor angle are both increasing/decreasing simultaneously) Fig. 2: Rotor angle and position sensor angle are not increasing/decreasing in the same direction (Inverted motor phases) © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 544/1031...

  • Page 545: Requirements

    Large single side loads during the routine (such as the gravitational load) can lead to lower detection accuracy with Offset Detection method 0 and 1. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 545/1031...

  • Page 546: Autophasing Methods

    The offset can be found with a limited movement range. With a well tuned PID controller the movement is typically less than 5 degrees The offset can be measured very precisely © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 546/1031...

  • Page 547: Method

    Depends on quality of tuning. Typically less than 20 electrical degrees. Duration up to 250 ms Less good None Can cause audible noise © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 547/1031...

  • Page 548: Common Use Cases

    2 can be executed. This way, no movement is required when enabling the setup, and the torque control performance of the setup is still promised. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 548/1031...

  • Page 549: Usage

    Command 4: Motor phase order detection Command 5: Commutation offset measurement Note Motor phase order detection is mandatory in order not to damage the system. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 549/1031...

  • Page 550: Tuning Gains (Method 1)

    0x6076 Motor Rated Torque The rated torque of your Motor according to the data sheet. 0x6060 Modes of operation Selects the mode of operation. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 550/1031...
  • Page 551 Synapticon Documentation 0x6040 Controlword Sets the status of the drive © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 551/1031...

  • Page 552: Power Limit

    At any operational point, the Drive has access to rotational speed. As a result the limit of generated torque can be calculated as: © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 552/1031...

  • Page 553: Parameters

    3.1.3.6.4 Parameters 0x200B: Max power Sets the limit in Watt 0x203F: Error Report Object Shows the warning “MxPwrLmt” once the limit is reached © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 553/1031...

  • Page 554: Encoders And I/O

    Hall and ABI encoders can be combined for commutation with the benefits of each. Input counter: Allows counting pulses in a particular pin of an encoder connector. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 554/1031...

  • Page 555: Analog In

    0x2403 Analog input 3 Parameter holding the value of analog input 3 0x2404 Analog input 4 Parameter holding the value of analog input 4 © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 555/1031...

  • Page 556: Analog Input Scaling

    Applications include converting the output of a torque sensor directly into mNm, Nm or any other unit desired by the user. 3.1.4.2.1 Requirements The hardware must support at least one analog input 3.1.4.2.2 Usage © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 556/1031...

  • Page 557: Wiring

    If a voltage divider is connected to the analog input, as shown in the figure below, the value of the “Resistance” parameter (0x2038:3) defines the value of the pull-up resistor R of this voltage divider. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 557/1031...

  • Page 558: Thresholds

    ExAnSnsr is triggered in the Error report object. Note When the value approaches 95% of the defined thresholds, a warning is triggered. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 558/1031...

  • Page 559: Polynomial

    0x2038:9 (Constant a5): Constant a5 of the polynomial (5th order coefficient) 3.1.4.2.2.4.1 Parameters 0x2038 Analog Input Scaling Transforms an analog input to an output by a 5th order polynomial © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 559/1031...

  • Page 560: Digital I/O

    Assigns actions to changes in the Digital Inputs and triggers Digital Outputs 3.1.4.3.3 Parameters 0x2210 GPIO Select if Digital I/Os are input or output. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 560/1031...

  • Page 561: Digital Gpio

    21 [OUT] Mimics Operation Enabled (oe) Bit of Statusword 22 [OUT] Mimics Voltage Enabled (ve) Bit of Statusword 23 [OUT] Mimics Switch On Disabled (sod) Bit of Statusword © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 561/1031...

  • Page 562: Usage

    25 [OUT] Mimics Warning (w) Bit of Statusword 3.1.4.4.2 Usage You can access the features in OBLAC Drives: Enter Feedback & IO/Digital IO © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 562/1031...

  • Page 563: Manual Configuration

    0x60FE:2 is set as 1. The output value will be the value set in the object 0x60FE:1 (Digital Output). © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 563/1031...

  • Page 564: Using Digital Gpio With Home Switches And Limit Switches

    Limit Switch has been activated in this case, then bit 2 (qs) of the Controlword will be cleared and Quick Stop will be executed. Negative Limit Switch Active High - Level Triggered for Homing & Edge Triggered (Latch) for Error © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 564/1031...
  • Page 565 OS command 9 (Phase Inductance Measurement) If any of these OS commands is called while a limit switch is active, the response will be OSCMD_ERROR_CMD_NOT_ALLOWED. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 565/1031...

  • Page 566: Input Actions

    GPIO input high. Bit 3 (interlock bit) of the Digital Inputs Object 60FD will also be high when Interlock is active. Time Stamped Rising Edge - Edge Triggered (13) © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 566/1031...

  • Page 567: Output Events

    If the GPIO is a 1-bit port, this is activated with an accuracy of 10 ns. Otherwise the accuracy is 62.5 µs. Please refer to the table below for the type of port: SOMANET Circulo SOMANET Node Digital I/O 1 1-bit port 1-bit port © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 567/1031...
  • Page 568 Mimics Ready to Switch On (rtso) Bit of Statusword (20) The value of the selected Digital Output mimics bit 0 of the Statusword (rtso). When the “rtso” bit is high, the © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 568/1031...

  • Page 569: Parameters

    0x60FE Digital Outputs Manufacture specific bits set the state of digital output 0x0x60FD Digital Inputs Manufacture specific bits show the state of digital inputs. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 569/1031...

  • Page 570: Encoder Configuration

    Time without a position change in which the velocity is assumed to be zero. After this time, the velocity value is set to 0 if no new position was received from the encoder. The default value is 5000 µs. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 570/1031...

  • Page 571: Polarity

    Which encoder should be used for velocity control. 0x2010:12 Torque controller: Encoder source Which encoder should be used for torque control and for commutation. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 571/1031...

  • Page 572: Commutation With Hall And Abi Combined

    The drive will automatically use it on startup to avoid the index detection routine. There is no need for additional configuration of the hall sensor on encoder port 2. Configuring the Hall additionally on port 2 will lead to a HwRsrcEr. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 572/1031...

  • Page 573: Detailed Description

    Running the motor with Hall set as the only Commutation sensor can be done to ensure the integrity and proper connection of the Hall signals before integrating the ABI encoder. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 573/1031...

  • Page 574: Runtime

    As soon as the incremental encoder passes the index, the service realigns the electrical angle to the formerly saved precise value. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 574/1031...

  • Page 575: Input Counter

    If only one SSI encoder is connected (the other port being empty), the feature will use the empty port. The feature can be used at a maximum frequency of 16 kHz. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 575/1031...

  • Page 576: Parameters

    Synapticon Documentation 3.1.4.7.3 Parameters 0x2040 Input counter The value of the counter will be written to this object. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 576/1031...

  • Page 577: Protection

    Limits for Undervoltage, Overvoltage and Overcurrent. 0x2030 Core temperature The temperature measured on the Core board. 0x2031 Drive temperature The temperature measured near the inverter. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 577/1031...

  • Page 578: Errors And Warnings

    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. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 578/1031...

  • Page 579: Error Codes Thrown By The Firmware

    0x603F Error code Provides the error code of the last error which occurred in the drive device. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 579/1031...

  • Page 580: Error Report Object

    NOTE: These errors can also cause defined parameters thresholds (for more details see subsequent faults or be caused by object 0x2006: Protection) other faults. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 580/1031...
  • Page 581 Power reached the configured increase the value of mMax Power Max power (0x200B) or decrease the power demanded parameter. to the drive © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 581/1031...
  • Page 582 PhDeadTC Protection 0x2250 detected below the Hardware manufacturer-defined Deadtime threshold. Phase C PhDeadTD Protection 0x2250 Hardware Deadtime Phase D © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 582/1031...
  • Page 583 If this fault is permenent and can't be reseted this is a fault caused by broken internal hardware © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 583/1031...
  • Page 584 © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 584/1031...
  • Page 585 64 1. Resolution, unit Inc/ Revolution bits. 2. Multiturn resolution, unit number of bits 3. Number of filling bits, unit number of bits © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 585/1031...
  • Page 586 - Remove the encoder from the these BiSS register sensor port list (0x2100) and add it transaction fail. again. SSI Sensor Faults © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 586/1031...
  • Page 587 REM16MT Sensor Faults © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 587/1031...
  • Page 588 Unknown 0x7304 Command. R16Chksm REM16 Checksum error 0x7303, Checksum 0x7304 error. REM14 Sensor Faults R14Chksm REM14 Checksum error Checksum error. QEI Sensor Faults © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 588/1031...
  • Page 589 2c. The pulses are read with an exceeding frequency. This case rarely happens, but can be possible if the encoder resolution and/or the spin speed being unusually high. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 589/1031...
  • Page 590 Only multimeter, making sure that the available on hardware wires are stably transfering the that supports it. signals. Hall Sensor Faults © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 590/1031...
  • Page 591 © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 591/1031...
  • Page 592 BUSY Flag. Check your A- 0x7304 documentation for better Format encoder understanding the meaning of the datasheet for more BUSY Flag. information. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 592/1031...
  • Page 593 OBLAC opening another page moving during the QEI and ploting the position feedback index detection. of the encoder used for commutation while running offset detection. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 593/1031...
  • Page 594 "0" or battery, like Circulo's "No" to the "Multiturn resolution" Internal encoder 1 when parameter of this encoder. it's configured as a multiturn encoder. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 594/1031...
  • Page 595 You may also upload a known good config.csv file, delete the "lock" file, issue a "restore configuration" command. Brake Faults © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 595/1031...
  • Page 596 B of the Drive. It can also happen if the Drive is damaged internally. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 596/1031...
  • Page 597 Drive is damaged (not conducting). The damaged FET is located in leg A of the inverter, and it is the low-side FET of this leg. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 597/1031...
  • Page 598 0, according to your motor datasheet or your application need. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 598/1031...
  • Page 599 Whenever the first byte becomes completed. 0, 1, 2 or 3, a new OS command can be sent. I2t Protection Errors © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 599/1031...
  • Page 600 5 Hz. Please check the documentation of the object for latest information. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 600/1031...
  • Page 601 Please check 0x2023 Notch filter, filter detected for the notch and make sure that the rejection parameters filter. band is set smaller than the center frequency. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 601/1031...
  • Page 602 High drive temperature can lead to equipment damage. External Sensor Faults © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 602/1031...
  • Page 603 0x2038:11 External measurements. scaled measurement Upper level threshold 0x2038:12 External scaled measurement Lower level threshold © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 603/1031...

  • Page 604: Remedies For Protection Errors

    In this case use a power supply with integrated chopper or add a chopper device in the circuit for protection (e.g. Synapticon braking chopper). Please also refer to our guidelines about regenerative energy. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 604/1031...

  • Page 605: Remedy For Under-Voltage

    If the values seem much higher than a reasonable value, please contact Synapticon technical support. Please refer to our thermal installation guide for further information about improving the cooling. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 605/1031...

  • Page 606: Logging

    WARN - warnings, no fault is triggered. ERR - error, drive fault expected Errors and Warnings A list of all standard and SOMANET specific errors. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 606/1031...

  • Page 607: Format

    If a message exceeds 105 characters, the message is truncated and a ~ character is placed in the 105th position. The time initially starts at 00:00:00.000 and is thus the time since last boot. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 607/1031...

  • Page 608: Motion Control

    To increase the velocity of the robot’s reaction, the target position signal can bypass the position controller. Torque Offset A desired offset torque can be added to the reference torque. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 608/1031...
  • Page 609 Distributed clocks: Allows to synchronize the system time for enhanced performance. OS Command Offers commands that can’t be executed by single SDO operations. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 609/1031...

  • Page 610: Control Loops

    Synapticon Documentation 3 .1.8.1 Control Loops ​ Current and Torque Control Loop Velocity Control Loop Position Control Loop Dual Loop Cascaded Postion Control © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 610/1031...

  • Page 611: Current And Torque Control Loop

    Synapticon Documentation 3 .1.8.1.1 Current and Torque Control Loop ​ 3.1.8.1.1.1 Torque control loop General View Detail View © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 611/1031...
  • Page 612 3.1.8.1.1.1.3 Functional Description and Controller Structure The following figure represents the structure of the torque controller. The implemented torque control algorithm is based on field oriented control (FOC). © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 612/1031...
  • Page 613 Damping ratio is entered in [per mill], the default value is 2000 ‰. Example: For a damping ratio of 0.7, the entered value should be 700 [per mill]. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 613/1031...

