SYNAPTICON Circulo 7 Manual
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SYNAPTICON Circulo 7 Manual

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SOMANET CIRCULO
Documentation v 5.1.1 | Built 2023-04-05
© 2023 Synapticon GmbH

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Summary of Contents for SYNAPTICON Circulo 7

  • Page 1 SOMANET CIRCULO Documentation v 5.1.1 | Built 2023-04-05 © 2023 Synapticon GmbH...

  • Page 2: Technical Specifications

    Maximum continuous phase current ** 20 A Maximum peak phase current *** 24 A 60 A Maximum efficiency > 98 % © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 2/915 SOMANET CIRCULO...

  • Page 3: General Specification

    Outer diameter: 72.2 mm Outer diameter: 92.2 mm dimension drawings) Height: 21.3 mm Height: 22.3 mm Weight (without encoder 92 g 133 g rings) © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 3/915 SOMANET CIRCULO...
  • Page 4 Safe Analog In 1x Safe Analog In Differential (±2.5 V) Motor temperature sensor 1 x KTY (for example KTY84-130) / PT1000 / PT100 © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 4/915 SOMANET CIRCULO...

  • Page 5: Encoder Specifications

    Detailed specifications Encoder Specifications SOMANET Circulo is available in different versions: With one additional encoder ring in two positions which is © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 5/915 SOMANET CIRCULO...
  • Page 6 Interface BiSS Encoder resolution 19 bit Absolute position On both encoders Multiturn resolution 18 bit (battery based) Maximum speed 12000 rpm © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 6/915 SOMANET CIRCULO...
  • Page 7 ±0.0069° Circulo 9 Position 1 (inner) Position 2 (outer) Accuracy ±72” * ±72” * ±0.02° ±0.02° Repeatability ±8” ±13” ±0.0022° ±0.0036° © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 7/915 SOMANET CIRCULO...

  • Page 8: Safety Specifications

    Operating magnetic field frequency max 7 kHz External magnetic field max 20 mT Safety specifications System requirements Required Firmware v4.2.0 or higher Supported Hardware © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 8/915 SOMANET CIRCULO...
  • Page 9 Cat. 3 Meantime to dangerous Failure (MTTF 3319 years (capped to 100 years) Diagnostic coverage (DC Common Cause Failure (CCF) > 65 © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 9/915 SOMANET CIRCULO...
  • Page 10 Voltage range 0-60 VDC Max. transient input voltage 80 VDC Input voltage, logic 1 15-60 V Input voltage, logic 0 0-5 V © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 10/915 SOMANET CIRCULO...
  • Page 11 80 seconds of I = 0). In a more general way, this requirement can be writ- ten as © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 11/915 SOMANET CIRCULO...
  • Page 12 Circulo features different encoder options consisting of internal and external encoders. The capabilities of these variants are summarized below: ECNN ECAN ECBN ECDL Internal Encoder 1 (Inner Ring) Internal Encoder 2 © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 12/915 SOMANET CIRCULO...

  • Page 13: Ordering Information

    SOMANET Circulo 7 (CR7-48-24- ECDL ECDL) Circulo 9 Option Product Catalog Name* Standard (no integrated CR9-48-60- SOMANET Circulo 9 (CR9-48-60- encoders) ECNN ECNN) © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 13/915 SOMANET CIRCULO...
  • Page 14 STATEMENT SOMANET CIRCULO MECHANICAL IMMUNITY (SHOCK AND VIBRATION TESTS) CAD Files STEP MODEL OF CIRCULO 7 STEP MODEL OF CIRCULO 9 CIRCULO 7 MECHANICAL INTEGRATION EXAMPLE © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 14/915 SOMANET CIRCULO...
  • Page 15 Circulo Mounting Example Dimensions and Drawings Mounting encoder rings Encoder Calibration and accuracy Mechanical Assembly Thermal Mounting Considerations Encoder calibration LED signals © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 15/915 SOMANET CIRCULO...

  • Page 16: Wiring Instructions

    Power and brake Encoders and IO Analog input specification Temperature sensor Battery for Multiturn EtherCAT®-STO Cable Maximum cable lengths Mating parts © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 16/915 SOMANET CIRCULO...
  • Page 17 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. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 17/915 SOMANET CIRCULO...
  • Page 18 TVS diode type 1.5KE62A-E3/54* between Main Power Supply and Ground of the terminal. * this model has been successfully tested by Synapticon. Other products with the same specifications may also be appropriate but can’t be recommended. 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.
  • Page 19 (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. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 19/915 SOMANET CIRCULO...
  • Page 20 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! © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05...
  • Page 21 Analog In 2 + Differential + Analog input 2 (0x2402) Ground Analog In 1 Single-ended 0-5 V Analog input 1 (0x2401) not connected © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 21/915 SOMANET CIRCULO...
  • Page 22 This connector also carries the pins for the battery that is required if the optional integ- rated encoder 1 is used with Multiturn. For selecting a suitable battery, please check these notes. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 22/915...
  • Page 23 * The current capacity of 5 V output is shared between all connectors and the total consumption is limited to 250 mA. Encoder port 2 © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 23/915...
  • Page 24 ** The current capacity of 5 V output is shared between all connectors and the total consumption is limited to 250 mA. Digital I/O © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 24/915...
  • Page 25 Digital I/O 5 Data**** (Slow Bi-Dir- ectional) Digital I/O 6 Data**** (Slow Bi-Dir- ectional) Ground Digital IN 7 (Slow 24 V) © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 25/915 SOMANET CIRCULO...
  • Page 26 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. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05...
  • Page 27 STO-SBC In 2 Safety GND RX_N RX_P TX_N TX_P Important: Please note that Safety GND is an isolated signal from drive GND. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 27/915 SOMANET CIRCULO...
  • Page 28 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. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05...

  • Page 29: Analog Input Specification

    +5.235 V). The differential analog input has an extended range of 121.8% (e.g. 0xFFFF correspond to V = +6.09 V). diff © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 29/915 SOMANET CIRCULO...
  • Page 30 Any voltage out in,N erable of this range voltage damages the between the analog input’s negative circuitry. input pin and GND. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 30/915 SOMANET CIRCULO...
  • Page 31 The tolerable Any voltage in,lim input voltage out of this between the range dam- input and ages the GND. analog input’s cir- © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 31/915 SOMANET CIRCULO...

  • Page 32: 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 recom- mended.
  • Page 33 The measured analog value can be calculated into a corresponding temperature by the drive itself. Details are described in Analog Input Scaling. For details about using temperature sensors please check our System integration guide. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 33/915 SOMANET CIRCULO...
  • Page 34 Encoder The battery voltage must always stay above 3.15 V during operation in order to avoid loss of the accumulated multiturn count. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 34/915...
  • Page 35 In this case, the current consumption will be 800 µA. This could be neg- ligible in most of the battery life time calculations. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05...
  • Page 36 Team. EtherCAT®-STO Cable Attention: Please note that all cables delivered by Synapticon are for development and testing pur- poses only. Make sure the cables used in production comply with the requirements of your application in terms of bending or torsion.
  • Page 37 RX_N Green RX_P Green/White TX_N Orange TX_P Orange/White Shield STO/SBC Connections Wire # Function Color STO-SBC1 STO-SBC2 Black Safety GND White © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 37/915 SOMANET CIRCULO...
  • Page 38 Instructions for manufacturing the cables General Cable and Wire Specifications The cable and its wires should meet the minimum requirements of EtherCAT® standards. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 38/915 SOMANET CIRCULO...
  • Page 39 The cable should be able to withstand a maximum voltage of 100 V wire-to-wire and wire to shield. Drive-to-Drive Cable The Drive-to-Drive cable is used to connect two servo drives. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 39/915 SOMANET CIRCULO...
  • Page 40 Wire details and pinout Attention: The cable has a maximum allowable temperature range of 80 °C. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 40/915 SOMANET CIRCULO...
  • Page 41 Both sides must be provided with this connector: GHR-08V-S from manufacturer JST. Y-Splitter Cable The Y-Splitter Cable consists of two cables that are tied together from one side: STO/SBC Cable EtherCAT® Cable © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 41/915 SOMANET CIRCULO...
  • Page 42 The temperature range differs for each cable: The STO part has a maximum allowable temperature range of 80 °C, whereas the EtherCAT® part has a maximum allowable tem- perature range of 75 °C. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 42/915...
  • Page 43 Saf- whi- Ether- RJ4- gre- Twi- CAT- ste- ® Cabl- pair gre- whi- ora- Twi- ste- pair ora- whi- © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 43/915 SOMANET CIRCULO...

