Related Manuals for SYNAPTICON SOMANET Circulo
Summary of Contents for SYNAPTICON SOMANET Circulo
- Page 1 Installation Guide Documentation v 4.20.15 | Built 2022-08-17 © 2021 Synapticon GmbH...
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Page 2: Table Of Contents
1.1.6.2.2 STO/SBC Connections 1.1.6.2.3 EtherCAT Connection 1.1.6.3 Instructions for manufacturing the cables 1.1.6.3.1 General Cable and Wire Specifications 1.1.6.3.2 Drive-to-Drive Cable 1.1.6.3.2.1 Cable details © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.20.15 | Built 2022-08-17 2/88... - Page 3 1.3.1.1 Narrow angle errors (encoder system-specific non-linearity) 1.3.1.1.1 Analogue signals errors 1.3.1.1.2 Magnetic ring magnetization errors 1.3.1.2 Wide angle error (installation-dependent non-linearity) 1.3.1.3 Detecting the encoder non-linearity © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.20.15 | Built 2022-08-17 3/88...
- Page 4 1.3.2.3.3 The magnetic ring is damaged 1.3.2.4 Encoder system diagnostic 1.3.2.4.1 Magnetic ring distance checker 1.3.2.4.2 Check encoder system 1.3.2.4.3 Check encoder errors © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.20.15 | Built 2022-08-17 4/88...
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Page 5: Installation Guide
Hardware Manuals / SOMANET Circulo / Installation Guide 1 Installation Guide This manual will guide you through the basic steps to get your SOMANET Circulo running. Attention When dealing with electronic devices, always consider these handling instructions! Wiring instructions... -
Page 6: Wiring Instructions
Hardware Manuals / SOMANET Circulo / Installation Guide 1 .1 Wiring instructions Overview of connectors Circulo 7 Circulo 9 © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.20.15 | Built 2022-08-17 6/88... - Page 7 Hardware Manuals / SOMANET Circulo / Installation Guide 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 4.20.15 | Built 2022-08-17 7/88...
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Page 8: Power And Brake
Hardware Manuals / SOMANET Circulo / Installation Guide 1 .1.1 Power and brake 1.1.1.1 Supply and phases Circulo 7 Circulo 9 © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.20.15 | Built 2022-08-17 8/88... -
Page 9: Warning About Using Contactors Behind The Power Supply
* 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 4.20.15 | Built 2022-08-17 9/88... -
Page 10: Functional Earth
(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 4.20.15 | Built 2022-08-17 10/88... -
Page 11: 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 4.20.15 | Built 2022-08-17 11/88... - Page 12 Hardware Manuals / SOMANET Circulo / Installation Guide Circulo 7 Circulo 9 © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.20.15 | Built 2022-08-17 12/88...
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Page 13: 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 4.20.15 | Built 2022-08-17 13/88... -
Page 14: 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 4.20.15 | Built 2022-08-17 14/88... -
Page 15: 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 .1.2.3 Encoder ports © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.20.15 | Built 2022-08-17 15/88... -
Page 16: Encoder Port
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: 1.1.2.3.1 Encoder port 1 Circulo 7 © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.20.15 | Built 2022-08-17 16/88... - Page 17 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 4.20.15 | Built 2022-08-17 17/88...
- Page 18 * The current capacity of 5 V output is shared between all connectors and the total consumption is limited to 250 mA. 1.1.2.3.2 Encoder port 2 Circulo 7 © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.20.15 | Built 2022-08-17 18/88...
- Page 19 * 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 4.20.15 | Built 2022-08-17 19/88...
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Page 20: Digital Io
1 .1.2.4 Digital IO Circulo 7 Circulo 9 GPIO REM 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 4.20.15 | Built 2022-08-17 20/88... - Page 21 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 4.20.15 | Built 2022-08-17 21/88...
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Page 22: Voltage Levels Of The Digital Inputs/Outputs
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 4.20.15 | Built 2022-08-17 22/88... - Page 23 Hardware Manuals / SOMANET Circulo / Installation Guide Circulo 7 Circulo 9 Pin # STO-SBC In 1 STO-SBC In 2 Safety GND RX_N © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.20.15 | Built 2022-08-17 23/88...