  • Page 614: Parameters

    Synapticon Documentation 3.1.8.1.1.2 Parameters 0x2010 Torque Controller Values Kp, Ki and Kd for Torque Controller © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 614/1031...

  • Page 615: Velocity Control Loop

    Synapticon Documentation 3 .1.8.1.2 Velocity Control Loop ​ General View Detail View © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 615/1031...
  • Page 616 (objects 0x2011:1 … 0x2011:4) and the velocity cascade being part of the position controller (objects 0x2012:5 … 0x2012:8) are set independently. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 616/1031...

  • Page 617: Parameters

    0x2010 Torque Controller Values Kp, Ki and Kd for Torque Controller 0x2011 Velocity Controller Values Kp, Ki, Kd and Controller Integral Limit for Velocity Controller © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 617/1031...

  • Page 618: Position Control Loops

    There are two implementations available for position control: Cascaded PID controller Simple PID controller 3 .1.8.1.3.1 Cascaded PID Controller ​ General View Detail View © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 618/1031...
  • Page 619 PI controller. For further reference see Torque Offset © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 619/1031...

  • Page 620: Simple Pid Controller

    The cascaded PID controller is generally preferable over the simple PID controller. It is activated by default and apart from academic purposes there are few reasons to switch to the simple PID controller. However, © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 620/1031...
  • Page 621 Values Kp, Ki and Kd for Torque Controller 0x2012 Position Controller Values Kp, Ki and Kd for Simple PID Controller (Only subitems 1-4) © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 621/1031...

  • Page 622: Dual Loop Cascaded Position Control

    Using a gear can cause inaccuracy when only the shaft is controlled. A second encoder can be attached to the output shaft after the gear for an optimized position control. General View Detail View © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 622/1031...

  • Page 623: Usage

    Values Kp, Ki and Kd for Torque Controller 0x2012 Position Controller Values Kp, Ki and Kd for Cascaded Position Controller (Both loops: Position and Velocity) © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 623/1031...

  • Page 624: Modes Of Operation

    Stops the motor quickly in a controlled way. Diagnostics opmode: Used for triggering diagnostic OS commands. Switching modes: The modes are called by using Object 0x6060. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 624/1031...

  • Page 625: Cyclic Modes

    A in the beginning 3998 intermediate positions (ideally at 4 kHz) position B in the end © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 625/1031...

  • Page 626: Cyclic Synchronous Torque Mode

    The torque can be limited in object 0x6072 Max torque. The torque actual value is used as mandatory output to the control device. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 626/1031...
  • Page 627 0x6071 Target torque Use this object to directly select a Target torque 60B2 Torque Offset This object provides the offset for the torque value. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 627/1031...

  • Page 628: Cyclic Synchronous Velocity Mode

    The drive device supports limitation of motor speed and a quick stop function for emergency reasons. The time period between two updates of the target velocity and/or additive velocity can be interpolated for smooth trajectories. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 628/1031...
  • Page 629 PID controller and the bit will be cleared. Note 0 = Target velocity ignored 1 = Target velocity shall be used as input © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 629/1031...
  • Page 630 Values Kp, Ki, Kd and Controller Integral Limit for Velocity Controller 0x60FF Target velocity Use this object to directly select a Target velocity © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 630/1031...

  • Page 631: Cyclic Synchronous Position Mode

    Control supervision for details. Three control loops are implemented for position control: Cascaded PID control Simple PID control Dual Encoder Cascaded Position Control. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 631/1031...
  • Page 632 PID controller and the bit will be cleared. Note 0 = Target position ignored 1 = Target position shall be used as input © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 632/1031...
  • Page 633 Sets a feed-forward velocity as input to the velocity controller. 0x60B2 Torque offset Sets a feed-forward torque as input to the velocity controller. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 633/1031...

  • Page 634: Profile Modes

    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. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 634/1031...

  • Page 635: Profile Position Mode

    Profile Velocity 0x6081 Profile acceleration 0x6083 Profile deceleration 0x6084 Quick Stop deceleration 0x6085 Note Profile velocity is limited by the Object: Max motor speed 0x6080 © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 635/1031...
  • Page 636 Position range limit 0x607B Software position limit 0x607D The output of the trajectory generator is the position demand internal value for the position PID.. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 636/1031...
  • Page 637 Modes of operation 0x6060. The object Op mode display 0x6061 can be used to check if the op mode has been set correctly. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 637/1031...
  • Page 638 To execute the new set-point during the execution of the previous one, the rising edge of the `new set-point` bit needs to be generated again. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 638/1031...
  • Page 639 This bit 5 has to be set before or simultaneously with bit 4 `New set point`. If this bit is not set, the profile command will not be executed! © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 639/1031...
  • Page 640 Note If the position window is 0xFFFFFFFF position window monitoring will be switched off and the target reached bit will always be 0. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 640/1031...
  • Page 641 The maximum possible speed of the Motor according to the data sheet. Max torque 0x6072 Torque demand 0x6074 Target position 0x607A Position range limit 0x607B Software position limit 0x607D Polarity 0x607E © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 641/1031...
  • Page 642 Following error timeout 0x6066 Following error actual value 0x60F4 Position window 0x6067 Position window time 0x6068 Velocity demand value 0x606B Position demand value 0x6062 © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 642/1031...

  • Page 643: Profile Velocity Mode

    Quick stop deceleration 0x6085 Polarity 0x607E * Max motor speed 0x6080 * * These objects are automatically detected and configured by Commutation Offset Detection. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 643/1031...
  • Page 644 The figure shows the structure of the controlword. For the general structure and usage, please refer to our Application note on Status- and Controlword. 15-9 15-9 Halt basic © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 644/1031...
  • Page 645 Note If the velocity window is 0xFFFF, velocity window monitoring will be switched off and the target reached bit will always be 0. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 645/1031...
  • Page 646 0x606F velocity threshold time 0x6070 Max. motor speed 0x6080 Velocity demand value 0x606B Profile velocity 0x6081 Max torque 0x6072 Torque demand 0x6074 © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 646/1031...

  • Page 647: Profile Torque Mode

    The following objects need to be configured for the torque profile: Target torque 0x6071 Torque slope 0x6087 Quick Stop deceleration 0x6085 Note Target torque is limited by the Object : Max torque 0x6072 © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 647/1031...
  • Page 648 (0x6087). At the end of the slope, no torque will be applied to the motor, allowing the shaft to move freely. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 648/1031...
  • Page 649 Torque slope 0x6087 Quick Stop deceleration 0x6085 Max torque 0x6072 Torque demand 0x6074 Torque offset 0x60B2 Torque window value 0x606D Torque window time 0x606E © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 649/1031...

  • Page 650: Homing Modes

    33 - Homing on an index pulse with negative initial direction. 34 - Homing on an index pulse with positive initial direction. 35/37 (identical) - Homing on the current position. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 650/1031...
  • Page 651 The initial direction of movement shall be rightward if the positive limit switch is inactive. The home position is the first index to the left when the positive limit switch changes state. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 651/1031...
  • Page 652 (home switch inactive). Method 6: the home position is the first index to the left when the negative home switch changes state (home switch active). © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 652/1031...
  • Page 653 3.1.8.2.3.2.1.6 Homing Method 11 to 14 : Homing on a Home Switch and Index Pulse , Negative Limit Switch Required to revert direction © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 653/1031...
  • Page 654 Methods 33 and 34 can be used to center on the sensor’s reference position (in positive or negative direction). The shaft will rotate less than one rotation. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 654/1031...

  • Page 655: Settings For Homing Mode

    All homing methods except for methods 35/37 require the drive to be in the “operation enabled” state. After the home position is found, the position controller stays active, holding the motor at that position (except for method 35/37). © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 655/1031...
  • Page 656 Note Homing speeds are not required in method 35/37. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 656/1031...

  • Page 657: How To Perform Homing

    3.1.8.2.3.4 How to perform homing The following diagram shows the steps that are necessary to perform the homing function. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 657/1031...
  • Page 658 Bit 13 Bit 12 Bit 10 Status Homing is performed Homing is interrupted or not started Homing confirmed, but target not yet reached © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 658/1031...

  • Page 659: Operation Mode Dependent Bits Of Status- And Controlword

    When the halt bit is lifted, the homing routine is resumed from the same step it was in before halt. Homing operation start: set the homing operation start bit to 1 to start the homing procedure. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 659/1031...

  • Page 660: Parameters

    For example If Pin 3 is configured as Active High Limit Switch, then configuring any other pin as Limit Switch Active High or Active Low will raise IvldGpio (Invalid GPIO error). © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 660/1031...

  • Page 661: Quick Stop

    Option code Definition Disable drive function (no quick stop deceleration) 2 (default) Slow down on quick stop ramp and transit into switch on disabled © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 661/1031...
  • Page 662 4. After the end of the quick stop ramp, the drive is disabled, which automatically engages the brake as defined by the brake settings. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 662/1031...
  • Page 663 4. The brake gets engaged and the drive is set to state Switch On Disabled, if one of the conditions are true: The actual velocity of the motor reached 0 The timeout period has expired © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 663/1031...

  • Page 664: Parameters

    0x6074 Torque demand Provides the output value of the torque trajectory generator. 0x6077 Torque actual value Provides the actual value of the torque. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 664/1031...

  • Page 665: Diagnostics Opmode

    © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 665/1031...

  • Page 666: Selecting And Switching The Modes

    Ensure that all required PDO data is available for the mode you are switching to. 0x6060 Op Mode Use this object to select the desired Mode © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 666/1031...

  • Page 667: Extended Control Functionalities

    Distributed clocks: Allows to synchronize the system time for enhanced performance. OS Command Offers commands that can’t be executed by single SDO operations © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 667/1031...

  • Page 668: Cogging Torque Compensation

    During the recording phase, the motor will do several turns at low velocities. Since cogging is a property of the motor and independent of attached loads it’s possible to perform the procedure outside the actual setup. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 668/1031...

  • Page 669: Procedure

    System identification position auto-tuning procedures were successfully executed with the current setup. The position control mode is fully functional. 3.1.8.3.1.2.2 Overview of the GUI © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 669/1031...
  • Page 670 1. An encoder on the motor shaft has to be used for the cogging torque compensation table recording. Set the function of this encoder to “Commutation and motion control”. This is done in the setup wizard. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 670/1031...
  • Page 671 Switch ‘DISABLED/ENABLED’ to enable/disable the cogging torque compensation table and feel the difference by rotating the motor shaft by hand. 8. Restore original configuration of the drive and re-tune control loops if possible. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 671/1031...

  • Page 672: Controlling The Feature Via Ethercat

    2 - SAVING (recording is done and table is being saved to the memory) 3 - DATA EXISTS (cogging table exists and is saved in the memory) © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 672/1031...

  • Page 673: Parameters

    The state is generated accordingly: 0 (no table exists) 5 (table exists) 3.1.8.3.1.5 Parameters 0x2008 Cogging Torque Compensation Parameters needed for Cogging Torque Compensation. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 673/1031...

  • Page 674: Field Weakening

    As a result, the slope of rotor field reduction would be: © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 674/1031...
  • Page 675 0x2010 Torque Controller Parameters needed for Field Weakening can be found in Subindices 4-8 of the object Torque Controller. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 675/1031...

  • Page 676: Anti-Windup Control

    The described implementation of the integration algorithm is used in all motion controllers (both integrators of the cascaded position controller, integrator of the PID position controller, integrator of the PID velocity © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 676/1031...

  • Page 677: Parameters

    Values Kp, Ki, Kd and Integrator Limit for Velocity Controller 0x2012 Position Controller Values Kp, Ki, Kd and Integrator Limit for Cascaded Position Controller (Both loops: Position and Velocity) © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 677/1031...

  • Page 678: Gain Scheduling

    Likewise, for velocities (in rpm) above a user-defined value, a set of PID values determined best for fast motion is used. The PID values between these values are interpolated linearly. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 678/1031...
  • Page 679 Cascaded PID mode which is selected in object 0x2002. 0x2002 Position control strategy Selects the control structure used for position control. 0x2013 Gain Scheduling Parameters needed for Gain Scheduling © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 679/1031...