  • Page 44: Maximum Cable Lengths

    The cable must be as thin and as flexible as possible. Maximum cable lengths Please observe these maximum allowed values for cables: © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 44/915 SOMANET CIRCULO...
  • Page 45 GHR-10V-S SSHL-002T- 28 AWG Encoder 2 P0.2 Analog In GHR-06V-S SSHL-002T- 28 AWG P0.2 Temperature GHR-02V-S SSHL-002T- 28 AWG Sensor P0.2 © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 45/915 SOMANET CIRCULO...
  • Page 46 Gauge Digital IO GHR-11V-S SSHL-002T- 28 AWG P0.2 External GHR-07V-S SSHL-002T- 28 AWG Encoder 1 P0.2 External GHR-10V-S SSHL-002T- 28 AWG © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 46/915 SOMANET CIRCULO...
  • Page 47 This connector isn’t UL certified With piggyback connectors, the connections will be out of Circulo diameter. Please consider this in your mechanical design! © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 47/915...

  • Page 48: Mechanical Integration

    Circulo is designed to induce excess heat into the actuator body, so it is recommended that the mounting surface covers all the heatsink’s lower surface for optimal thermal performance. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 48/915...
  • Page 49 More details about mounting encoder rings can be found in this section. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 49/915 SOMANET CIRCULO...
  • Page 50 © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05...

  • Page 51: Dimensions And Drawings

    Attention: Servo drives should not be mounted in direct sunlight. Dimensions © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 51/915 SOMANET CIRCULO...
  • Page 52 Drilling patterns Mounting a bearing If a bearing is required it can be fitted into the dowel holes and tightened with screws. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 52/915 SOMANET CIRCULO...
  • Page 53 Considering the air gap between the ring and the encoder read head, the following dimensions should be kept during all modes of operation: © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 53/915...
  • Page 54 Outer Ring A [mm] 0.5 ±0.20* 0.8 ±0.20* B [mm] 0.56 ±0.14 0.26 ±0.14 C [mm] 2.94 ±0.13 3.24 ±0.13 Circulo 9 © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 54/915 SOMANET CIRCULO...
  • Page 55 0.3 mm Tangential displacement t max 0.3 mm Mounting eccentricity (radial runout) e max 0.1 mm Image 2 - Planar displacements © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 55/915 SOMANET CIRCULO...
  • Page 56 This step needs to be performed by a certified adhesive specialist! Materials needed: 1* mounted magnet flange 1* Circulo inner ring 1* Circulo outer ring Tools needed: © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 56/915 SOMANET CIRCULO...
  • Page 57 LOCTITE datasheet. The LOCTITE needs to be cured for at least 24h before operation. Image 4 - Mounting of the magnetic rings The result should look like the following: Mounted magnetic rings © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 57/915 SOMANET CIRCULO...
  • Page 58 Single shaft encoder In this use case, the two magnetic rings are mounted onto a singular flange which is mounted onto a singular motor shaft. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 58/915...
  • Page 59 ASSEMBLY REQUIREMENTS CIRCULO 9 SINGLE SHAFT PRESS FIT ASSEMBLY REQUIREMENTS CIRCULO 7 SINGLE SHAFT PRESS FIT Encoder accuracy SOMANET Circulo optionally features one or two integrated encoders. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 59/915 SOMANET CIRCULO...
  • Page 60 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: © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 60/915...
  • Page 61 Please check the section Calibration procedure for calibrating the narrow angle. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 61/915 SOMANET CIRCULO...
  • Page 62 Position 1 (inner) Position 2 (outer) Sensor location (radius) [mm] 14.975 22.875 Wide angle error at eccentricity e = 0.1 ±1377 ±902 © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 62/915 SOMANET CIRCULO...

  • Page 63: Mechanical Assembly

    3-8 x RPS - Mounting of the magnetic ring (for example amount of the screws used for fix- ing the ring) Mechanical Assembly Materials needed: © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 63/915 SOMANET CIRCULO...
  • Page 64 Ensure that Circulo is screwed properly to the heat conducting surface to facilitate the heat trans- fer. This assembly is visualized by the diagram below. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 64/915...
  • Page 65 (highlighted in the drawing below) must touch the mounting structure. In operating cases that are very close to the thermal limits, we recommend using a very thin layer of electrically conductive thermal paste. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 65/915...
  • Page 66 * Extended continuous operating range. Values have been reached in tests but can not be ensured. Use at own risk. ** Please refer to the load cycle © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 66/915 SOMANET CIRCULO...

  • Page 67: Led Signals

    LED signals Overview SOMANET Circulo has several LEDs that show the drive’s state or indicate errors. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 67/915 SOMANET CIRCULO...

  • Page 68: Status Led

    CiA 402 State Not Ready Ready to Fault and Switch on Switched Operation Quick to Switch Switch Fault Reac- Disabled Enabled Stop tion © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 68/915 SOMANET CIRCULO...
  • Page 69 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. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05...
  • Page 70 Prevention of unexpected start-up Commissioning and maintenance Changelog of the safety-related documentation Safety connectors The pins for STO-SBC are incorporated into the EtherCAT® connector. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 70/915 SOMANET CIRCULO...
  • Page 71 30 m Connection diagrams for the STO inputs Important: Please note that Safety GND is an isolated signal from drive GND. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 71/915 SOMANET CIRCULO...
  • Page 72 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. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 72/915 SOMANET CIRCULO...
  • Page 73 Safety functions Using the safety functions Attention: Activating SBC independently of or with a delay to STO is not possible.When STO is © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 73/915 SOMANET CIRCULO...
  • Page 74 To prevent damaging the brake, a Safe Stop Category 1 (SS1) is recommended. Timing diagrams Timing diagram for STO-function without connected brake © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 74/915 SOMANET CIRCULO...
  • Page 75 Timing diagram for STO-function with SBC-function Truth table for digital inputs STO-SBC In STO-SBC In Safety Status- Internal fault word Error entry © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 75/915 SOMANET CIRCULO...
  • Page 76 1 - Input 1: 2 - Input 2: Input 1/2: 0: Input is low 1: Input is high 0x6621 Safety Statusword Subindex: © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 76/915 SOMANET CIRCULO...
  • Page 77 Emergency stop Stop category 1 emergency stop (Safe stop 1) Prevention of unexpected start-up © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 77/915 SOMANET CIRCULO...

  • Page 78: Commissioning And Maintenance

    Safety wiring diagrams, the safety parameter configuration print out and the com- missioning test shall be documented and stored (who, what, when) Define maintenance routines according to the need (see chapter maintenance) © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 78/915...
  • Page 79 4.5.5 Update Add Safety parameters 2021-01-19 4.5.9 Update Correct Safety details 2021-01-27 4.5.10 Update Correct Safety details and 2021-02-01 remove SELV © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 79/915 SOMANET CIRCULO...
  • Page 80 Instructions for manually tuning the proportional and integral gains of the velocity control loop if the drive should be operated in velocity control mode © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05...
  • Page 81 Drives and the related services. It supports access over WiFi or local area network. WiFi Frequency 2.4/5 GHz (Antenna, Dual Band 2.4/5 GHz, Rubber Duck, RP-SMA) Connectors © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 81/915 SOMANET CIRCULO...
  • Page 82 EtherCAT® LAN port. If the ports are mixed up, no communication to the drives and no connection to the box via LAN is possible. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05...
  • Page 83 EtherCAT® port of the box. Some important device specific information is written on the sticker placed on the box: © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05...
  • Page 84 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. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05...
  • Page 85 OBLAC Drives can be done by connecting the host PC to the OBLAC box by a LAN cable. Use the LAN / Network port in this case. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05...
  • Page 86 Ethernet patch cable between your PC board and the LAN port of the OBLAC box. But in addi- tion ICS (Internet Connection Sharing) has to be enabled on the PC. Go to Windows Settings - Network & Internet: © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 86/915...
  • Page 87 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”. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05...
  • Page 88 Offline Updates If it is for any reason not possible to get online with the OBLAC box, the offline update with “bundles” is possible. The bundles can be downloaded from https://bundles.synapticon.com/. There are two types of OBLAC Bundles: Release bundle This bundle includes an OBLAC Drives release, e.g.
  • Page 89 OBLAC Drives Virtual Machine is run on a virtualization software. VMware Player version 14 or above for Windows and Linux or VMware Fusion 10 for macOS are needed for run- ning OBLAC Drives Virtual Machine. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 89/915...
  • Page 90 NAT and one set to Bridged (Automatic). Ensure that the "Replicate physical network connection state" option is checked. Press OK to save changes. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 90/915...
  • Page 91 If you get a warning that the import failed, just click “Retry” and it will run. You may also check “Do not show this message again” © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05...
  • Page 92 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 © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 92/915...
  • Page 93 NAT and one set to Bridged (Automatic) Ensure that the “Replicate physical network connection state” option is checked Press OK to save changes © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 93/915...
  • Page 94 The network adapter has to be an Ethernet connection, so it likely starts with “eth” Save changes Power up and connect the slaves. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 94/915...
  • Page 95 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 con- nected drives. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 95/915...
  • Page 96 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. That’s it! You may now proceed to commission your SOMANET servo drive: © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 96/915...
  • Page 97 Troubleshooting Guide Troubleshooting This section shall guide you through the most common error scenarios that could occur when using OBLAC Box. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 97/915 SOMANET CIRCULO...
  • Page 98 Memory Warning In rare cases your Linux distribution may show the warning: Not enough physical memory avail- able to power on this virtual machine” © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 98/915...
  • Page 99 OBLAC Drives you selected the wrong network port while configuring the VMware settings (check out our Setup Guide) © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 99/915 SOMANET CIRCULO...
  • Page 100 Make sure no native EtherCAT® master is running on the host machine or in the same net- work 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...
  • Page 101 After clicking “Install OBLAC Drives” you will be forwarded to the OBLAC Update Service and see a list of all current releases. Use this list also to select between different versions of OBLAC Drives. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 101/915...