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Page 24: Voltage Level Of The Safety Inputs
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 4.20.15 | Built 2022-08-17 24/88... - Page 25 Hardware Manuals / SOMANET Circulo / Installation Guide Circulo 9 © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.20.15 | Built 2022-08-17 25/88...
- Page 26 Hardware Manuals / SOMANET Circulo / Installation Guide Wiring diagrams for the safety digital inputs © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.20.15 | Built 2022-08-17 26/88...
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Page 27: 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 4.20.15 | Built 2022-08-17 27/88... -
Page 28: 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 4.20.15 | Built 2022-08-17 28/88... -
Page 29: 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 30 This is done internally with a multiplexer. The desired value can be selected via software through object 0x2038 subindex 3. Attention The ADC value is scaled to 16 bit since firmware v5.0. Firmware v4.x © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.20.15 | Built 2022-08-17 30/88...
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Page 31: 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 4.20.15 | Built 2022-08-17 31/88... - Page 32 >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 4.20.15 | Built 2022-08-17 32/88...
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Page 33: 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 4.20.15 | Built 2022-08-17 33/88... -
Page 34: 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 4.20.15 | Built 2022-08-17 34/88... -
Page 35: 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 4.20.15 | Built 2022-08-17 35/88... -
Page 36: Pinout Of The Connectors
This connector is on the drive side of the Y-Splitter cable and on both sides of the Drive-to-Drive cable. Pin/Wire Function Color STO-SBC1 © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.20.15 | Built 2022-08-17 36/88... -
Page 37: Sto/Sbc Connections
STO-SBC1 STO-SBC2 Black Safety GND White Note On the Y-Splitter cable these wires are open strands at the master side. 1.1.6.2.3 EtherCAT Connection © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.20.15 | Built 2022-08-17 37/88... - Page 38 Hardware Manuals / SOMANET Circulo / Installation Guide Pin # Function Color TX_P Orange/White TX_N Orange RX_P Green/White RX_N Green © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.20.15 | Built 2022-08-17 38/88...
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Page 39: Instructions For Manufacturing The Cables
The cable should be able to withstand a maximum voltage of 100 V wire-to-wire and wire to shield. 1.1.6.3.2 Drive-to-Drive Cable The Drive-to-Drive cable is used to connect two servo drives. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.20.15 | Built 2022-08-17 39/88... -
Page 40: Cable Details
Pin/Wire # Function Wire AWG Wire Twisting Insulation Voltage STO-SBC1 100 V wire-to-wire and wire- to-shield STO-SBC2 Safety GND RX_N Twisted pair * RX_P © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.20.15 | Built 2022-08-17 40/88... -
Page 41: Connectorization
Both sides must be provided with this connector: GHR-08V-S from manufacturer JST. 1.1.6.3.3 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 4.20.15 | Built 2022-08-17 41/88... -
Page 42: Overview
SBC2 Safety white EtherCAT RX_N RJ45 green Twisted Cable pair RX_P green- white TX_N orange Twisted pair TX_P orange- white shield shield © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.20.15 | Built 2022-08-17 42/88... -
Page 43: Connectorization
The cables should be able to withstand a maximum voltage of 100V wire-to-wire and wire to shield. 1.1.6.3.3.5 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 4.20.15 | Built 2022-08-17 43/88... -
Page 44: 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 4.20.15 | Built 2022-08-17 44/88... -
Page 45: 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 4.20.15 | Built 2022-08-17 45/88... - Page 46 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 4.20.15 | Built 2022-08-17 46/88...
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Page 47: Mechanical Integration
Hardware Manuals / SOMANET Circulo / Installation Guide 1 .2 Mechanical integration Mounting Example Dimensions Mounting encoder rings Thermal Mounting Considerations © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.20.15 | Built 2022-08-17 47/88... -
Page 48: 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 4.20.15 | Built 2022-08-17 48/88... -
Page 49: 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 4.20.15 | Built 2022-08-17 49/88... -
Page 50: 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 4.20.15 | Built 2022-08-17 50/88... -
Page 51: Routing The Motor Phase Cables
© 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.20.15 | Built 2022-08-17 51/88... - Page 52 Hardware Manuals / SOMANET Circulo / Installation Guide © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.20.15 | Built 2022-08-17 52/88...