  • Page 680: Motor Overload Protection (I2T)

    0x6075 Motor rated current Motor rated current (rms value) 0x6073 Motor maximum current Motor maximum current (rms value) 0x200A i2t Parameters to activate the i2t feature © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 680/1031...

  • Page 681: Description Of Subitems For 0X200A

    The tracking variable in subitem 0x200A:3 has a maximum value of 250%. Values that exceed this limit are ignored. If the drive is used at values above 250%, the thermal energy in the motor is completely untracked! © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 681/1031...

  • Page 682: Velocity Feed Forward

    To switch off the filter enter a very high cut-off frequency. 1000 means the target position signal will be routed directly, 500 means scaled to half © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 682/1031...

  • Page 683: Using A Velocity Offset Additionally

    3.1.8.3.6.3 Object used for Velocity feed forward 0x2015 Velocity feed forward In this object the cut-off frequency of the low-pass filter and the gain are configured. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 683/1031...

  • Page 684: Torque Offset

    As this value should be fed dynamically with continuously updated values, it is not accessible in OBLAC Drives, but through the EtherCAT object 0x60B2. 60B2 Torque Offset This object provides the offset for the torque value. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 684/1031...

  • Page 685: Velocity Offset

    Values Kp, Ki and Kd for Cascaded Position Controller (Both loops: Position and Velocity) 60B1 Velocity Offset This object provides the offset for the velocity value. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 685/1031...

  • Page 686: Filtering

    It is possible to attenuate these unwanted frequencies by properly configuring a corresponding filter. Configurable filters are implemented for the signals that are considered the most important for motion control. General View © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 686/1031...
  • Page 687 Synapticon Documentation Detail View The position feedback filter can also be used with a simple PID loop: General View © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 687/1031...

  • Page 688: Methods

    - Full width of the rejection band of the Notch filter [f - f /2 ,f + f /2], defined in Radians/s - damping ratio Radians are used for internal calculation, user input is in [Hz] © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 688/1031...

  • Page 689: Application Guide

    The following equation was used to design the torque loop input shaping filter: 3.1.8.3.9.3 Application Guide Position and Velocity Feedback Low-pass filters Torque loop input shaping filter © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 689/1031...

  • Page 690: Parameters

    Cut-off frequency of velocity feedback filter 0x2022 Position feedback filter Cut-off frequency of position feedback filter 0x2023 Notch filter Center frequency and bandwidth of notch filter © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 690/1031...

  • Page 691: Position And Velocity Feedback Low-Pass Filters

    -3 dB of the amplitude. After that frequency, a roll-off region starts that further attenuates the signal. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 691/1031...
  • Page 692 3.1.8.3.9.5.2 Parameters 0x2021 Velocity feedback filter Cut-off frequency of velocity feedback filter 0x2022 Position feedback filter Cut-off frequency of position feedback filter © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 692/1031...

  • Page 693: Torque Loop Input Shaping Filter

    3. Record the reference behavior of the system before applying the notch filter. 4. Configure the filter with the obtained parameters. 5. Check the resulting performance of the setup and optimize the filter parameters. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 693/1031...
  • Page 694 However, the phase delay region is bigger. 3.1.8.3.9.6.1 Parameters 0x2023 Notch filter Center frequency and bandwidth of notch filter © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 694/1031...

  • Page 695: Command Smoothing And Interpolation

    If the control is closed on the master, this feature would introduce a lag that may affect that controller’s stiffness. Note All axes on the chain must be commanded together and should have the same FIR settings. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 695/1031...

  • Page 696: Applications

    An easy way to avoid the need for complex trajectory generators on the master. Stable smoothing that guarantees settling on the input command by the end of the filter order. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 696/1031...
  • Page 697 These bumps will be much less aggressive, but they won’t be entirely removed from the input. Extra smoothing will always yield extra deviation from the original command. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 697/1031...

  • Page 698: Detailed Description

    MAF storage. At each 4 kHz cycle, the values in the buffer are summed up and divided by the buffer length to produce the output. 3.1.8.3.10.4.1 Command smoothing © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 698/1031...
  • Page 699 The order reflects the amount of steps the algorithm “looks back”. 3.1.8.3.10.4.3 Parameters 0x2027 Control input FIR filter Parameters needed for Finite impulse response Filter. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 699/1031...

  • Page 700: Control Supervision

    Actual value as read from the sensors. These values are synchronized and sampled from inside the control loop. Name and designation of these objects differ, depending on the chosen mode of operation: © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 700/1031...
  • Page 701 Synapticon Documentation Profile Position © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 701/1031...
  • Page 702 Therefore, the objects sent back from the slave to the master are different than in CSP. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 702/1031...

  • Page 703: Following Error

    In case the following error grows bigger in time, check if mechanical wear is the reason. Note The Following error window feature can only be used in a position control mode (operational modes CSP and PP) © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 703/1031...
  • Page 704 13 of the statusword is raised to 1, indicating that a Following error has occurred. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 704/1031...

  • Page 705: Target Reached Function

    In case the real position where the good is to be picked up or placed has more margin than the precision of the motion control system, using a wider position window allows a faster operation. 3.1.8.3.11.4.1 Definitions © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 705/1031...
  • Page 706 In object 0x606E Velocity window time you can configure the time required for the value to remain within the velocity window before it’s considered to be inside the window. The unit is given in ms. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 706/1031...

  • Page 707: Monitoring The Internal Variables

    Torque value 0x6077: Provides the actual value of the torque, and is computed based on the currents measured in the motor. The units are per thousand of rated torque. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 707/1031...

  • Page 708: Control Effort

    Provides the actual value of the position encoder. 0x606B Velocity demand value Value of the trajectory generator in velocity control / output of the position controller in cascaded control. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 708/1031...
  • Page 709 Provides the output value of the torque trajectory generator. 0x6077 Torque value Provides the actual value of the torque 0x60FA Control effort Output of the controller for the selected mode © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 709/1031...

  • Page 710: Distributed Clocks (Dc Clocks)

    SYNC 0 has to be enabled with recommended cycle time equal to the EtherCAT communication. SYNC 0 Shift time is usually 0. SYNC 1 is not supported yet and needs to be disabled. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 710/1031...

  • Page 711: Parameters

    Synapticon Documentation 3.1.8.3.12.3 Parameters 0x20F3 DC synchronization The status of the selected network synchronization mechanism. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 711/1031...

  • Page 712: Os Command

    Command 14: Ignore BISS status bits 3.1.8.3.13.2 Usage The OS command feature can be operated with the objects 0x1023 (OS command) and 0x1024 (OS command mode). © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 712/1031...
  • Page 713 Byte 0:OS command ID Command OCTET_STRING Byte 1-7: Service request data A write access to the subindex will execute the command Status UNSIGNED8 © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 713/1031...

  • Page 714: Cia 402 Object Dictionary

    The Standard mapping of Transmit Process Data Objects. Manufacturer Specific Area A list of all Manufacturer Specific Objects. Profile Specific Area A list of all Profile Specific Objects. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 714/1031...

  • Page 715: List Of All Objects

    Receive PDO1 parameter 0x1400:1 COB-ID used by PDO 0x1400:2 Transmission type 0x1400:3 Inhibit time 0x1401 Receive PDO2 parameter 0x1401:1 COB-ID used by PDO © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 715/1031...
  • Page 716 0x1803:5 Event timer 0x1C00 Sync Manager 0x1C00:1 SyncMan 0 0x1C00:2 SyncMan 1 0x1C00:3 SyncMan 2 0x1C00:4 SyncMan 3 0x1C10 SM 0 Assignment © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 716/1031...
  • Page 717 0x606C Velocity actual value 0x1A00:5 0x6077 Torque actual value 0x1A01 Transmit PDO2 mapping 0x1A01:1 0x2401 Analog input 1 0x1A01:2 0x2402 Analog input 2 © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 717/1031...
  • Page 718 0x2004:10 Output voltage 0x2004:11 Switching frequency 0x2006 Protection 0x2006:1 Undervoltage setpoint 0x2006:2 Overvoltage setpoint 0x2006:3 Overcurrent setpoint 0x2008 Cogging torque compensation 0x2008:1 State © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 718/1031...
  • Page 719 Position loop Kp 0x2012:2 Position loop Ki 0x2012:3 Position loop Kd 0x2012:4 Position loop integral limit 0x2012:5 Velocity loop Kp 0x2012:6 Velocity loop Ki © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 719/1031...
  • Page 720 Position feedback filter 0x2022:1 Type 0x2022:2 Cutoff frequency 0x2023 Notch filter 0x2023:1 Enabled 0x2023:2 Center frequency 0x2023:3 Rejection band 0x2027 Control input FIR filter © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 720/1031...
  • Page 721 0x2110:1 Sensor port 0x2110:2 Type 0x2110:3 Resolution 0x2110:4 Zero velocity threshold 0x2110:5 Polarity 0x2110:6 Singleturn offset 0x2110:7 Access signal type 0x2110:8 Clock frequency © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 721/1031...
  • Page 722 Multiturn bits 0x2112:11 Multiturn first bit position 0x2112:12 Singleturn bits 0x2112:13 Singleturn first bit position 0x2112:14 Timeout 0x2112:15 CRC polynomial 0x2112:16 Maximum tbusy © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 722/1031...
  • Page 723 0x2402 Analog input 2 0x2403 Analog input 3 0x2404 Analog input 4 0x2611 Safety digital input diagnostics 0x2611:1 Input 1 0x2611:2 Input 2 © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 723/1031...
  • Page 724 Position range limit 0x607B:1 Min position range limit 0x607B:2 Max position range limit 0x607C Home offset 0x607D Software position limit 0x607D:1 Min position limit © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 724/1031...
  • Page 725 Digital outputs 0x60FE:1 Physical outputs 0x60FE:2 Bit mask 0x60FF Target velocity 0x6502 Supported drive modes 0x6621 Safety statusword 0x6621:1 Byte 1 0x6621:2 Byte 2 © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 725/1031...

  • Page 726: 0X1000 Device Type

    Identifies the type of device. Name Index:Sub Type Default Unit Access Size Data Data Data Mapping Device type 0x1000:0 UDINT 131474 readonly (default) © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 726/1031...

  • Page 727: 0X1001 Error Register

    The generic error shall be signaled at any error situation. Name Index:Sub Type Default Unit Access Size Data Data Data Mapping Error register 0x1001:0 USINT readonly (default) © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 727/1031...

  • Page 728: 0X1005 Cob-Id Sync

    Synapticon Documentation 3 .1.9.1.3 0x1005 COB-ID SYNC ​ Name Index:Sub Type Default Unit Access Size Data Data Data Mapping COB-ID SYNC 0x1005:0 DINT readwrite © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 728/1031...

  • Page 729: 0X1006 Communication Cycle Period

    3 .1.9.1.4 0x1006 Communication cycle period ​ Name Index:Sub Type Default Unit Access Size Data Data Data Mapping Communication 0x1006:0 DINT readwrite cycle period © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 729/1031...

  • Page 730: 0X1008 Manufacturer Device Name

    This object shall provide the name of the device as given by the manufacturer. Name Index:Sub Type Default Unit Access Size Data Data Data Mapping Manufacturer 0x1008:0 STRING(50) 400 readonly device name (default) © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 730/1031...

  • Page 731: 0X100A Manufacturer Software Version

    This object shall provide the manufacturer software version description. Name Index:Sub Type Default Unit Access Size Data Data Data Mapping Manufacturer 0x100A:0 STRING(50) 400 readonly software (default) version © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 731/1031...

  • Page 732: 0X100C Guard Time

    Synapticon Documentation 3 .1.9.1.7 0x100C Guard time ​ Name Index:Sub Type Default Unit Access Size Data Data Data Mapping Guard time 0x100C:0 UINT readwrite © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 732/1031...

  • Page 733: 0X100D Life Time Factor

    3 .1.9.1.8 0x100D Life time factor ​ Name Index:Sub Type Default Unit Access Size Data Data Data Mapping Life time factor 0x100D:0 USINT readwrite © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 733/1031...

  • Page 734: 0X1010 Store Parameters

    - this will save the current configuration to permanent storage. Name Index:Sub Type Default Unit Access Size Data Data Data Mapping Save all 0x1010:1 UDINT readwrite parameters © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 734/1031...