  • Page 102: 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. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 102/915 SOMANET CIRCULO...

  • Page 103: Using Keyboard Shortcuts

    This action is irreversible. It will remove all files from a drive and install an empty firmware. Using keyboard shortcuts Press the ?-key to get an overview of the shortcuts available. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 103/915...
  • Page 104 You can edit the value directly in the Quick Open input box or view the parameter documentation by clicking on the (i) button. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 104/915...
  • Page 105 When you have downgraded to a version older than 19.0.0 you wont find the Link any- more. To access OBLAC Drives Update Service please manually enter port 64000 in your URL (e.g 192.168.0.1:64000) © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 105/915...
  • Page 106 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. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 106/915...
  • Page 107 Click on the “Launch Setup Wizard” link to open the setup wizard. It will first ask you to give a name to your drive. First you need to determine if you have an attached brake. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 107/915...
  • Page 108 So if you have a pin-style brake, please ensure that no heavy load is attached to the motor. After clicking on “Next” you will be asked for details of the connected motor. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 108/915...
  • Page 109 Details can be found in encoder configuration. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 109/915 SOMANET CIRCULO...
  • Page 110 After finishing the wizard, OBLAC Drives will open the “Playground”, where you can test the basic functionality of your new SOMANET drive setup. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 110/915 SOMANET CIRCULO...
  • Page 111 Use the slider or the buttons to enter a reference torque. Important: - Applying a constant torque means that the motor shaft will start moving and not stop © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 111/915...
  • Page 112 You may also configure additional features such as: Velocity feedback signal filtering Cogging torque compensation © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 112/915 SOMANET CIRCULO...
  • Page 113 Use the buttons on the right hand side of the window to see detailed plots of the tracking beha- vior (position setpoint and actual position) and other values like the torque. You can use the fig- © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05...
  • Page 114 Manual Tuning of the position control loop Instructions for manually tuning the cascaded PID controller. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 114/915 SOMANET CIRCULO...

  • Page 115: Auto Tuning

    Auto-tuning is performed in two steps: System identification Identifying the physical properties of the object to build a math- ematical model of the target system. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 115/915 SOMANET CIRCULO...
  • Page 116 PID Controllers: Theory, Design, and Tuning Goal of Velocity Auto-tuning The Velocity Auto-tuning process calculates the gains for the velocity controller automatically. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 116/915 SOMANET CIRCULO...
  • Page 117 How to use Note: To reset to default values simply click on the Velocity or Position tab. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 117/915 SOMANET CIRCULO...
  • Page 118 Torque excitation signal frequency range - defines the frequency range of the injected signal: from 2 Hz to the specified value. How to use this slider: © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 118/915...
  • Page 119 The system identification is possible only with default units. # Do I have to repeat system identification after attaching a load to the system. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05...
  • Page 120 The auto-tuning procedures tunes only linear controllers. Non-linear control parts should be tuned manually for better performance. Hall sensors should not be used for precise position control. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 120/915...
  • Page 121 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: © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 121/915...
  • Page 122 In a cascaded control loop, this parameter indirectly influences overshoot and rise time. Practically, the damping ratio effect depends on the controller type. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 122/915...
  • Page 123 It is better to repeat both procedures. If it is not possible to repeat the system identification, auto-tuning still can be used. But the resulting settling time will © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05...
  • Page 124 The procedure calculates gains for the PI velocity controller. Prerequisites Before conducting velocity auto-tuning check the following: © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 124/915 SOMANET CIRCULO...
  • Page 125 Underdamped < 1: overshoot is allowed, results in a sharper response.Example of a velo- city control loop step response with a damping ratio of 0.4: © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05...
  • Page 126 71% of the amplitude.Example of velocity control loop 10 Hz sine wave tracking with a requested bandwidth of 10 Hz: An example of velocity control loop 10 Hz sine wave tracking with a requested bandwidth of 80 © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 126/915...
  • Page 127 This will definitely result in worse performance compared to higher resolution encoders. Additionally, the velocity signal used in system identification might have multiple zeros that © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05...

  • Page 128: Manual Tuning

    Manual Tuning of the current controller For a three-phase PM motor, the torque generated in the motor is directly proportional to the RMS value of motor phase currents. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 128/915...
  • Page 129 Increase K by 50% and evaluate the step response. Repeat this step as long as generated overshoot is below 10% of the reference value. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 129/915...
  • Page 130 The cascaded controller can be tuned manually, which can become necessary if: The auto-tuner cannot be run due to mechanical limitations, attached robot arms or other restrictions © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 130/915...
  • Page 131 Using these initial values, controller gains could be manually tuned using your preferred meth- ods. Classical tuning methods for PID controllers like Ziegler-Nichols can be applied here. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05...
  • Page 132 Detection, perform System Identification. Perform Velocity Tuning. Alternatively, copy the configuration file from a similar actuator and perform Offset Detec- tion. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 132/915 SOMANET CIRCULO...
  • Page 133 Go to the encoder configuration of the motor shaft encoder and open the Encoder Cal- © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 133/915...
  • Page 134 3 degrees of margin on each side. At first, the system will slowly move to the Min- imum Software Position Limit and then start the calibration procedure within the safe range. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05...
  • Page 135 The motor will turn and you will see the progress on the blinking Running iteration n and some updates in the measurement graphs. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 135/915...
  • Page 136 It should be as big as possible. Phase reserve after finished calibration: Phase reserve after finished limited range calibration: © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 136/915...
  • Page 137 The phase reserve can’t practically be 100% because it’s limited by encoder ring positioning, actual magnetic air gap and ring magnetization quality. A bigger phase reserve (>50% for Circulo 9 and >60% for Circulo 7) ensures proper operation of the encoder and results in more robust behavior of the encoder system: small mechanical changes, vibration and temperature expansion are less likely to cause an error.

  • Page 138: Troubleshooting

    In this case, adjust the encoder ring mounting to ensure the nominal air gap. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 138/915...
  • Page 139 This set of features allows to: Check the distance between the chip and the magnetic ring Detect axial runout of the encoder ring © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 139/915...
  • Page 140 Make sure you are always using the latest version of OBLAC Box. Please select the correct ring type in order to get more accurate air gap estimation: Marked or Unmarked. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 140/915 SOMANET CIRCULO...
  • Page 141 0.5 mm for all rings. Please check mechanical documentation and update OBLAC Box. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 141/915...
  • Page 142 Can Multiturn Counter configuration. Connect the multiturn battery, appear during Multi- check the battery voltage, configure the multiturn bits in © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 142/915 SOMANET CIRCULO...
  • Page 143 Check pos- drop due to high temperatures. itioning of the encoder ring. (FRQ_CNV) Encoder maximum speed was exceeded. Circulo 7 - 12000 Encoder maximum RPM or Circulo 9 - 6000 RPM speed was exceeded. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05...
  • Page 144 (Name), Description, Remedy Detailed description (FRQ_ABZ) Encoder Encoder maximum speed was exceeded. Circulo 7 - 12000 maximum speed RPM or Circulo 9 - 6000 RPM was exceeded. (NON_CTR) Internal The absolute position value can’t be computed reliably at the cur- Encoder calibration rent position.

  • Page 145: Software Reference

    SOMANET throws firmware errors as specified in CiA 402 Error report object Each occurring error is described in the Error Report Object © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 145/915 SOMANET CIRCULO...
  • Page 146 Switching the modes Describes how the modes can be selected Control Loop Tuning Each motor needs to be tuned before it is operational. Synapticon provides an easy-to-use Auto-Tuning feature but all drives can also be tuned manually Extended control functionalities These features can be used to enhance performance ©...
  • Page 147 A list of the entire Object Dictionary Communication area Objects needed for communication Manufacturer specific area Complementary objects for enhanced performance and additional features © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 147/915 SOMANET CIRCULO...