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Page 53: 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. 1.2.2.1 Dimensions Circulo 7 © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.20.15 | Built 2022-08-17 53/88... - Page 54 Hardware Manuals / SOMANET Circulo / Installation Guide © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.20.15 | Built 2022-08-17 54/88...
- Page 55 Hardware Manuals / SOMANET Circulo / Installation Guide Circulo 9 © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.20.15 | Built 2022-08-17 55/88...
- Page 56 Hardware Manuals / SOMANET Circulo / Installation Guide © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.20.15 | Built 2022-08-17 56/88...
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Page 57: 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 1.2.2.3 Drilling patterns Circulo 7 © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.20.15 | Built 2022-08-17 57/88... - Page 58 Hardware Manuals / SOMANET Circulo / Installation Guide © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.20.15 | Built 2022-08-17 58/88...
- Page 59 Hardware Manuals / SOMANET Circulo / Installation Guide Circulo 9 © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.20.15 | Built 2022-08-17 59/88...
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Page 60: Mounting A Bearing
1.2.2.4 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 4.20.15 | Built 2022-08-17 60/88... -
Page 61: Side View With Phase Connectors
Hardware Manuals / SOMANET Circulo / Installation Guide 1.2.2.5 Side view with phase connectors Circulo 7 © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.20.15 | Built 2022-08-17 61/88... - Page 62 Hardware Manuals / SOMANET Circulo / Installation Guide Circulo 9 © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.20.15 | Built 2022-08-17 62/88...
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Page 63: 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 4.20.15 | Built 2022-08-17 63/88... - Page 64 Magnetic ring distance checker feature. It can assist during the prototyping phase of the design. It computes the air gap based on the ring’s magnetic field strength and recommends the next action. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.20.15 | Built 2022-08-17 64/88...
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Page 65: 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 4.20.15 | Built 2022-08-17 65/88... -
Page 66: Tangential Displacement (T)
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 4.20.15 | Built 2022-08-17 66/88... -
Page 67: Thermal Mounting Considerations
Circulo, thermal aspects have to be considered during this integration. The following instructions shall be followed: 1. The air surrounding the SOMANET Circulo must be no hotter than 60 °C. This typically refers to the air inside the robot housing or inside the machine. -
Page 68: 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 4.20.15 | Built 2022-08-17 68/88... - Page 69 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 4.20.15 | Built 2022-08-17 69/88...
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Page 70: 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 4.20.15 | Built 2022-08-17 70/88... -
Page 71: 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 4.20.15 | Built 2022-08-17 71/88... -
Page 72: 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 4.20.15 | Built 2022-08-17 72/88... -
Page 73: 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 4.20.15 | Built 2022-08-17 73/88... -
Page 74: Analogue Signals Errors
R: sensing radius of the corresponding Circulo encoder [mm] This table below shows maximum installation-caused error given that the maximum eccentricity is 0.1 mm. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.20.15 | Built 2022-08-17 74/88... -
Page 75: 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 4.20.15 | Built 2022-08-17 75/88... -
Page 76: 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 4.20.15 | Built 2022-08-17 76/88... -
Page 77: Starting The Internal Encoder Calibration
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 4.20.15 | Built 2022-08-17 77/88... -
Page 78: Limited Range Calibration (Available From Oblac Drives V21.3.0)
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 4.20.15 | Built 2022-08-17 78/88... - Page 79 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 4.20.15 | Built 2022-08-17 79/88...
- Page 80 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 4.20.15 | Built 2022-08-17 80/88...
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Page 81: 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 4.20.15 | Built 2022-08-17 81/88... -
Page 82: The Magnetic Ring Is Too Far From The Encoder Chip
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 4.20.15 | Built 2022-08-17 82/88... -
Page 83: The Magnetic Ring Is Damaged
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 4.20.15 | Built 2022-08-17 83/88... -
Page 84: Magnetic Ring Distance Checker
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 4.20.15 | Built 2022-08-17 84/88... - Page 85 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 4.20.15 | Built 2022-08-17 85/88...
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Page 86: Check Encoder System
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 4.20.15 | Built 2022-08-17 86/88... - Page 87 Save To Device. Power cycle the drive. If the error is still configuration, connect a present, please contact support. battery. Power cycle the drive. © 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.20.15 | Built 2022-08-17 87/88...
- Page 88 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 4.20.15 | Built 2022-08-17 88/88...
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