  • Page 735: 0X1011 Restore Default Parameters

    (disabled) Name Index:Sub Type Default Unit Access Size Data Data Data Mapping Restore 0x1011:4 UDINT readwrite manufacturer default parameters © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 735/1031...

  • Page 736: 0X1016 Consumer Heartbeat Time

    3 .1.9.1.11 0x1016 Consumer heartbeat time ​ Name Index:Sub Type Default Unit Access Size Data Data Data Mapping Consumer 0x1016:1 DINT readwrite heartbeat time © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 736/1031...

  • Page 737: 0X1017 Producer Heartbeat Time

    3 .1.9.1.12 0x1017 Producer heartbeat time ​ Name Index:Sub Type Default Unit Access Size Data Data Data Mapping Producer 0x1017:0 UINT 1000 readwrite heartbeat time © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 737/1031...

  • Page 738: 0X1018 Identity Object

    0x1018:3 UDINT 167772162 readonly number (default) Name Index:Sub Type Default Unit Access Size Data Data Data Mapping Serial number 0x1018:4 UDINT readonly (default) © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 738/1031...

  • Page 739: 0X1019 Synchronous Counter Overflow Value

    3.1.9.1.14 0x1019 Synchronous counter overflow value ​ Name Index:Sub Type Default Unit Access Size Data Data Data Mapping Synchronous 0x1019:0 USINT readwrite counter overflow value © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 739/1031...

  • Page 740: 0X1023 Os Command

    Size Data Data Data Mapping Response 0x1023:3 OCTET_STRING(8) readonly (default) Byte 0: See SubIndex 2. Byte 1: Unused. 2-n: Command specific response data. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 740/1031...

  • Page 741: 0X1024 Os Command Mode

    Name Index:Sub Type Default Unit Access Size Data Data Data Mapping OS command 0x1024:0 USINT writeonly mode © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 741/1031...

  • Page 742: 0X1400 Receive Pdo1 Parameter

    This subindex contains a time lock in ms. This can be used to set a time that must elapse after the sending of a PDO before the PDO is sent another time. This time only applies for asynchronous PDOs. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 742/1031...

  • Page 743: 0X1401 Receive Pdo2 Parameter

    This subindex contains a time lock in ms. This can be used to set a time that must elapse after the sending of a PDO before the PDO is sent another time. This time only applies for asynchronous PDOs. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 743/1031...

  • Page 744: 0X1402 Receive Pdo3 Parameter

    This subindex contains a time lock in ms. This can be used to set a time that must elapse after the sending of a PDO before the PDO is sent another time. This time only applies for asynchronous PDOs. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 744/1031...

  • Page 745: 0X1403 Receive Pdo4 Parameter

    This subindex contains a time lock in ms. This can be used to set a time that must elapse after the sending of a PDO before the PDO is sent another time. This time only applies for asynchronous PDOs. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 745/1031...

  • Page 746: 0X1600 Receive Pdo1 Mapping

    Torque offset 0x1600:6 UDINT 1622278160 readwrite Name Index:Sub Type Default Unit Access Size Data Data Data Mapping Tuning 0x1600:7 UDINT 654376992 readwrite command © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 746/1031...

  • Page 747: 0X1601 Receive Pdo2 Mapping

    Physical 0x1601:1 UDINT 1627259168 readwrite outputs Name Index:Sub Type Default Unit Access Size Data Data Data Mapping Bit mask 0x1601:2 UDINT 1627259424 readwrite © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 747/1031...

  • Page 748: 0X1602 Receive Pdo3 Mapping

    User MOSI 0x1602:1 UDINT 654508064 readwrite Name Index:Sub Type Default Unit Access Size Data Data Data Mapping Velocity 0x1602:2 UDINT 1622212640 readwrite offset © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 748/1031...

  • Page 749: 0X1603 Receive Pdo4 Mapping

    Synapticon Documentation 3 .1.9.1.24 0x1603 Receive PDO4 mapping ​ © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 749/1031...

  • Page 750: 0X1800 Transmit Pdo1 Parameter

    This time (in ms) can be used to trigger an Event which handles the copying of the data and the sending of the PDO. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 750/1031...

  • Page 751: 0X1801 Transmit Pdo2 Parameter

    This time (in ms) can be used to trigger an Event which handles the copying of the data and the sending of the PDO. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 751/1031...

  • Page 752: 0X1802 Transmit Pdo3 Parameter

    This time (in ms) can be used to trigger an Event which handles the copying of the data and the sending of the PDO. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 752/1031...

  • Page 753: 0X1803 Transmit Pdo4 Parameter

    This time (in ms) can be used to trigger an Event which handles the copying of the data and the sending of the PDO. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 753/1031...

  • Page 754: 0X1A00 Transmit Pdo1 Mapping

    0x1A00:4 UDINT 1617690656 readwrite value Name Index:Sub Type Default Unit Access Size Data Data Data Mapping Torque actual 0x1A00:5 UDINT 1618411536 readwrite value © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 754/1031...

  • Page 755: 0X1A01 Transmit Pdo2 Mapping

    Analog input 4 0x1A01:4 UDINT 604241936 readwrite Name Index:Sub Type Default Unit Access Size Data Data Data Mapping Tuning status 0x1A01:5 UDINT 654442528 readwrite © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 755/1031...

  • Page 756: 0X1A02 Transmit Pdo3 Mapping

    3 .1.9.1.31 0x1A02 Transmit PDO3 mapping ​ Name Index:Sub Type Default Unit Access Size Data Data Data Mapping Digital inputs 0x1A02:1 UDINT 1627193376 readwrite © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 756/1031...

  • Page 757: 0X1A03 Transmit Pdo4 Mapping

    0x1A03:4 UDINT 1617625120 readwrite demand value Name Index:Sub Type Default Unit Access Size Data Data Data Mapping Torque 0x1A03:5 UDINT 1618214928 readwrite demand © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 757/1031...

  • Page 758: 0X1C00 Sync Manager

    SyncMan 2 0x1C00:3 USINT readonly (default) Name Index:Sub Type Default Unit Access Size Data Data Data Mapping SyncMan 3 0x1C00:4 USINT readonly (default) © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 758/1031...

  • Page 759: 0X1C10 Sm 0 Assignment

    Synapticon Documentation 3 .1.9.1.34 0x1C10 SM 0 Assignment ​ © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 759/1031...

  • Page 760: 0X1C11 Sm 1 Assignment

    Synapticon Documentation 3 .1.9.1.35 0x1C11 SM 1 Assignment ​ © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 760/1031...

  • Page 761: 0X1C12 Sm 2 Assignment

    SubIndex 003 0x1C12:3 UINT 5634 readwrite Name Index:Sub Type Default Unit Access Size Data Data Data Mapping SubIndex 004 0x1C12:4 UINT 5635 readwrite © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 761/1031...

  • Page 762: 0X1C13 Sm 3 Assignment

    SubIndex 003 0x1C13:3 UINT 6658 readwrite Name Index:Sub Type Default Unit Access Size Data Data Data Mapping SubIndex 004 0x1C13:4 UINT 6659 readwrite © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 762/1031...

  • Page 763: 0X2000 Command Object (Disabled)

    "load" (LittleEndian format) in the object 0x1011, subindex 1. Name Index:Sub Type Default Unit Access Size Data Data Data Mapping Command 0x2000:0 UINT readwrite object (disabled) © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 763/1031...

  • Page 764: 0X2001 Commutation Angle Offset

    [0-4095] and corresponds to [0-360] electrical degrees inside the software. Name Index:Sub Type Default Unit Access Size Data Data Data Mapping Commutation 0x2001:0 readwrite angle offset © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 764/1031...

  • Page 765: 0X2002 Position Control Strategy

    - while that velocity controller generates the reference value for the torque controller) τ_offset τ τ_ref Name Index:Sub Type Options Unit Access Size Mapping Position control 0x2002:0 UINT readwrite Simple PID strategy Cascaded PID © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 765/1031...

  • Page 766: 0X2003 Motor Specific Settings

    Motor phases 0x2003:5 BOOL readwrite inverted Use this parameter only when you have a negative velocity or feedback increment with the positive torque increment. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 766/1031...

  • Page 767: 0X2004 Brake Options

    (2) - For brakes that require extra motion handling to ensure they release. Pin brake control Name Index:Sub Type Max Data Default Unit Access Size Data Data Mapping Controller 0x2004:5 UINT readwrite disable delay © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 767/1031...
  • Page 768 Voltage which is applied on the 4th phase when the Release strategy is set to manual mode (0) and Physical output bit 0 as well as corresponding Bit mask in object is set to 1. 0x60FE © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 768/1031...
  • Page 769 Access Size Mapping Switching 0x2004:11 USINT readwrite 16 kHz frequency 32 kHz 64 kHz Select the switching frequency for the 4th phase (D). © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 769/1031...

  • Page 770: 0X2006 Protection

    Custom value for overvoltage protection. Name Index:Sub Type Default Unit Access Size Data Data Data Mapping Overcurrent 0x2006:3 DINT 500000 readwrite setpoint Custom value for overcurrent protection. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 770/1031...

  • Page 771: 0X2008 Cogging Torque Compensation

    Name Index:Sub Type Options Unit Access Size Mapping Enabled 0x2008:2 readwrite Disabled Enabled Enables or disables the cogging compensation feature. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 771/1031...

  • Page 772: 0X2009 Commutation Offset

    Defines the amount of torque to be applied during the offset detection process. Specify this value in percent of rated torque. Name Index:Sub Type Default Unit Access Size Data Data Data Mapping Measurement 0x2009:3 SINT readwrite method © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 772/1031...
  • Page 773 (recommendation: start tuning by setting kp = 1, ki = 1, and kd = 0). Name Index:Sub Type Default Unit Access Size Data Data Data Mapping Phasing 0x2009:5 REAL readwrite controller Ki © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 773/1031...
  • Page 774 "phasing controller" of "offset detection method 1" make sure that your motor can freely rotate at high speeds (recommendation: start tuning by setting kp = 1, ki = 1, and kd = 0). © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 774/1031...

  • Page 775: 0X200A I2T

    As long as it is 0, i2t protection is not putting any limit on maximum rms current of your motor. Once it is 1 it means that i2t protection is limiting the "maximum rms currents" of your motor to its rated value. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 775/1031...

  • Page 776: 0X200B Max Power

    Maximum Peak Output Power. Name Index:Sub Type Max Data Default Unit Access Size Data Data Mapping 0x200B:0 UDINT 2147483647 2147483647 W readwrite power © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 776/1031...

  • Page 777: 0X2010 Torque Controller

    Range of this torque controller gain is 0 to 100,000,000. Name Index:Sub Type Options Unit Access Size Mapping Field 0x2010:4 UDINT readwrite Disabled weakening Enabled enabled © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 777/1031...
  • Page 778 Field weakening is increased linearly from 0% (at starting speed point) to its final value (at ending speed point). Name Index:Sub Type Default Unit Access Size Data Data Data Mapping Commutation 0x2010:8 UDINT μs readwrite angle measurement delay © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 778/1031...
  • Page 779 Encoder 1 Encoder 2 Select which encoder should be used for torque control. Must be mounted to the motor shaft. Used for commutation. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 779/1031...

  • Page 780: 0X2011 Velocity Controller

    Default Unit Access Size Data Data Data Mapping Controller Ki 0x2011:2 REAL 65535 readwrite The I-gain of the PID Velocity Control Loop [mNm/(rpm*s)] © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 780/1031...
  • Page 781 Access Size Mapping Encoder source 0x2011:5 USINT readwrite No encoder Encoder 1 Encoder 2 Select which encoder should be used for velocity control. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 781/1031...

  • Page 782: 0X2012 Position Controller

    Moreover, the outer position control loop is responsible for controlling the reference velocity, and consequently its integral limit should be set to the maximum velocity of your system. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 782/1031...
  • Page 783 © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 783/1031...

  • Page 784: Parameter Tuning Guide For Position Controller With Simple Pid Structure (Objects 2012:1

    REAL 65535 readwrite The D-gain of the Position Control Loop [rpm*s/(inc)] for the cascaded position controller ([mNm*s/(inc)] for the simple PID position controller) © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 784/1031...
  • Page 785 Access Size Mapping Encoder source 0x2012:9 USINT readwrite No encoder Encoder 1 Encoder 2 Select which encoder should be used for position control. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 785/1031...