  • Page 148: 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: © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 148/915...

  • Page 149: Functionality Description

    Profile Modes: Profile position mode In profile position mode, the trajectory to a target point is generated on the drive © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 149/915 SOMANET CIRCULO...
  • Page 150 Applies controller gains, which will change dynamically regarding the current speed Motor overload protection (i2t) This feature limits the overcurrent injected to the motor to prevent damage from overheating © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 150/915 SOMANET CIRCULO...

  • Page 151: Canopen Over Ethercat® (Coe)

    (EtherCAT® Slave Information) XML file to your project. SOMANET CIA 402 ESI Drive State Machine (CiA 402) Each CiA 402 device is controlled by the State Machine. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 151/915 SOMANET CIRCULO...
  • Page 152 Sto- reac- swit- dis- swit- Switc- ation tion Func- able- enabl- act- act- tion Brake applied, present Drive function enabled Con- © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 152/915 SOMANET CIRCULO...

  • Page 153: Pdo Configuration

    PDO mapping. It is possible to add up to 20 objects to one PDO mapping © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05...

  • Page 154: Actuator Configuration

    “south” and “north” magnetic poles exist. These magnetic poles are created by permanent magnets which are built into the rotor structure. This number can be found in the motor’s data sheet. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 154/915...
  • Page 155 If the value for phase resistance is available in the motor data sheet, the motor phase resistance for the equivalent star configuration equals to: © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05...
  • Page 156 Errors in phase resistance and inductance Wrong values of the parameters phase resistance or phase inductance will affect the quality of the current loop controllers: © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 156/915...
  • Page 157 Note: If the motor time constant is bigger than 100 ms, it’s recommended to use 16 kHz. If the © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 157/915...
  • Page 158 Motor Rated The RMS value of motor phase currents which can Current continuously pass through motor windings without overheating the motor © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 158/915 SOMANET CIRCULO...
  • Page 159 Brake Terminal of SOMANET Circulo Attention: The brake output can be switched off safely when SOMANET Circulo is used but not con- trolled safely. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 159/915 SOMANET CIRCULO...
  • Page 160 Release Subitem 0x2004:7 (Brake status) turns it On and Subitem 0x2004:10 (Output voltage) sets the voltage. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 160/915 SOMANET CIRCULO...
  • Page 161 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 mech- anically activated. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 161/915...
  • Page 162 Controlling the brake using the brake status object 0x2004:7 will trigger the brake release pro- cedure only if the drive is in Diagnostic mode and OP ENABLED state. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05...
  • Page 163 If the drive is not in OP ENABLED state, then releasing the brake will only apply voltage on PIN (Phase D). Timing diagram © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 163/915...
  • Page 164 Target position is set to the initial position of the rotor and the open loop profiler motor moves to the initial position. Step 5 Control is enabled, the drive accepts Position / Velocity / Torque targets. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 164/915 SOMANET CIRCULO...
  • Page 165 0x2004:8 Position Threshold Same as current implementation Value 0x2004:9 Percentage of rated Can be used to control the field rotational © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 165/915 SOMANET CIRCULO...
  • Page 166 The velocity reference frame is reported on the moving shaft. The target and actual velo- city are scaled with a factor of “gear-ratio”. For better precision, it is recommended to change the SI unit to mrpm. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 166/915...
  • Page 167 Max motor speed 0x6081 Profile velocity 0x6083 Profile acceleration 0x6084 Profile deceleration 0x6085 Quick stop deceleration 0x609A Homing acceleration 0x60B1 Velocity offset © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 167/915 SOMANET CIRCULO...
  • Page 168 This object defines the velocity unit. 0x60A9 SI unit velocity Output of position controller in position mod- 0x606B Velocity demand e/trajectory generator in velocity mode. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 168/915 SOMANET CIRCULO...
  • Page 169 Control effort put of the position control loop). Sets the target velocity and will be used as input 0x60FF Target velocity © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 169/915 SOMANET CIRCULO...
  • Page 170 The Offset Detection routines identify two parameters for the relationship between the motor electrical angle (rotor magnetic field angle) and the motor position sensor feedback: The motor phase configuration (NORMAL or INVERTED) (0x2003:5) © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 170/915...
  • Page 171 In most cases, the provided sensor angle contains a shift respect rotor angle. Image 3 shows such a case where the provided sensor angle has an offset respect rotor angle: © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05...
  • Page 172 The power supply used should be able to provide the voltage / current required by the routine © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 172/915 SOMANET CIRCULO...
  • Page 173 It is able to hold the load The offset can be precisely measured It will rotate the rotor up to 100% of a pole-pair range © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 173/915...
  • Page 174 2. It can take up to 250 milliseconds. The precision of method 2 is not as high as methods 0 or 1. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 174/915...
  • Page 175 Less good None Duration up to 250 ms cause audible noise * This procedure is usually carried out with applied brakes. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 175/915 SOMANET CIRCULO...
  • Page 176 OBLAC Box. The commutation off- set detection method is chosen with subitem 0x2009:3. The default method is 1. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 176/915 SOMANET CIRCULO...
  • Page 177 Command 4: Motor phase order detection Command 5: Commutation offset measurement Autophasing after power on with incremental encoder: The following steps are mandatory: © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 177/915 SOMANET CIRCULO...
  • Page 178 0.001), this will reduce the oscillations of the load. Parameters Object ID Name Description 0x2001 Commutation Represents the required shift for position sensor angle offset output. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 178/915 SOMANET CIRCULO...

  • Page 179: Power Limit

    Use case: Battery powered system © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 179/915 SOMANET CIRCULO...
  • Page 180 This limit is updated in each execution loop of the torque control, and it limits the absolute value of reference torque. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 180/915...
  • Page 181 Hall sensors and ABI encoders can be combined for commutation Input counter Allows counting pulses in a particular pin of an encoder connector © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 181/915 SOMANET CIRCULO...
  • Page 182 Analog input 1 Parameter holding the value of analog input 1 0x2402 Analog input 2 Parameter holding the value of analog input 2 © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 182/915 SOMANET CIRCULO...

  • Page 183: Analog Input Scaling

    The hardware must support at least one analog input Usage Wiring Drives of the SOMANET Circulo family has a voltage divider internally. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 183/915 SOMANET CIRCULO...
  • Page 184 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. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 184/915 SOMANET CIRCULO...
  • Page 185 When the value approaches 95% of the defined thresholds, a warning is triggered. Polynomial If R := 0 (no voltage divider) © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 185/915 SOMANET CIRCULO...
  • Page 186 Most Digital I/Os are configurable as either input or output independently if they are used as gen- eral purpose input/output (GPIO). This is done in 0x2210 GPIO pin configuration. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 186/915 SOMANET CIRCULO...
  • Page 187 Available features are: Value Definition Disabled [IN] General Purpose Input [OUT] General Purpose Output [IN] Home Switch Active High - Level Triggered © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 187/915 SOMANET CIRCULO...
  • Page 188 Mimics Target Reached (tr) Bit of Statusword [OUT] Mimics Internal Limit Active (ila) Bit of Statusword [OUT] Timestamped Triggered Output [OUT] Position Triggered Output (Pulse) © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 188/915 SOMANET CIRCULO...
  • Page 189 An input action can only be configured on a Digital In pin. An output event can only be configured on a Digital Out pin. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05...
  • Page 190 Home Switch Active Low - Level Triggered (5) Active and inactive state of the Home switch will be reflected as 0 and 1 respectively at the selec- ted digital input. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 190/915...
  • Page 191 Controlword will be cleared and Quick Stop will be executed. Negative Limit Switch Active High - Level Triggered for Homing & Edge Triggered (Latch) for Error (NegLmAct) (8) © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 191/915...
  • Page 192 If the switch is active and the user tries to switch to cogging torque compensation, this will not be allowed. The error based on the activated switch will be raised by firmware. Diagnostics mode © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 192/915 SOMANET CIRCULO...
  • Page 193 Interlock: When connecting different devices for a common process it’s often necessary to ensure the correct order of operation. This can be done by routing the signals to the © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05...
  • Page 194 The value of the selected Digital Output mimics bit 10 of the Statusword (tr). When the “tr” bit is high, the configured digital output will be high © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05...
  • Page 195 0x2211:1 and added: 2385309 * 100 + 15000 * 100 = 240030900. Attention: When the DC Clock feature is not used, there is a drift between the timestamp and the DC Clock. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 195/915 SOMANET CIRCULO...
  • Page 196 Internal encoder 1 Encoder Connector 2 Internal encoder 2 Encoder Connector 3 Encoder port 1 Encoder Connector 4 Encoder port 2 © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 196/915 SOMANET CIRCULO...
  • Page 197 The value of the selected Digital Output mimics bit 4 of the Statusword (ve). When the “ve” bit is high, the selected digital output will be high. Mimics Switch On Disabled (sod) Bit of Statusword (23) © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 197/915...
  • Page 198 Manufacture specific bits set the state of digital out- puts 0x60FD Digital Inputs Manufacture specific bits show the state of digital inputs © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 198/915 SOMANET CIRCULO...

  • Page 199: Encoder Configuration

    The polarity represents the direction of rotation of the motor in comparison to the rotation of the encoder. If these directions don’t match, then the polarity is inverted. Set the value to -1 to invert the polarity. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 199/915...
  • Page 200 Requirements The Drive needs a Hall sensor and an ABI encoder connected at two different connectors, both must be properly configured. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 200/915 SOMANET CIRCULO...
  • Page 201 If no error is raised, the initial electrical angle is estimated based on the Hall sensors, and the Hall sensors are not sampled again. As soon as the incremental encoder passes the index, the © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05...
  • Page 202 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. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 202/915...
  • Page 203 0x2006 Protection Undervoltage: 0x2006:1, Unit given in V Overvoltage: 0x2006:2, Unit given in V Overcurrent: 0x2006:3, Unit given in mA Parameters © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 203/915 SOMANET CIRCULO...

  • Page 204: Errors And Warnings

    Object 0x603F throws error codes as standardized in CiA 402: Object ID Name 0x0000 NO_ERROR 0x2220 DEVICE_INTERNAL_CONTINUOUS_OVER_CURRENT 0x2250 DEVICE_INTERNAL_SHORT_CIRCUIT 0x2351 I2T_THERMAL_STATE_LOAD_LEVEL_WARNING 0x3130 PHASE_FAILURE 0x3131 PHASE_FAILURE_L1 © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 204/915 SOMANET CIRCULO...
  • Page 205 Object ID Name Description 0x603F Error Code Provides the error code of the last error which occurred in the drive device © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 205/915 SOMANET CIRCULO...
  • Page 206 VM version OBLAC Drives. Rebooting the VM would solve the problem in this case. Else please © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 206/915 SOMANET CIRCULO...
  • Page 207 Regarding an setpoint). over-current, If the user- please refer to defined remedy for threshold is over-current higher than the © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 207/915 SOMANET CIRCULO...
  • Page 208 CiA 402 state that requires high-level power to be applied. These states are Switched © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 208/915 SOMANET CIRCULO...
  • Page 209 0x603F Remedy PhUdef Protection Indicates a mal- 0x5300 Please note Hardware function of the down the Undefined protection cir- information cuit. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 209/915 SOMANET CIRCULO...
  • Page 210 PhWtdg Protection The watchdog 0x5300 Please note Hardware is a service, by down the © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 210/915 SOMANET CIRCULO...
  • Page 211 Syn- short-circuit apticon tech- accident nical support © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 211/915 SOMANET CIRCULO...
  • Page 212 PhDeadTB Protection 0x2250 Hardware Deadtime Phase B PhDeadTC Protection 0x2250 Hardware Deadtime Phase C PhDeadTD Protection 0x2250 Hardware Deadtime Phase D © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 212/915 SOMANET CIRCULO...
  • Page 213 Hardware phase current the remedy for Over-current or the DC bus over-current. current is meas- ured exceeding the man- ufacturer- defined © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 213/915 SOMANET CIRCULO...
  • Page 214 Please refer to Hardware the remedy for Over-current over-current. Phase B PhOcC Protection 0x2220 Please refer to Hardware the remedy for over-current. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 214/915 SOMANET CIRCULO...
  • Page 215 0x2611 (Safety digital input diagnostics) and locate the sig- nal leading to the fault. Note that You can only reset the © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 215/915 SOMANET CIRCULO...
  • Page 216 SfeFault Safety Fault A safety- 0x5300 Please note down based hard- the information © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 216/915 SOMANET CIRCULO...
  • Page 217 If the case figured ing a validated FSoE para- parameter files. metrization is enabled, this warning would be expected until the SMM © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 217/915 SOMANET CIRCULO...
  • Page 218 Replace the SMM if dam- aged. This error will be shown if the firmware with © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 218/915 SOMANET CIRCULO...
  • Page 219 Check con- be shown with nections on the a 100 ms inter- safe digital val. input 2. If the error persists © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 219/915 SOMANET CIRCULO...
  • Page 220 100 ms inter- safe digital val. input 4. If the error persists exchange the © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 220/915 SOMANET CIRCULO...
  • Page 221 3 reports nections and missing test configuration on pulses. the safe digital input 3. If the error persists exchange the drive. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 221/915 SOMANET CIRCULO...
  • Page 222 SmmFIn10 Output 2 dis- Safe digital out- 0xFF10 Both channels © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 222/915 SOMANET CIRCULO...
  • Page 223 If the error. error persists after the power cycle and error remains after disconnecting the wires from the output, exchange the drive. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 223/915 SOMANET CIRCULO...
  • Page 224 If the discrepancy error persists error between after the power the two chan- cycle and error © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 224/915 SOMANET CIRCULO...
  • Page 225 Safe analog 0xFF18 At least one of range fault input reports an the analog input error on values exceeds ranges. the allowed © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 225/915 SOMANET CIRCULO...
  • Page 226 0xFF21 Internal analog sampler fault input reports an input check error on failed. If the sampler inputs. error persists after power © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 226/915 SOMANET CIRCULO...
  • Page 227 5 V are supplied by the same power source. If fault remains when nothing is con- nected to encoder and IO © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 227/915 SOMANET CIRCULO...
  • Page 228 If the fault is still there: - on external encoders: check wiring - check encoder data on non © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 228/915 SOMANET CIRCULO...
  • Page 229 SMM. exchange the drive. SmmFIn25 Black-channel A parameter 0xFF25 Check and cor- config fault download via rect parameters © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 229/915 SOMANET CIRCULO...
  • Page 230 (e.g. checksum If the error per- mismatch, sists after the Watchdog). power cycle, exchange the © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 230/915 SOMANET CIRCULO...
  • Page 231 If fault remains © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 231/915 SOMANET CIRCULO...
  • Page 232 SmmFIn36 Timing fault SMM reports 0xFF36 If the error per- cycle timing viol- sists after the ations. power cycle, © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 232/915 SOMANET CIRCULO...
  • Page 233 Fault between the compatibility. If safe and the the error per- non-safe part sists exchange fails. the drive. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 233/915 SOMANET CIRCULO...
  • Page 234 Please check the doc- umentation of the encoder and correctly con- figure the read- ing. 2. The encoder is indeed rasing an © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 234/915 SOMANET CIRCULO...
  • Page 235 (Status bits act- ive value). This fault indic- ate that the drive receives the warning bit © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 235/915 SOMANET CIRCULO...
  • Page 236 © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 236/915 SOMANET CIRCULO...
  • Page 237 © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 237/915 SOMANET CIRCULO...
  • Page 238 0x7304 CRC error, there CRC6 of some are several of the data that causes often is being sent. This error is © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 238/915 SOMANET CIRCULO...
  • Page 239 Common para- meters wrongly configured are the singleturn resolution and multiturn res- olution. 2. Mis- configuration of © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 239/915 SOMANET CIRCULO...
  • Page 240 In this case the fault can some- times be reset, but would occur under certain cir- cumstances. Please check © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 240/915 SOMANET CIRCULO...
  • Page 241 BiSS register - Remove the transaction fail. encoder from the sensor port list (0x2100) and add it again. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 241/915 SOMANET CIRCULO...
  • Page 242 © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 242/915 SOMANET CIRCULO...
  • Page 243 © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 243/915 SOMANET CIRCULO...
  • Page 244 SSI slave. Please check the sensor con- figuration accord- © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 244/915 SOMANET CIRCULO...
  • Page 245 The cause can be that the signal transfer is influ- enced by external field, or that the signal transfer is © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 245/915 SOMANET CIRCULO...
  • Page 246 1. The con- different from figured res- the sensor res- olution con- figured by user. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 246/915 SOMANET CIRCULO...
  • Page 247 2a. The encoder being improp- erly mounted, or the encoder ring is dam- aged. Please © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 247/915 SOMANET CIRCULO...
  • Page 248 The cause can be that the signal transfer is influ- enced by external field, or that the sig- © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 248/915 SOMANET CIRCULO...
  • Page 249 3 chan- indeed with the nels (usually Index pulse, i.e. known as ABI/ ABZ), the drive © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 249/915 SOMANET CIRCULO...
  • Page 250 Please check the mounting instruction of your encoder for proper installation, and consult the encoder man- © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 250/915 SOMANET CIRCULO...
  • Page 251 Improve the situation by replacing the © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 251/915 SOMANET CIRCULO...
  • Page 252 Only available making sure on hardware that the wires that supports it. are stably trans- ferring the sig- nals. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 252/915 SOMANET CIRCULO...
  • Page 253 HALL sensor con- figured for com- mutation. If the © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 253/915 SOMANET CIRCULO...
  • Page 254 Format trans- mission speed is wrong. AftTmout A-Format The A-Format 0x7303, Please check Timeout. encoder didn't 0x7304 the wiring and © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 254/915 SOMANET CIRCULO...
  • Page 255 © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 255/915 SOMANET CIRCULO...
  • Page 256 Battery Alarm. The usual case is that the bat- tery voltage is low, the battery is wrongly © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 256/915 SOMANET CIRCULO...
  • Page 257 Check your A- better under- Format encoder standing the datasheet for meaning of the more inform- Over Speed ation. Alarm. The © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 257/915 SOMANET CIRCULO...
  • Page 258 Check your A- umentation for Format encoder better under- datasheet for standing the more inform- meaning of the ation. PS Error. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 258/915 SOMANET CIRCULO...
  • Page 259 Temperature information. Warning. In case of over- temperature please refer to © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 259/915 SOMANET CIRCULO...
  • Page 260 If it doesn't detection. please check its 2. The cal- configuration, © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 260/915 SOMANET CIRCULO...
  • Page 261 OBLAC opening another page and ploting the position feed- back of the encoder used for commutation while running off- © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 261/915 SOMANET CIRCULO...
  • Page 262 3. There was an issue when trying to ini- tialize or con- figure an encoder. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 262/915 SOMANET CIRCULO...
  • Page 263 0x7304 the doc- an encoder bat- umentation to tery was expec- make sure the ted, but battery is con- © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 263/915 SOMANET CIRCULO...
  • Page 264 0x7304 time that is ping cycles raised when a required for read- serial encoder ing the encoder. service In a BiSS © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 264/915 SOMANET CIRCULO...
  • Page 265 For other encoders, the speed is fixed. Please contact support if this issue occurs. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 265/915 SOMANET CIRCULO...
  • Page 266 © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 266/915 SOMANET CIRCULO...
  • Page 267 © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 267/915 SOMANET CIRCULO...
  • Page 268 Check the con- figuration of the pull/hold voltage, which © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 268/915 SOMANET CIRCULO...
  • Page 269 (sensor 0x2009:1 Com- configuration, mutation off- motor con- © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 269/915 SOMANET CIRCULO...
  • Page 270 0x6073: Max negative max current current to be a (0x6073: Max value larger than current) is 0. 0, according to © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 270/915 SOMANET CIRCULO...
  • Page 271 Max. 0x200B: Max negative power power to a valid (0x200B) is 0. value larger than 0, according to your motor data- © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 271/915 SOMANET CIRCULO...
  • Page 272 0x60A9: SI unit velocity, and the doc- umentation for user defined © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 272/915 SOMANET CIRCULO...
  • Page 273 Please check the constant Feed para- values of meters 0x6092 0x6092:1 and (Feed or Shaft 0x6092:2. revolutions) is set to 0. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 273/915 SOMANET CIRCULO...
  • Page 274 Profile velocity in Profile postiion mode is limited. SwPosLmt Software pos- Software pos- 0x5300, ition limit ition limit is act- 0x8612 © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 274/915 SOMANET CIRCULO...
  • Page 275 Motor is at the 0x5300 Switch Active position limit switch and can't move fur- ther. NegLmAct Negative Limit Motor is at the 0x5300 © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 275/915 SOMANET CIRCULO...
  • Page 276 100 ms of munication is each other. reestablished. Otherwise, the occurrence of the error indic- ates that there exists unknown © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 276/915 SOMANET CIRCULO...
  • Page 277 In order to send mand col- mand was sent, another OS com- lision but the OS com- mand, please mand response read the © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 277/915 SOMANET CIRCULO...
  • Page 278 See being triggered, 0x200A: I2t for that indicates configuration that the drive is parameters. protecting the motor from poten- © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 278/915 SOMANET CIRCULO...
  • Page 279 HmIvSwSt Invalid Switch The state of 0x5300 Ensure that the State during homing switches © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 279/915 SOMANET CIRCULO...
  • Page 280 Remedy Intern01 Internal fault Internal Error 0x5300 Please note Code. Please con- down the tact support. information regarding the occurrence of © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 280/915 SOMANET CIRCULO...
  • Page 281 Internal fault Internal Error 0x7500 Please contact Code. Motion ser- support. vice is skipping cycles and there is no downstream communication. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 281/915 SOMANET CIRCULO...
  • Page 282 © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 282/915 SOMANET CIRCULO...
  • Page 283 Please check cut-off fre- ition feedback 0x2022:2 Pos- quency too filter Cutoff fre- ition feedback fil- high quency is ter: Cutoff © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 283/915 SOMANET CIRCULO...
  • Page 284 5 Hz. Please check the doc- umentation of the object for latest inform- © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 284/915 SOMANET CIRCULO...
  • Page 285 2000 Hz. Please check the doc- © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 285/915 SOMANET CIRCULO...
  • Page 286 The © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 286/915 SOMANET CIRCULO...
  • Page 287 InterLck DI for Interlock 0x5300 (Fault Reac- tion) is low SkpCycls Motion or drive The warning 0xF002 Try to disable © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 287/915 SOMANET CIRCULO...
  • Page 288 4 see if the prob- kHz, which lem is fixed. means that the cycles are taking longer than 250 us. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 288/915 SOMANET CIRCULO...
  • Page 289 It can also result in irregular clock timing. TmpDrive or This fault is 0x4310 Disable the PhOtDrve drive until the © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 289/915 SOMANET CIRCULO...
  • Page 290 High drive tem- perature can lead to equip- ment damage. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 290/915 SOMANET CIRCULO...
  • Page 291 Upper error umentation for threshold scaled meas- 0x2038:12 urements. External scaled measurement Lower error threshold © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 291/915 SOMANET CIRCULO...
  • Page 292 Check the voltage output of your power supply, if necessary with a measurement tool. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05...
  • Page 293 0x6079 The DC link circuit voltage The voltage between the main power supply pins on the drive The voltage output by the power supply © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 293/915...
  • Page 294 These types are as follows: DEBG denotes a debugging log entry INFO this is the default log level. It contains information such as state changes © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 294/915 SOMANET CIRCULO...