  • Page 786: 0X2013 Gain Scheduling

    Name Index:Sub Type Default Unit Access Size Data Data Data Mapping Velocity loop 0x2013:7 REAL 65535 readwrite Kp 0 © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 786/1031...
  • Page 787 0x2013:14 REAL 65535 readwrite Kd 1 The D-gain of the Position Control Loop of area 1 (high velocity, above threshold velocity 1) [rpm*s/inc] © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 787/1031...
  • Page 788 The integrator limit of the Velocity Control Loop of area 1 (high velocity, above threshold velocity 1). Technique used for preventing the windup is clamping and it prevents the integral term from accumulating above or below pre-determined bounds. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 788/1031...

  • Page 789: 0X2014 Torque Window

    This object shall indicate the configured time, during which the actual torque within the torque window is measured. The value shall be given in ms. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 789/1031...

  • Page 790: 0X2015 Velocity Feed Forward

    Data Data Mapping Cutoff 0x2015:2 UINT 2000 readwrite frequency Cutoff frequency of the 1st order low pass filter that filters the calculated velocity. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 790/1031...

  • Page 791: 0X2021 Velocity Feedback Filter

    USINT readwrite Disabled 1st order low pass Name Index:Sub Type Default Unit Access Size Data Data Data Mapping Cutoff 0x2021:2 UDINT readwrite frequency © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 791/1031...

  • Page 792: 0X2022 Position Feedback Filter

    USINT readwrite Disabled 1st order low pass Name Index:Sub Type Default Unit Access Size Data Data Data Mapping Cutoff 0x2022:2 UDINT readwrite frequency © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 792/1031...

  • Page 793: 0X2023 Notch Filter

    Center 0x2023:2 UINT 2000 readwrite frequency Name Index:Sub Type Default Unit Access Size Data Data Data Mapping Rejection band 0x2023:3 UINT 4000 readwrite © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 793/1031...

  • Page 794: 0X2027 Control Input Fir Filter

    The order or length of the FIR filter. Order of the filter means the maximum number of delay elements used in the filter circuit. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 794/1031...

  • Page 795: 0X2030 Core Temperature

    Unit Access Size Data Data Data Mapping Measured 0x2030:1 DINT m°C readonly Transmit temperature (default) (Inputs) Describes the temperature measured on the Core board. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 795/1031...

  • Page 796: 0X2031 Drive Temperature

    Unit Access Size Data Data Data Mapping Measured 0x2031:1 DINT m°C readonly Transmit temperature (default) (Inputs) Describes the temperature measured near the inverter. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 796/1031...

  • Page 797: 0X2038 External Scaled Measurement

    Index:Sub Type Default Unit Access Size Data Data Data Mapping Constant a2 0x2038:6 REAL readwrite Constant a2 of the polynomial (2nd order coefficient) © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 797/1031...
  • Page 798 It is also used to generate a warning when the scaled measurement value is within 5% of the error threshold. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 798/1031...

  • Page 799: 0X203F Error Report

    NOTE: These errors can also cause defined parameters thresholds (for more details see subsequent faults or be caused by object 0x2006: Protection) other faults. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 799/1031...
  • Page 800 Power reached the configured increase the value of mMax Power Max power (0x200B) or decrease the power demanded parameter. to the drive © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 800/1031...
  • Page 801 PhDeadTC Protection 0x2250 detected below the Hardware manufacturer-defined Deadtime threshold. Phase C PhDeadTD Protection 0x2250 Hardware Deadtime Phase D © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 801/1031...
  • Page 802 If this fault is permenent and can't be reseted this is a fault caused by broken internal hardware © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 802/1031...
  • Page 803 © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 803/1031...
  • Page 804 64 1. Resolution, unit Inc/ Revolution bits. 2. Multiturn resolution, unit number of bits 3. Number of filling bits, unit number of bits © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 804/1031...
  • Page 805 - Remove the encoder from the these BiSS register sensor port list (0x2100) and add it transaction fail. again. SSI Sensor Faults © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 805/1031...
  • Page 806 REM16MT Sensor Faults © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 806/1031...
  • Page 807 Unknown 0x7304 Command. R16Chksm REM16 Checksum error 0x7303, Checksum 0x7304 error. REM14 Sensor Faults R14Chksm REM14 Checksum error Checksum error. QEI Sensor Faults © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 807/1031...
  • Page 808 2c. The pulses are read with an exceeding frequency. This case rarely happens, but can be possible if the encoder resolution and/or the spin speed being unusually high. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 808/1031...
  • Page 809 Only multimeter, making sure that the available on hardware wires are stably transfering the that supports it. signals. Hall Sensor Faults © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 809/1031...
  • Page 810 © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 810/1031...
  • Page 811 BUSY Flag. Check your A- 0x7304 documentation for better Format encoder understanding the meaning of the datasheet for more BUSY Flag. information. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 811/1031...
  • Page 812 OBLAC opening another page moving during the QEI and ploting the position feedback index detection. of the encoder used for commutation while running offset detection. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 812/1031...
  • Page 813 "0" or battery, like Circulo's "No" to the "Multiturn resolution" Internal encoder 1 when parameter of this encoder. it's configured as a multiturn encoder. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 813/1031...
  • Page 814 You may also upload a known good config.csv file, delete the "lock" file, issue a "restore configuration" command. Brake Faults © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 814/1031...
  • Page 815 B of the Drive. It can also happen if the Drive is damaged internally. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 815/1031...
  • Page 816 Drive is damaged (not conducting). The damaged FET is located in leg A of the inverter, and it is the low-side FET of this leg. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 816/1031...
  • Page 817 0, according to your motor datasheet or your application need. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 817/1031...
  • Page 818 Whenever the first byte becomes completed. 0, 1, 2 or 3, a new OS command can be sent. I2t Protection Errors © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 818/1031...
  • Page 819 5 Hz. Please check the documentation of the object for latest information. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 819/1031...
  • Page 820 Please check 0x2023 Notch filter, filter detected for the notch and make sure that the rejection parameters filter. band is set smaller than the center frequency. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 820/1031...
  • Page 821 High drive temperature can lead to equipment damage. External Sensor Faults © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 821/1031...
  • Page 822 0x2038:11 External measurements. scaled measurement Upper level threshold 0x2038:12 External scaled measurement Lower level threshold © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 822/1031...

  • Page 823: 0X2040 Input Counter

    Unsigned 32bit integer, resets after 4,294,967,295 (2^32 - 1) µs. Name Index:Sub Type Default Unit Access Size Data Data Data Mapping Input counter 0x2040:0 UDINT readonly Transmit (default) (Inputs) © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 823/1031...

  • Page 824: 0X20E1 High Resolution Data

    Phase Current I_c 16 (16-bit signed int) Name Index:Sub Type Default Unit Access Size Data Data Data Mapping Data 1 0x20E1:1 OCTET_STRING(25) readonly Transmit (default) (Inputs) © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 824/1031...
  • Page 825 Transmit (default) (Inputs) Name Index:Sub Type Default Unit Access Size Data Data Data Mapping Data 4 0x20E1:4 OCTET_STRING(25) readonly Transmit (default) (Inputs) © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 825/1031...

  • Page 826: 0X20F0 Timestamp

    Position signal measurement timestamp. Unsigned 32bit integer, resets after 42,949,672 ((2^32 - 1) / 100) µs. Name Index:Sub Type Max Data Default Unit Access Size Data Data Mapping Timestamp 0x20F0:0 UDINT 4294967295 0 μs readonly Transmit (default) (Inputs) © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 826/1031...

  • Page 827: 0X20F2 Assigned Name

    Allows a unique name to be assigned to this drive. This is only for reference; it is not used by the firmware. Name Index:Sub Type Default Unit Access Size Data Data Data Mapping Assigned 0x20F2:0 STRING(50) 400 readwrite name © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 827/1031...

  • Page 828: 0X20F3 Dc Synchronization

    Data Data Data Mapping DC pulse time 0x20F3:1 UDINT readwrite The time when the last DC pulse happened in clock ticks (10 ns). © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 828/1031...

  • Page 829: 0X2110 Encoder 1 Configuration

    Type Options Unit Access Size Mapping Type 0x2110:2 USINT readwrite None Hall sensor Incremental encoder Nikon A-format encoder BiSS REM 16MT SinCos module © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 829/1031...

  • Page 830: All Encoders

    For these encoders this parameter is configured automatically. Name Index:Sub Type Default Unit Access Size Data Data Data Mapping Zero 0x2110:4 UDINT 1000000 μs readwrite velocity threshold © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 830/1031...

  • Page 831: All Encoders

    Single-ended TTL Name Index:Sub Type Default Unit Access Size Data Data Data Mapping Clock 0x2110:8 UINT 1000 16000 1000 readwrite frequency © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 831/1031...

  • Page 832: Incremental Encoder

    16000 kbps. See encoder datasheet for more information. Name Index:Sub Type Default Unit Access Size Data Data Data Mapping Frame size 0x2110:9 USINT readwrite © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 832/1031...

  • Page 833: Biss

    Multiturn 0x2110:10 USINT readwrite bits Name Index:Sub Type Default Unit Access Size Data Data Data Mapping Multiturn 0x2110:11 USINT readwrite first bit position © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 833/1031...

  • Page 834: Biss/Ssi/Nikon A-Format

    For most of the BiSS/SSI encoders, this value is equal to: subindex 10 Multiturn bits + subindex 11 Multiturn first bit position. Name Index:Sub Type Default Unit Access Size Data Data Data Mapping Timeout 0x2110:14 USINT μs readwrite © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 834/1031...

  • Page 835: Biss/Ssi

    Start bit. Name Index:Sub Type Options Unit Access Size Mapping Status bits 0x2110:17 USINT readwrite Status bits active active value Status bits active high © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 835/1031...

  • Page 836: Biss

    Select if the ordering of position is done using Natural Binary Code or Reflected Binary Code (also known as Gray code). Name Index:Sub Type Options Unit Access Size Mapping © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 836/1031...

  • Page 837: Ssi

    Hall sensor 0x2110:23 USINT readwrite No sensor port port Sensor port 1 Sensor port 2 Sensor port 3 Sensor port 4 Sensor port 5 © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 837/1031...

  • Page 838: Incremental Encoder

    This value is going to be used to calculate the singleturn resolution (subindex 3 Resolution). Name Index:Sub Type Options Unit Access Size Mapping Sinewave 0x2110:25 USINT readwrite resolution 1024 2048 4096 8192 © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 838/1031...

  • Page 839: Sincos Module

    Differential voltage in the Sin/Cos outputs peak to peak. It is often abreviated as Vpp. Name Index:Sub Type Options Unit Access Size Mapping © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 839/1031...

  • Page 840: Rem 16Mt

    The filter with strength F of the sensor. The estimated step response time of the filter is Ts*2^F (Ts is the sampling time, ca. 70µs). © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 840/1031...

  • Page 841: 0X2111 Encoder 1 Feedback

    This is an absolute value. Name Index:Sub Type Default Unit Access Size Data Data Data Mapping Velocity 0x2111:3 DINT readonly Transmit (default) (Inputs) © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 841/1031...

  • Page 842: 0X2112 Encoder 2 Configuration

    Type Options Unit Access Size Mapping Type 0x2112:2 USINT readwrite None Hall sensor Incremental encoder Nikon A-format encoder BiSS REM 16MT SinCos module © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 842/1031...

  • Page 843: All Encoders

    For these encoders this parameter is configured automatically. Name Index:Sub Type Default Unit Access Size Data Data Data Mapping Zero 0x2112:4 UDINT 1000000 μs readwrite velocity threshold © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 843/1031...

  • Page 844: All Encoders

    Single-ended TTL Name Index:Sub Type Default Unit Access Size Data Data Data Mapping Clock 0x2112:8 UINT 1000 16000 1000 readwrite frequency © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 844/1031...

  • Page 845: Incremental Encoder

    16000 kbps. See encoder datasheet for more information. Name Index:Sub Type Default Unit Access Size Data Data Data Mapping Frame size 0x2112:9 USINT readwrite © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 845/1031...

  • Page 846: Biss

    Multiturn 0x2112:10 USINT readwrite bits Name Index:Sub Type Default Unit Access Size Data Data Data Mapping Multiturn 0x2112:11 USINT readwrite first bit position © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 846/1031...