  • Page 295: Motion Control

    Cyclic synchronous velocity control (CSV) In velocity control modes, the master sends desired velocities to the drive © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 295/915 SOMANET CIRCULO...
  • Page 296 Switching the modes Describes how the modes can be selected Control Loop Tuning Each motor needs to be tuned before it is operational. Synapticon provides an easy-to-use Auto-Tuning feature but all drives can also be tuned manually Extended control functionalities...

  • Page 297: Control Loops

    Velocity Control Loop Position Control Loop Dual Loop Cascaded Postion Control Current and Torque Control Loop Torque control loop General view Detail view © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 297/915 SOMANET CIRCULO...
  • Page 298 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). © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 298/915...
  • Page 299 Parameters Object ID Name Description 0x2010 Torque Controller Values Kp, Ki and Kd for Torque Controller Velocity Control Loop General view © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 299/915 SOMANET CIRCULO...
  • Page 300 This means the controller gains for the velocity controller described here (objects 0x2011:1 … 0x2011:4) and the velocity cascade being part of the position controller (objects 0x2012:5 … 0x2012:8) are set independently. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 300/915...
  • Page 301 There are two implementations available for position control: Cascaded PID controller Simple PID controller Cascaded PID Controller General view Detailled view © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 301/915 SOMANET CIRCULO...
  • Page 302 © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05...
  • Page 303 This controller represents the simplest and most known form of position con- trol. However, for productive use Synapticon recommends to use the cascaded controller. In the simple PID controller, one Proportional, Integral and Derivative feedback acts on the position itself and will directly generate the target torque / current.
  • Page 304 A second encoder can be attached to the output shaft after the gear for an optimized position control. This section shows exemplary how the cascaded position controller can be configured for a dual encoder setup. General view © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 304/915 SOMANET CIRCULO...
  • Page 305 The velocity FIR filter is before velocity feed forward until firmware 5.0.3! Only in the soon- to-be-released firmware 5.0.4 it will be at the shown position. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05...