  • Page 847: Biss/Ssi/Nikon A-Format

    For most of the BiSS/SSI encoders, this value is equal to: subindex 10 Multiturn bits + subindex 11 Multiturn first bit position. Name Index:Sub Type Default Unit Access Size Data Data Data Mapping Timeout 0x2112:14 USINT μs readwrite © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 847/1031...

  • Page 848: Biss/Ssi

    Start bit. Name Index:Sub Type Options Unit Access Size Mapping Status bits 0x2112:17 USINT readwrite Status bits active active value Status bits active high © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 848/1031...

  • Page 849: Biss

    Select if the ordering of position is done using Natural Binary Code or Reflected Binary Code (also known as Gray code). Name Index:Sub Type Options Unit Access Size Mapping © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 849/1031...

  • Page 850: Ssi

    Hall sensor 0x2112:23 USINT readwrite No sensor port port Sensor port 1 Sensor port 2 Sensor port 3 Sensor port 4 Sensor port 5 © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 850/1031...

  • Page 851: Incremental Encoder

    This value is going to be used to calculate the singleturn resolution (subindex 3 Resolution). Name Index:Sub Type Options Unit Access Size Mapping Sinewave 0x2112:25 USINT readwrite resolution 1024 2048 4096 8192 © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 851/1031...

  • Page 852: Sincos Module

    Differential voltage in the Sin/Cos outputs peak to peak. It is often abreviated as Vpp. Name Index:Sub Type Options Unit Access Size Mapping © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 852/1031...

  • Page 853: Rem 16Mt

    The filter with strength F of the sensor. The estimated step response time of the filter is Ts*2^F (Ts is the sampling time, ca. 70µs). © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 853/1031...

  • Page 854: 0X2113 Encoder 2 Feedback

    This is an absolute value. Name Index:Sub Type Default Unit Access Size Data Data Data Mapping Velocity 0x2113:3 DINT readonly Transmit (default) (Inputs) © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 854/1031...

  • Page 855: 0X2210 Gpio Pin Configuration

    [OUT] Mimics Ready to Switch On (rtso) Bit of Statusword [OUT] Mimics Operation Enabled (oe) Bit of Statusword [OUT] Mimics Voltage Enabled (ve) Bit of Statusword © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 855/1031...
  • Page 856 [IN] Fault Reset (Active High) [IN] Interlock - Fault Reaction (Active Low) [IN] Timestamped Rising Edge (Active High) [OUT] Target Reached [OUT] Internal limit Active © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 856/1031...
  • Page 857 [IN] Limit Switch Positive (Active High) [IN] Limit Switch Positive (Active Low ) [IN] Limit Switch Negative (Active High) [IN] Limit Switch Negative (Active Low) © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 857/1031...
  • Page 858 Pin 2 : DIO [With Pull Down Resistor] Name Index:Sub Type Options Unit Access Size Mapping Pin 3 0x2210:3 USINT readwrite Disabled [IN] General Purpose [OUT] General Purpose © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 858/1031...
  • Page 859 Active [OUT] Timestamped Triggered Output [OUT] Position Triggered Output (Pulse) [OUT] Fault [OUT] Switched [OUT] Ready to Switch On [OUT] Operation Enabled © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 859/1031...
  • Page 860 [IN] Interlock - Disable Operation (Active Low) [IN] Fault Reset (Active High) [IN] Interlock - Fault Reaction (Active Low) [IN] Timestamped Rising Edge (Active High) © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 860/1031...
  • Page 861 [IN] Home Switch (Active High) [IN] Home Switch (Active Low) [IN] Limit Switch Positive (Active High) [IN] Limit Switch Positive (Active Low ) © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 861/1031...
  • Page 862 [OUT] Warning Pin 5 : DIO [Without Pull Down Resistor] Name Index:Sub Type Options Unit Access Size Mapping Pin 6 0x2210:6 USINT readwrite © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 862/1031...
  • Page 863 Rising Edge (Active High) [OUT] Target Reached [OUT] Internal limit Active [OUT] Timestamped Triggered Output [OUT] Position Triggered Output (Pulse) [OUT] Fault [OUT] Switched © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 863/1031...
  • Page 864 [IN] Limit Switch Negative (Active Low) [IN] Interlock - Disable Operation (Active Low) [IN] Fault Reset (Active High) [IN] Interlock - Fault Reaction (Active Low) © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 864/1031...
  • Page 865 [OUT] Operation Enabled [OUT] Voltage Enabled [OUT] Switch On Disabled [OUT] Quick Stop [OUT] Warning Pin 7 : DI [With Pull Down Resistor] © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 865/1031...

  • Page 866: 0X2211 Gpio Output Events

    Receive setpoint (Outputs) Timestamp at which the GPIO should trigger in case "Timestamp triggered" is selected. The unit is in 10 ns. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 866/1031...

  • Page 867: 0X2212 Gpio Input Actions

    (default) (Inputs) Timestamp at which the last rising edge happened in case "Timestamped rising edge" is selected. The unit is in 10 ns. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 867/1031...

  • Page 868: 0X2213 Gpio Position Trigger

    Type Default Unit Access Size Data Data Data Mapping Pulse width 0x2213:3 USINT readwrite Width of the pulse when the GPIO is triggered. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 868/1031...

  • Page 869: 0X2214 Gpio Global Options

    Type Options Unit Access Size Mapping Voltage level 0x2214:1 USINT readwrite 3.3 volts 5.0 volts Select the global voltage level of GPIO ports. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 869/1031...

  • Page 870: 0X2401 Analog Input

    Analog Input value of SOMANET Drive if available. Name Index:Sub Type Default Unit Access Size Data Data Data Mapping Analog input 1 0x2401:0 UINT readonly Transmit (default) (Inputs) © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 870/1031...
  • Page 871 Analog Input value of SOMANET Drive if available. Name Index:Sub Type Default Unit Access Size Data Data Data Mapping Analog input 2 0x2402:0 UINT readonly Transmit (default) (Inputs) © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 871/1031...

  • Page 872: 0X2403 Analog Input

    Analog Input value of SOMANET Drive if available. Name Index:Sub Type Default Unit Access Size Data Data Data Mapping Analog input 3 0x2403:0 UINT readonly Transmit (default) (Inputs) © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 872/1031...

  • Page 873: 0X2404 Analog Input

    Analog Input value of SOMANET Drive if available. Name Index:Sub Type Default Unit Access Size Data Data Data Mapping Analog input 4 0x2404:0 UINT readonly Transmit (default) (Inputs) © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 873/1031...

  • Page 874: 0X2611 Safety Digital Input Diagnostics

    Input 1 0x2611:1 BOOL readonly (default) Name Index:Sub Type Default Unit Access Size Data Data Data Mapping Input 2 0x2611:2 BOOL readonly (default) © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 874/1031...

  • Page 875: 0X2701 Tuning Command

    Name Index:Sub Type Default Unit Access Size Data Data Data Mapping Tuning 0x2701:0 UDINT readwrite Receive command (Outputs) © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 875/1031...

  • Page 876: 0X2702 Tuning Status

    ​ For internal purposes only! Name Index:Sub Type Default Unit Access Size Data Data Data Mapping Tuning status 0x2702:0 UDINT readwrite Transmit (Inputs) © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 876/1031...

  • Page 877: 0X2703 User Mosi

    ​ Reserved for SDK users. Name Index:Sub Type Default Unit Access Size Data Data Data Mapping User MOSI 0x2703:0 UDINT readwrite Receive (Outputs) © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 877/1031...

  • Page 878: 0X2704 User Miso

    ​ Reserved for SDK users. Name Index:Sub Type Default Unit Access Size Data Data Data Mapping User MISO 0x2704:0 UDINT readwrite Transmit (Inputs) © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 878/1031...

  • Page 879: 0X2705 Setup Wizard Completed

    Used in OBLAC Drives for marking the successful completion of the setup guide. Intended for internal use only. Name Index:Sub Type Default Unit Access Size Data Data Data Mapping Setup wizard 0x2705:0 USINT readwrite completed © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 879/1031...

  • Page 880: 0X603F Error Code

    0x7300 Sensor 0x7500 Communication Name Index:Sub Type Default Unit Access Size Data Data Data Mapping Error code 0x603F:0 UINT readonly Transmit (default) (Inputs) © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 880/1031...

  • Page 881: 0X6040 Controlword

    The bit 10 is reserved for further use; it shall be set to 0. The bits 11, 12, 13, 14, and 15 are manufacturer- specific. Name Index:Sub Type Default Unit Access Size Data Data Data Mapping Controlword 0x6040:0 UINT readwrite Receive (Outputs) © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 881/1031...

  • Page 882: 0X6041 Statusword

    Velocity demand value (606Bh) and Profile velocity (6081h) in Profile position (PP) mode, Software position limit (607Dh) limits Position demand value (6062h) and position or velocity controller integral limit limits integral part of the PID controller. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 882/1031...
  • Page 883 Bit 14 and bit 15 are manufacturer-specific. Name Index:Sub Type Default Unit Access Size Data Data Data Mapping Statusword 0x6041:0 UINT readonly Transmit (default) (Inputs) © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 883/1031...

  • Page 884: 0X605A Quick Stop Option Code

    Slow down on quick stop ramp and transit into switch on disabled Slow down on quick stop ramp and stay in quick stop active © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 884/1031...

  • Page 885: 0X6060 Modes Of Operation

    Ensure that all required PDO data is available for the mode you are switching to. Name Index:Sub Type Default Unit Access Size Data Data Data Mapping Modes of 0x6060:0 SINT readwrite Receive operation (Outputs) © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 885/1031...

  • Page 886: 0X6061 Modes Of Operation Display

    Cyclic sync torque mode Name Index:Sub Type Default Unit Access Size Data Data Data Mapping Modes of 0x6061:0 SINT readonly Transmit operation (default) display (Inputs) © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 886/1031...

  • Page 887: 0X6062 Position Demand Value

    The units are in increments of the position encoder. Software position Name Index:Sub Type Default Unit Access Size Data Data Data Mapping Position 0x6062:0 DINT readonly Transmit demand value (default) (Inputs) © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 887/1031...

  • Page 888: 0X6064 Position Actual Value

    Provides the actual value of the position encoder. The units are in increments of the position encoder. Name Index:Sub Type Default Unit Access Size Data Data Data Mapping Position actual 0x6064:0 DINT readonly Transmit value (default) (Inputs) © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 888/1031...

  • Page 889: 0X6065 Following Error Window

    Name Index:Sub Type Default Unit Access Size Data Data Data Mapping Following 0x6065:0 UDINT 4294967295 Inc readwrite Receive error window (Outputs) © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 889/1031...

  • Page 890: 0X6066 Following Error Time Out

    1. The units are in milliseconds. Name Index:Sub Type Default Unit Access Size Data Data Data Mapping Following error 0x6066:0 UINT readwrite Receive time out (Outputs) © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 890/1031...

  • Page 891: 0X6067 Position Window

    0xFFFFFFFF, position window monitoring will be switched off. Name Index:Sub Type Default Unit Access Size Data Data Data Mapping Position 0x6067:0 UDINT 4294967295 Inc readwrite Receive window (Outputs) © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 891/1031...

  • Page 892: 0X6068 Position Window Time

    The units are in milliseconds. Name Index:Sub Type Default Unit Access Size Data Data Data Mapping Position window 0x6068:0 UINT readwrite Receive time (Outputs) © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 892/1031...

  • Page 893: 0X606B Velocity Demand Value

    Name Index:Sub Type Default Unit Access Size Data Data Data Mapping Velocity demand 0x606B:0 DINT readonly Transmit value (default) (Inputs) © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 893/1031...

  • Page 894: 0X606C Velocity Actual Value

    0x60a9 SI unit velocity Name Index:Sub Type Default Unit Access Size Data Data Data Mapping Velocity actual 0x606C:0 DINT readonly Transmit value (default) (Inputs) © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 894/1031...

  • Page 895: 0X606D Velocity Window

    0xFFFF, velocity window monitoring will be switched off. Name Index:Sub Type Default Unit Access Size Data Data Data Mapping Velocity window 0x606D:0 UINT 65535 readwrite Receive (Outputs) © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 895/1031...