  • Page 306: Modes Of Operation

    Cyclic synchronous velocity control (CSV) In velocity control modes, the master sends desired velocities to the drive © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 306/915 SOMANET CIRCULO...
  • Page 307 Optionally, an additive torque value can be provided by the control system in order to allow two instances to set up the torque. The cyclic synchronous torque mode covers the following sub-functions: © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 307/915...
  • Page 308 For further information please refer to the section on Control Supervision. 15-13 Target Inter- Tar- basic Torque ignored limit reach- act- © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 308/915 SOMANET CIRCULO...
  • Page 309 If desired, the position control loop may be closed over the © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05...
  • Page 310 The velocity actual value is used as mandatory output to the control device. Another output is the torque actual value. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 310/915 SOMANET CIRCULO...
  • Page 311 PID controller and the bit will be cleared. Note: 0 = Target velocity ignored 1 = Target velocity shall be used as input © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 311/915 SOMANET CIRCULO...
  • Page 312 Especially in a cascaded control structure, where a position control is followed by a velocity or torque control, the output of the © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05...
  • Page 313 Target reached: the bit is set to 1 if the actual position stays in the window of the target position ± position window for a duration of position window time. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05...
  • Page 314 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 © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 314/915...
  • Page 315 0x6084 - Profile deceleration 0x6085 - Quick Stop deceleration Note: Profile velocity is limited by the Object: Max motor speed 0x6080 © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 315/915 SOMANET CIRCULO...
  • Page 316 - Software position limit 0x607D The output of the trajectory generator is the position demand internal value for the position PID. General view © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 316/915 SOMANET CIRCULO...
  • Page 317 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. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05...
  • Page 318 Therefore, this bit has to be 1 before setting a new-point. The new set-points will be executed immediately and won’t wait for the previous one to fin- ish. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 318/915...