  • Page 896: 0X606E Velocity Window Time

    The units are in milliseconds. Name Index:Sub Type Default Unit Access Size Data Data Data Mapping Velocity window 0x606E:0 UINT readwrite Receive time (Outputs) © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 896/1031...

  • Page 897: 0X606F Velocity Threshold

    0x60a9 SI unit velocity Name Index:Sub Type Default Unit Access Size Data Data Data Mapping Velocity 0x606F:0 UINT readwrite Receive threshold (Outputs) © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 897/1031...

  • Page 898: 0X6070 Velocity Threshold Time

    The units are in milliseconds. Name Index:Sub Type Default Unit Access Size Data Data Data Mapping Velocity 0x6070:0 UINT readwrite Receive threshold time (Outputs) © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 898/1031...

  • Page 899: 0X6071 Target Torque

    Sets the desired torque for the torque controller in profile torque mode. The units are per thousand of rated torque. Name Index:Sub Type Default Unit Access Size Data Data Data Mapping Target Torque 0x6071:0 readwrite Receive (Outputs) © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 899/1031...

  • Page 900: 0X6072 Max Torque

    Max Torque = 600 Nm 200 Nm × 1000 = 3000 Name Index:Sub Type Default Unit Access Size Data Data Data Mapping Max torque 0x6072:0 UINT 32767 3000 readwrite Receive (Outputs) © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 900/1031...

  • Page 901: 0X6073 Max Current

    6 Amps of current for short periods. Name Index:Sub Type Default Unit Access Size Data Data Data Mapping Max current 0x6073:0 UINT 50000 3000 readwrite Receive (Outputs) © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 901/1031...

  • Page 902: 0X6074 Torque Demand

    Provides the output value of the torque trajectory generator. The units are per thousand of rated torque. Name Index:Sub Type Default Unit Access Size Data Data Data Mapping Torque demand 0x6074:0 readonly Transmit (default) (Inputs) © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 902/1031...

  • Page 903: 0X6075 Motor Rated Current

    The units are in milliamps (mA). 0x6073 Max Name Index:Sub Type Default Unit Access Size Data Data Data Mapping Motor rated 0x6075:0 DINT 1000000 readwrite current © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 903/1031...

  • Page 904: 0X6076 Motor Rated Torque

    (milli Newton metre). Name Index:Sub Type Default Unit Access Size Data Data Data Mapping Motor rated 0x6076:0 DINT readwrite torque © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 904/1031...

  • Page 905: 0X6077 Torque Actual Value

    Name Index:Sub Type Default Unit Access Size Data Data Data Mapping Torque actual 0x6077:0 readonly Transmit value (default) (Inputs) © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 905/1031...

  • Page 906: 0X6079 Dc Link Circuit Voltage

    Provides the bus voltage measured at the inverter. The units are in millivolts (mV). Name Index:Sub Type Default Unit Access Size Data Data Data Mapping DC link circuit 0x6079:0 UDINT readonly Receive voltage (default) (Outputs) © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 906/1031...

  • Page 907: 0X607A Target Position

    Sets the desired position for all position modes. The units are in increments of the position encoder. Name Index:Sub Type Default Unit Access Size Data Data Data Mapping Target position 0x607A:0 DINT readwrite Receive (Outputs) © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 907/1031...

  • Page 908: 0X607B Position Range Limit

    Name Index:Sub Type Default Unit Access Size Data Data Data Mapping Max position 0x607B:2 DINT 2147483647 Inc readonly Receive range limit (default) (Outputs) © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 908/1031...

  • Page 909: 0X607C Home Offset

    The units are in increments of the position encoder. Name Index:Sub Type Default Unit Access Size Data Data Data Mapping Home offset 0x607C:0 DINT readwrite Receive (Outputs) © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 909/1031...

  • Page 910: 0X607D Software Position Limit

    (Outputs) Name Index:Sub Type Default Unit Access Size Data Data Data Mapping Max position 0x607D:2 DINT 2147483647 Inc readwrite Receive limit (Outputs) © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 910/1031...

  • Page 911: 0X607E Polarity

    The polarity flag has no influence on the homing mode. Name Index:Sub Type Default Unit Access Size Data Data Data Mapping Polarity 0x607E:0 USINT readwrite Receive (Outputs) © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 911/1031...

  • Page 912: 0X6080 Max Motor Speed

    Name Index:Sub Type Default Unit Access Size Data Data Data Mapping Max motor 0x6080:0 UDINT 1000 readwrite Receive speed (Outputs) © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 912/1031...

  • Page 913: 0X6081 Profile Velocity

    0x60a9 SI unit velocity Name Index:Sub Type Default Unit Access Size Data Data Data Mapping Profile velocity 0x6081:0 UDINT readwrite Receive (Outputs) © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 913/1031...

  • Page 914: 0X6083 Profile Acceleration

    Configures the acceleration used during profiled motion. The units are in RPM per second. Name Index:Sub Type Default Unit Access Size Data Data Data Mapping Profile 0x6083:0 UDINT rpm/s readwrite Receive acceleration (Outputs) © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 914/1031...

  • Page 915: 0X6084 Profile Deceleration

    Configures the deceleration used during profiled motion. The units are in RPM per second. Name Index:Sub Type Default Unit Access Size Data Data Data Mapping Profile 0x6084:0 UDINT rpm/s readwrite Receive deceleration (Outputs) © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 915/1031...

  • Page 916: 0X6085 Quick Stop Deceleration

    RPM per second. Name Index:Sub Type Default Unit Access Size Data Data Data Mapping Quick stop 0x6085:0 UDINT 10000 rpm/s readwrite Receive deceleration (Outputs) © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 916/1031...

  • Page 917: 0X6086 Motion Profile Type

    Linear ramp (trapeziodal profile) Name Index:Sub Type Default Unit Access Size Data Data Data Mapping Motion profile 0x6086:0 readonly Receive type (default) (Outputs) © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 917/1031...

  • Page 918: 0X6087 Torque Slope

    Configures the rate of change of torque. The units are in per thousand of rated torque per second. Name Index:Sub Type Default Unit Access Size Data Data Data Mapping Torque slope 0x6087:0 UDINT readwrite Receive (Outputs) © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 918/1031...

  • Page 919: 0X6088 Torque Profile Type

    Linear ramp (trapezoidal profile) Name Index:Sub Type Default Unit Access Size Data Data Data Mapping Torque profile 0x6088:0 readonly Receive type (default) (Outputs) © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 919/1031...

  • Page 920: 0X6091 Gear Ratio

    UDINT readwrite Receive revolutions (Outputs) Name Index:Sub Type Default Unit Access Size Data Data Data Mapping Shaft 0x6091:2 UDINT readwrite Receive revolutions (Outputs) © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 920/1031...

  • Page 921: 0X6098 Homing Method

    Set home at current position Name Index:Sub Type Default Unit Access Size Data Data Data Mapping Homing 0x6098:0 SINT readwrite Receive method (Outputs) © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 921/1031...

  • Page 922: 0X6099 Homing Speeds

    (Outputs) Name Index:Sub Type Default Unit Access Size Data Data Data Mapping Speed during 0x6099:2 UDINT readwrite Receive search for zero (Outputs) © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 922/1031...

  • Page 923: 0X609A Homing Acceleration

    Configures the acceleration and deceleration to be used during a homing operation. Name Index:Sub Type Default Unit Access Size Data Data Data Mapping Homing 0x609A:0 UDINT rpm/s readwrite Receive acceleration (Outputs) © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 923/1031...

  • Page 924: 0X60A9 Si Unit Velocity

    0.001 RPM Name Index:Sub Type Options Unit Access Size Mapping SI unit velocity 0x60A9:0 UDINT readwrite 11814656 4290004736 0.01 4273227520 0.001 4256450304 © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 924/1031...

  • Page 925: 0X60B1 Velocity Offset

    0x60a9 SI unit velocity Name Index:Sub Type Default Unit Access Size Data Data Data Mapping Velocity offset 0x60B1:0 DINT readwrite Receive (Outputs) © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 925/1031...

  • Page 926: 0X60B2 Torque Offset

    Sets a feed-forward torque as input to the torque controller. The units are in per thousand of rated torque. Name Index:Sub Type Default Unit Access Size Data Data Data Mapping Torque offset 0x60B2:0 readwrite Receive (Outputs) © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 926/1031...

  • Page 927: 0X60F4 Following Error Actual Value

    Provides the actual value of the position following error. The units are in increments of the position encoder. Name Index:Sub Type Default Unit Access Size Data Data Data Mapping Following error 0x60F4:0 DINT readonly Transmit actual value (default) (Inputs) © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 927/1031...

  • Page 928: 0X60Fa Control Effort

    Provides a measure of the control effort (the output of the velocity control loop). The units are per thousand of rated torque. Name Index:Sub Type Default Unit Access Size Data Data Data Mapping Control effort 0x60FA:0 DINT readonly Transmit (default) (Inputs) © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 928/1031...

  • Page 929: 0X60Fc Position Demand Internal Value

    Name Index:Sub Type Default Unit Access Size Data Data Data Mapping Position 0x60FC:0 DINT readonly Transmit demand internal (default) value (Inputs) © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 929/1031...

  • Page 930: 0X60Fd Digital Inputs

    For example, if only Digital input 1 is high (and bits 0 to 3 are low), then object value will be 65536 (0x10000) Name Index:Sub Type Default Unit Access Size Data Data Data Mapping Digital inputs 0x60FD:0 UDINT readonly Transmit (default) (Inputs) © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 930/1031...

  • Page 931: 0X60Fe Digital Outputs

    UDINT readwrite Receive outputs (Outputs) Name Index:Sub Type Default Unit Access Size Data Data Data Mapping Bit mask 0x60FE:2 UDINT readwrite Receive (Outputs) © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 931/1031...

  • Page 932: 0X60Ff Target Velocity

    0x60a9 SI unit velocity Name Index:Sub Type Default Unit Access Size Data Data Data Mapping Target velocity 0x60FF:0 DINT readwrite Receive (Outputs) © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 932/1031...

  • Page 933: 0X6502 Supported Drive Modes

    Name Index:Sub Type Default Unit Access Size Data Data Data Mapping Supported drive 0x6502:0 UDINT 197549 readonly Transmit modes (default) (Inputs) © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 933/1031...

  • Page 934: 0X6621 Safety Statusword

    Byte 1 0x6621:1 USINT readonly (default) Name Index:Sub Type Default Unit Access Size Data Data Data Mapping Byte 2 0x6621:2 USINT readonly (default) © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 934/1031...

  • Page 935: Communication Area

    0x1400:1 COB-ID used by PDO 0x1400:2 Transmission type 0x1400:3 Inhibit time 0x1401 Receive PDO2 parameter 0x1401:1 COB-ID used by PDO 0x1401:2 Transmission type © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 935/1031...
  • Page 936 0x1801:3 Inhibit time 0x1801:4 reserved 0x1801:5 Event timer 0x1802 Transmit PDO3 parameter 0x1802:1 COB-ID used by PDO 0x1802:2 Transmission type 0x1802:3 Inhibit time © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 936/1031...
  • Page 937 SM 0 Assignment 0x1C11 SM 1 Assignment 0x1C12 SM 2 Assignment 0x1C12:1 SubIndex 001 0x1C12:2 SubIndex 002 0x1C12:3 SubIndex 003 0x1C12:4 SubIndex 004 © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 937/1031...
  • Page 938 Synapticon Documentation 0x1C13 SM 3 Assignment 0x1C13:1 SubIndex 001 0x1C13:2 SubIndex 002 0x1C13:3 SubIndex 003 0x1C13:4 SubIndex 004 © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 938/1031...

  • Page 939: Process Data Objects

    You can also create your own set of PDO to include the objects which are more suitable for your needs. Advanced PDO mapping © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 939/1031...

  • Page 940: Standard Rxpdo Mapped Objects

    Target position 0x60FF Target velocity 0x60B2 Torque offset 0x2701 Tuning command 0x60FE Physical outputs 0x60FE Bit mask 0x2703 User MOSI 0x60B1 Velocity offset © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 940/1031...

  • Page 941: Standard Txpdo Mapped Objects

    0x2702 Tuning status 0x60FD Digital inputs 0x2704 User MISO 0x20F0 Timestamp 0x60FC Position demand internal value 0x606B Velocity demand value 0x6074 Torque demand © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 941/1031...

  • Page 942: Advanced Pdo Mapping

    0x1603 RxPDO Mapping 4 Used for defining the incoming PDO mapping 4 0x1A00 TxPDO Mapping 1 Used for defining the outgoing PDO mapping 1 © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 942/1031...
  • Page 943 This object object defines the incoming PDO mappings to be used. 0x1C13 SM 3 Assignment This object object defines the outgoing PDO mappings to be used. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 943/1031...

  • Page 944: Manufacturer Specific Area

    State 0x2009:2 Applied percent of rated torque 0x2009:3 Measurement method 0x2009:4 Phasing controller Kp 0x2009:5 Phasing controller Ki 0x2009:6 Phasing controller Kd 0x200A © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 944/1031...
  • Page 945 Gain scheduling 0x2013:1 Enabled 0x2013:2 Threshold velocity 0 0x2013:3 Position loop Kp 0 0x2013:4 Position loop Ki 0 0x2013:5 Position loop Kd 0 © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 945/1031...
  • Page 946 0x2030 Core temperature 0x2030:1 Measured temperature 0x2031 Drive temperature 0x2031:1 Measured temperature 0x2038 External scaled measurement 0x2038:1 Scaled measurement value 0x2038:2 Analog input © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 946/1031...
  • Page 947 Multiturn first bit position 0x2110:12 Singleturn bits 0x2110:13 Singleturn first bit position 0x2110:14 Timeout 0x2110:15 CRC polynomial 0x2110:16 Maximum tbusy 0x2110:17 Status bits active value © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 947/1031...
  • Page 948 First clock delay 0x2112:20 Data ordering 0x2112:21 Endianness 0x2112:22 Index availability 0x2112:23 Hall sensor port 0x2112:24 Sinewave cycles per revolution 0x2112:25 Sinewave resolution © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 948/1031...
  • Page 949 Safety digital input diagnostics 0x2611:1 Input 1 0x2611:2 Input 2 0x2701 Tuning command 0x2702 Tuning status 0x2703 User MOSI 0x2704 User MISO 0x2705 Setup wizard completed © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 949/1031...

  • Page 950: Profile Specific Area

    Max position range limit 0x607C Home offset 0x607D Software position limit 0x607D:1 Min position limit 0x607D:2 Max position limit 0x607E Polarity 0x6080 Max motor speed © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 950/1031...
  • Page 951 Digital outputs 0x60FE:1 Physical outputs 0x60FE:2 Bit mask 0x60FF Target velocity 0x6502 Supported drive modes 0x6621 Safety statusword 0x6621:1 Byte 1 0x6621:2 Byte 2 © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 951/1031...

  • Page 952: Device Information

    This object describes the type of the logical device and its functionality. 0x1008 Manufacturer Device Name Indicates the name given by Synapticon. 0x1018 Identity Identification of the EtherCAT device. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 952/1031...

  • Page 953: Saving And Restoring Configurations

    The config.csv contains motor-individual parameters like the commutation offset or cogging compensation. Moving the config.csv from one drive to the other may require adjusting some parameters individually. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 953/1031...

  • Page 954: Usage

    All parameters that are not stored will be discarded on power off since all parameters are restored automatically at startup. Note It takes several milliseconds to restore the configuration file. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 954/1031...

  • Page 955: Save Configuration

    Triggers storing user-defined parameters to the flash memory of the drive. 0x1011 Restore default parameters Loads either factory settings or user defined parameters from the drive. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 955/1031...

  • Page 956: Resources

    Tuning guides Velocity PID Tuning Position tuning with Gain Scheduling Cascaded position Tuning Drive operations through File Access over EtherCAT (FoE) About this documentation © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 956/1031...

  • Page 957: System Integration Guidelines

    Measuring the brake output voltage Connecting and configuring analog inputs Temperature sensors Using Statusword and Controlword Circulo Mounting Example Replacing a SOMANET Drive © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 957/1031...

  • Page 958: Drive Sizing

    The selection highly depends on your application but it’s necessary to understand the different parts of the drivetrain: 4.1.1.1.1 Application Requirements Mechanical Power: P (Upper limit can be given by gearbox) mech Practically simplified formula: mech © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 958/1031...

  • Page 959: Servo Drive Output

    Max current can be applied for a short intermittent current current time only (e.g. 250 ms). operation Exceeding it would immediately burn the windings. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 959/1031...

  • Page 960: Servo Drive Consumption

    For details, consult with the motor manufacturer and check the motor curves. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 960/1031...

  • Page 961: Choosing A Power Supply

    The problem will be exceeded in multi- axis applications with heavy loads that are affected by gravity. For details, please see section Regenerative energy © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 961/1031...

  • Page 962: Bus Capacitance

    Capacitors can absorb the regenerated power. By using sufficient capacity, the power consumption will be reduced. In addition to coping with ripples on the DC bus, the capacitor can also absorb © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 962/1031...

  • Page 963: Power Supply Sizing

    In rare cases, regenerative power can be helpful when the system features several servo drives which accelerate and © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 963/1031...

  • Page 964: Calculating The Amperage

    Power supply current is derived from the power by © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 964/1031...

  • Page 965: Contactors Behind The Power Supply

    Regenerative currents can occur depending on the commanded trajectory. If the power supply cannot withstand such currents, a braking chopper system must be used additionally. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 965/1031...

  • Page 966: Earthing

    1 kΩ - 5 kΩ. Assuming a human body has a resistance of 2 kΩ, the dangerous voltage can be calculated as 50 V or 120 V © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 966/1031...

  • Page 967: Earthing Concepts

    Communication problems and loss of data or synchronization. Interference to surrounding circuits near the servo drive system. Compliance with Electromagnetic Compatibility (EMC) standards and directives may not be given. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 967/1031...

  • Page 968: Extra Low Voltage Systems

    PELV is usually sufficient to meet the requirements. SELV is used where extra isolation is required (e.g. swimming pools). Attention SELV power supply can be violated if the equipment is using a common DC bus. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 968/1031...

  • Page 969: Earthing Connections In Somanet Products

    The shielding is connected to the earth correctly, and there is no ground loop because of the unbalanced impedance. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 969/1031...
  • Page 970 EMI issues and ground loops because of the unbalanced ground impedance. Using a star connection for earthing will result in a better grounding balance and fewer issues with the ground loop and EMI. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 970/1031...

  • Page 971: Regenerative Energy

    Attention This can lead to dangerous situations if the robot isn’t able to decelerate as necessary. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 971/1031...
  • Page 972 If the drive is not switching off at this temperature, the system is well dimensioned. Note For optimal performance, connect the braking choppers to the closest possible point to the inverter terminals. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 972/1031...

  • Page 973: Measuring The Brake Output Voltage

    (Input DC voltage) = 48 V Brake switching frequency = 16 KHz Brake hold voltage = 24 V Brake resistance = 50 Ω © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 973/1031...

  • Page 974: Non-Safety Brake Output

    The brake or a similar electrical load has to be connected to the brake outputs when measuring the output voltage. Without a load, the multimeter will show an incorrect input DC voltage! © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 974/1031...

  • Page 975: Safety Brake Output

    The brake or a similar electrical load has to be connected to the brake outputs when measuring the output voltage. Without a load, the multimeter will show an incorrect input DC voltage. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 975/1031...

  • Page 976: Configuring Analog Inputs

    The input voltage needs to be scaled to the ADC ticks and the allowed voltage range. Single-ended analog inputs are highly susceptible to electromagnetic noise. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 976/1031...

  • Page 977: Differential Input

    ADC [ticks] = 0 if V < V diff diff,min ADC(ticks) = 4095 if V > V (Saturation) diff diff,max © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 977/1031...

  • Page 978: Example For Normal Values (On Somanet Node)

    V and V , otherwise the measured values will have non-linearity faults. cm,min cm,max 4.1.6.2.2.1 Example for normal values (On SOMANET Node) © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 978/1031...
  • Page 979 Synapticon Documentation Example Vin_P Vin_N Vdiff ADC(ticks) 4095 2047 © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 979/1031...

  • Page 980: Examples Of Faulty Values

    Synapticon Documentation 4.1.6.2.2.2 Examples of faulty values Example Vin_P Vin_N Vdiff ADC(ticks) Saturation © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 980/1031...

  • Page 981: Temperature Sensor Input

    SOMANET Node and Circulo servo drives support different types of analog inputs. These inputs support a wide range of industrial sensors, e.g. torque, temperature, position and speed but have different internal resistance, saturation values and voltage limits. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 981/1031...

  • Page 982: Using Statusword And Controlword

    Cyclic synchronous torque control (CST) Cyclic synchronous velocity control (CSV) Cyclic synchronous position control (CSP) Profile position mode Profile velocity mode Profile torque mode Homing modes © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 982/1031...

  • Page 983: Bits In Status- And Controlword

    The basic bits of the statusword indicate in which state the drive is: State coding Statusword FSA state © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 983/1031...
  • Page 984 Legend Abbr. Meaning rtso ready to switch on switched on operation enabled fault voltage enabled quick stop switch on disabled warning manufacturer-specific remote © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 984/1031...

  • Page 985: Mode Specific Bits Of The Statusword

    Profile velocity (0x6081) Max. motor speed (0x6080) Target velocity (0x60FF)Velocity offset (0x60B1). CSV / PV Software position limit (0x607D) Position demand value (0x6062) CSP/PP Legend: © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 985/1031...

  • Page 986: Controlword

    Abbr. Meaning switched on enable voltage quick stop enable operation operation mode specific fault reset halt operation mode specific reserved manufacturer specific State Coding © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 986/1031...

  • Page 987: Mode Specific Bits Of The Controlword

    Cyclic Synchronous Position No Operation mode specific bits used Cyclic Synchronous Velocity Cyclic Synchronous Torque Homing Halt Homing operation start 4 .1.7.5 Timing Diagram ​ © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 987/1031...
  • Page 988 Synapticon Documentation © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 988/1031...

  • Page 989: Temperature Sensors

    PTC and NTC thermistors can be used as well, but NTC thermistors have the disadvantage that a wire brake can be confused with low temperatures. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 989/1031...

  • Page 990: Resistance Temperature Detectors

    RTDs with a minimum of 3 Ω resistance change per °C result in an acceptable accuracy. According to the curves below, PT1000 and KTY-130 are good fitting sensors, both sensors are almost linear in the desired range. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 990/1031...
  • Page 991 Synapticon Documentation PT1000: 3.9 Ω per °C KYT 84-130: 5 Ω per °C © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 991/1031...
  • Page 992 To evaluate the accuracy, the amount of ticks for the measured temperature range needs to be considered: Temperature range / Amount of ticks for the temperature range = Temperature measured / tick © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 992/1031...
  • Page 993 The converted value (ADC ticks) for 100° is = 4095 · = 110 Temperature range in ticks: 110 - 85 = 25 for 100°C Accuracy: = 4° for measuring the temperature. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 993/1031...

  • Page 994: Polynomial Or Quintic Function

    = 0, a = 0, a = 0 the result equals the exact value of the sensor resistance. The image below shows the PT1000 curve with and without input resistor. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 994/1031...
  • Page 995 Temperature = -244 + 0.238x + 1.49E-05x² + 3.72E-09x³ a = -244, a = 0.238, a = 1.49E-05 The image shows how to add the coefficient in Node. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 995/1031...
  • Page 996 For example, the resistance value can be calculated for 90° in Node: The resistance of a PT1000 is 1353 for 90° C, the input resistance of Node is 20.4 kΩ, and the resistance value © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 996/1031...

  • Page 997: Polynomial Coefficients

    1 - Create the table. 2 - Insert the chart. 3 - Select the Scatter chart type in the chart editor menu in Setup. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 997/1031...
  • Page 998 5 - Then you can define the type of the line (polynomial) and polynomial degree. 6 - Use the equation as the label, then the polynomial function will appear on top of it. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 998/1031...

  • Page 999: Replacing A Somanet Drive

    If no backup configuration file is available, neither archived nor from the old drive, a completely new configuration with the configuration wizard has to be done. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 999/1031...

  • Page 1000: Somanet Node And Somanet Circulo With External Encoders

    When clicking on “Save configuration file” a .csv file will be saved on the user’s PC that contains different EtherCAT SDO objects with their actual values. This file can be used to back up a specific configuration. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 1000/1031...

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