  • Page 319: Status Word

    0x6067 - Position window 0x6068 - Position window time Fol- Set-point Inte- Tar- low- acknow- rnal ledge limit reac- error act- © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 319/915 SOMANET CIRCULO...
  • Page 320 Profile Velocity 0x6081 Profile acceleration 0x6083 Profile deceleration 0x6084 Quick Stop deceleration 0x6085 set mode of operation to 1 © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 320/915 SOMANET CIRCULO...
  • Page 321 Max motor speed The maximum possible speed of the Motor according to the data sheet 0x6072 Max torque 0x6074 Torque demand © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 321/915 SOMANET CIRCULO...
  • Page 322 0x60F4 Following error actual value 0x6067 Position window 0x6068 Position window time 0x606B Velocity demand value 0x6062 Position demand value © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 322/915 SOMANET CIRCULO...
  • Page 323 * This object is automatically detected and configured by Commutation Offset Detection. Note: Target velocity is limited by Object: Max motor speed 0x6080 © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 323/915 SOMANET CIRCULO...
  • Page 324 The mode specific bits of the statusword can be used to monitor the performance of the oper- ation. For further information please refer to the section on Control Supervision. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 324/915 SOMANET CIRCULO...
  • Page 325 Note: If the velocity window is 0xFFFF, velocity window monitoring will be switched off and the target reached bit will always be 0. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 325/915...
  • Page 326 In profile torque mode, a constant torque is generated according to the target torque and the defined torque slope (the rate of change of torque). © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05...
  • Page 327 Both enabling the halt bit and setting the target torque to zero will ramp down the torque applied to the motor according to the torque slope. At the end of the slope no torque will © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05...
  • Page 328 The mode specific bits of the statusword can be used to monitor the performance of the oper- ation. For further information please refer to the section on Control Supervision. 15-12 Inte- Target basic rnal reache- limit act- © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 328/915 SOMANET CIRCULO...
  • Page 329 Axes without an absolute encoder can use the homing function to restore the position to a pre- viously defined location. Homing methods SOMANET supports the following methods as defined in CiA 402 profile specification (IEC61800-7-201:2015): © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 329/915 SOMANET CIRCULO...
  • Page 330 Homing on an opposite home switch (active) and index pulse with neg- ative initial direction. Reverse if negative limit switch is hit Homing on an opposite home switch (inactive) and index pulse with © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 330/915...
  • Page 331 The home position is the first index to the right when the negative limit switch changes state. Homing Method 2 : Homing on a Positive Limit Switch and Index Pulse © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 331/915...
  • Page 332 (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). © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 332/915...
  • Page 333 The direction will be reversed when encountering the negative limit switch. If the home switch is initially active then the direction of movement depends on the homing method. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 333/915...
  • Page 334 Homing Mode 35/37 can be used to determine the current position as home. Use case: Relative position command The current position can be taken as the reference point. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 334/915 SOMANET CIRCULO...
  • Page 335 Homing on the home switch with an index pulse 17, 18 Similar to method 1 & 2, but without index pulse. Homing is done at switch © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 335/915...
  • Page 336 Switches can be configured in both active high and active low configuration. But only one GPIO can be assigned to one switch whether active high or active low. For example If © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05...
  • Page 337 Bit 10: Target reached Bit 12: Homing attained Bit 13: Homing error © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 337/915 SOMANET CIRCULO...
  • Page 338 When the halt bit is lifted, the hom- ing routine is resumed from the same step it was in before halt. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05...
  • Page 339 Set bit 8 to 0 and bit 4 to 1 to start homing 0x6041 Statusword Indicates the current state of the homing pro- cess © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 339/915 SOMANET CIRCULO...
  • Page 340 When this opmode is selected and the transition to Operation enabled is performed, the brake will only be disengaged if the encoder index needs to be found. Once this procedure is © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05...
  • Page 341 The modes are called by setting the object 0x6060 as follows: Value for 0x6060 Control Mode Profile position mode Profile velocity mode © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 341/915 SOMANET CIRCULO...
  • Page 342 0x6060 Op Mode Use this object to select the desired Mode Extended Control Functionalities Synapticon provides several features for enhancing motion control even with low-cost hardware: Cogging compensation Removes ripples caused by magnetic interaction between motor rotor and stator Field weakening...
  • Page 343 © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05...
  • Page 344 For executing the cogging torque recording the motor must not be mechanically blocked and ideally must have no load attached. The motor is fully functional and the drive is properly configured. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 344/915...
  • Page 345 To use the automatic recording, simply click on “Start Recording” Attention: During the recording routine the motor will do several turns. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 345/915 SOMANET CIRCULO...
  • Page 346 Select “Position control mode” and tune the cascaded control loop with the sliders. The tuning should be as sharp as possible: try setting the settling time slider to 50-80 ms. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05...
  • Page 347 1 State State of the cogging torque compensation table. Possible values: NO DATA there is no cogging table in the memory © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 347/915 SOMANET CIRCULO...
  • Page 348 As shown in Fig. 1, “Field Weakening” is a feature that increases the speed range of a PM motor by weakening the magnetic field of the rotor linearly over the speed range. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05...
  • Page 349 In some development or test scenarios, it is acceptable to still use the torque control mode, © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05...
  • Page 350 As a result, the slope of rotor field reduction would be: Note: The field weakening feature can not be enabled when the drive is in fault state. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 350/915...
  • Page 351 This method is known as “clamping”. It requires no tuning. Detail view on the integrator branch with anti-windup: © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 351/915...
  • Page 352 This technique can be used within the cascaded position controller to com- pensate for nonlinear effects, especially stiction / friction in the mechanics. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05...
  • Page 353 Please note that this feature is at the moment experimental. It is currently accessible only directly via EtherCAT® through the parameter 0x2013:1 … 0x2013:18. The gain © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05...
  • Page 354 To use this feature, the following parameters must be set properly according to the motor data sheet: Object ID Name Description 0x6075 Motor rated current Motor rated current (rms value) © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 354/915 SOMANET CIRCULO...
  • Page 355 When the i2t tracking variable falls to 50%, current limiting is turned off and the motor phase cur- rents can reach higher values again. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05...
  • Page 356 Default value of gain is 0 (This means Velocity feed forward is off) The gain is given in per mil 1. A value of 1000 is a good starting point. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05...
  • Page 357 Additionally, a velocity offset can be added to the control loop for even faster movements with high dynamic. Click here for details for using the velocity offset. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 357/915 SOMANET CIRCULO...
  • Page 358 The offset torque can be updated at full EtherCAT® communication frequency (4 kHz in most configurations) and is given in the unit of per thousands of rated torque. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 358/915...
  • Page 359 This velocity offset must be computed by the master, it is not computed on the slave. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05...
  • Page 360 Loop shaping filter - Suppress excitation of resonance frequencies in the output of the motion control loop or in the input of the torque control loop. A 2nd order notch filter is sup- ported. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 360/915...
  • Page 361 - Laplace-domain frequency parameter - Cutoff frequency of the low-pass filter or central frequency of the Notch filter, defined in Radians/s My new footnote © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 361/915 SOMANET CIRCULO...
  • Page 362 The following equation was used to design the torque loop input shaping filter: Application Guide Position and Velocity Feedback Low-pass filters Torque loop input shaping filter My new footnote My new footnote © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 362/915 SOMANET CIRCULO...
  • Page 363 -3 dB of the amplitude. After that fre- quency, a roll-off region starts that further attenuates the signal. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05...
  • Page 364 Enable a filter with the default cutoff frequency. Try to change the cutoff frequency until an appropriate balance between noise filtering and phase-shift/magnitude attenuation is reached. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 364/915...
  • Page 365 Decide which resonance should be compensated and identify the width of excitation fre- quencies. Record the reference behavior of the system before applying the notch filter. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 365/915...
  • Page 366 Commands are sent to the slaves with a step size that depends on the master’s update rate. In EtherCAT®, these steps are usually in intervals of 250 µs to 8 ms while other protocols may © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05...
  • Page 367 Note: All axes on the chain must be commanded together and should have the same FIR set- tings. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 367/915 SOMANET CIRCULO...
  • Page 368 End effector precision may be poorly affected for robots with serial kinematics. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 368/915...
  • Page 369 - 1. An example of the filter order for a master with 1 ms cycle time and 250 µs cycle time SOMANET slave: © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 369/915...
  • Page 370 The Order is allowed between 0 (no action) and 31. The filter is enabled by default with an order of 3. The order reflects the amount of steps the algorithm “looks back”. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 370/915...
  • Page 371 Name and designation of these objects differ, depending on the chosen mode of operation: Profile Position © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 371/915...
  • Page 372 © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 372/915 SOMANET CIRCULO...
  • Page 373 Note: In Profile Position mode, the master does not send a new calculated position at each © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 373/915 SOMANET CIRCULO...
  • Page 374 Use case: Predictive maintenancing (monitor system wear) In case the following error grows bigger in time, check if mechanical wear is the reason. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 374/915...
  • Page 375 13 of the statusword is raised to 1, indicating that a Following error has occurred. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05...
  • Page 376 Use case: Pick and place operation In case the real position where the good is to be picked up or placed has more margin © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 376/915...
  • Page 377 0x6067 Position window (unit is given in incre- ments of the position encoder). The value 0xFFFFFFFF switches the feature off (default). © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 377/915 SOMANET CIRCULO...
  • Page 378 Position demand value 0x6062: Provides the value of the position sent to the position con- troller after position limits are checked. (See 0x607D Software position limit.) The units are in increments of the position encoder. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 378/915 SOMANET CIRCULO...
  • Page 379 If velocity control is used, the control effort is torque demand value Parameters Object ID Name Description 0x2014 Torque win- Indicates the accepted torque values and time © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 379/915 SOMANET CIRCULO...
  • Page 380 Provides the output of the trajectory generator in pro- demand file position mode internal value 0x6064 Position value Provides the actual value of the position encoder © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 380/915 SOMANET CIRCULO...
  • Page 381 For good performance, always enable the feature if possible. Ensure that your master sup- ports it! Distributed Clock configuration SOMANET supports 2 DC modes: © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 381/915 SOMANET CIRCULO...
  • Page 382 Command 1 iC-MU calibration mode Command 2 Open Loop Field Mode (OLFM) Command 3 HRD streaming Command 4 Motor phase order detection © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 382/915 SOMANET CIRCULO...
  • Page 383 OCTET_STRING Byte 0: OS command ID Byte 1-7: Service request data A write access to the subindex will execute the command © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 383/915 SOMANET CIRCULO...
  • Page 384 The status of the command can be read in Subindex 2 and is also available in the first byte of subindex 3. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 384/915...
  • Page 385 Grey table cells mean: these bytes are optional. Byte 0 Descrip- (Statu- Byt- Byte Byte Byte Byte Byte Byte tion Com- 100 - mand in progress (with per- © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 385/915 SOMANET CIRCULO...
  • Page 386 Com- Data Dat- Dat- Dat- Dat- Dat- mand com- pleted without errors and with respons- © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 386/915 SOMANET CIRCULO...
  • Page 387 Error codes 0 - 8 are command specific, while error codes 251 - 254 are general error codes. The command-specific OS error codes will be explained in detail in the corresponding section. General OS error codes: © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 387/915 SOMANET CIRCULO...
  • Page 388 Regis- Stream- Ope- err- n ter- error mina- allow- Dur- Ope- err- ation n ter- value mina- © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 388/915 SOMANET CIRCULO...
  • Page 389 OS Command # Data Ope- err- index value high Action Ope- err- value Ope- err- high Ope- err- Ope- © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 389/915 SOMANET CIRCULO...
  • Page 390 OS Command # err- high Ope- err- … (reserved for future use) Command not allowed err- Command aborted err- © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 390/915 SOMANET CIRCULO...
  • Page 391 Writing 0 to this object will enable “Execute the next command immediately”, which is the default mode. In this mode, new OS commands will be executed as described above. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05...
  • Page 392 Flowchart of the Command Available commands Command 0: Encoder register communication This command is used for reading or writing registers from a BiSS encoder. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 392/915 SOMANET CIRCULO...
  • Page 393 0. ¬R/W: Selects the direction of the command: 0 for reading a register, 1 for writing it. Register address: Register to be read/written. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 393/915...
  • Page 394 Status 255: The command is in progress. Status 1: The command was finished successfully. The register value is the value read/ written from/to the selected register. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 394/915...
  • Page 395 0x1023:1 should be set like this: Byte Value 0x11 0x08 In the terminal the following command can be used: EtherCAT® download 0x1023 1 0x0811010200 --type int64 © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 395/915 SOMANET CIRCULO...
  • Page 396 This means that the motor should not be moved while in Configuration mode if we plan to switch to Raw mode after. Command request Values in 0x1023:1 for this command: © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 396/915 SOMANET CIRCULO...
  • Page 397 Command response Possible responses of this command: Descrip- Byte Byte Byte Byte Byte Byte Byte Byte tion Com- mand in progress (without © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 397/915 SOMANET CIRCULO...
  • Page 398 Status 3: This command doesn’t have any command-specific OS error code, so this status will only happen when a general OS error code occurs. Example Configuring raw mode on encoder configured as Encoder 1: © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 398/915 SOMANET CIRCULO...
  • Page 399 EtherCAT® download 0x1023 1 0x0901 --type int64 To fetch the response, enter the following command: EtherCAT® upload 0x1023 3 --type int64 Which should return 0x0000000000000000 (Status 0). © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 399/915 SOMANET CIRCULO...
  • Page 400 Parameter index Byte 2 Parameter value [MSB] Byte 3 Parameter value [MSB-1] Byte 4 Parameter value [MSB-2] Byte 5 Parameter value [LSB] © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 400/915 SOMANET CIRCULO...
  • Page 401 Byte 0 Descrip- (Statu- Byte Byte Byte Byte Byte Byte Byte tion Com- mand in progress (without per- centage) Com- mand © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 401/915 SOMANET CIRCULO...
  • Page 402 Status 0: The command was finished successfully. Status 2: The command couldn’t be executed. The received Parameter index value is unknown. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 402/915 SOMANET CIRCULO...
  • Page 403 Each of the files will have a maximum size of 8032 bytes The files are named “hr_dataX.bin”, where X is a number starting at 0. Two actions are supported for this command: © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 403/915...
  • Page 404 Duration in ms: select the duration in milli-seconds of the stream. This value is only used when the Action is Configure stream (0). The maximum value for this parameter is 10000 © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05...
  • Page 405 Com- mand in progress (without per- centage) Com- mand com- pleted without errors without response Com- mand error com- cod- pleted © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 405/915 SOMANET CIRCULO...
  • Page 406 The selected Data index is unknown. Action value The selected Action is unknown. Example Streaming encoder raw data into a file for 5 s: © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 406/915 SOMANET CIRCULO...
  • Page 407 In the terminal the following command can be used: EtherCAT® download 0x1023 1 0x0103 --type int64 To fetch the response, enter the following command: © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 407/915...
  • Page 408 Byte Byte Byte Byte tion Com- mand in progress (without per- centage) Com- Motor mand phas- com- pleted order without errors © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 408/915 SOMANET CIRCULO...
  • Page 409 Set Byte 0 of 0x1023:1 to 4. In the terminal the following command can be used: EtherCAT® download 0x1023 1 0x04 --type int64 © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 409/915...
  • Page 410 Byte 0 Command response Descrip- Byt- Byt- Byt- Byt- Byt- Byt- tion Byte 2 Byte 3 Com- mand in pro- gress © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 410/915 SOMANET CIRCULO...
  • Page 411 OS error code occurs. Example To measure the commutation angle offset of our setup, we would need to: © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 411/915...
  • Page 412 Bit 0 Byte 0 Command response Descrip- Byte Byte Byte Byte Byte Byte Byte Byte tion Com- mand in progress (without per- © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 412/915 SOMANET CIRCULO...
  • Page 413 Terminal A of the Drive is not connected minal A Open ter- Terminal B of the Drive is not connected minal B © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 413/915 SOMANET CIRCULO...
  • Page 414 EtherCAT® download 0x1023 1 0x06 --type int64 To fetch the response, enter the following command: EtherCAT® upload 0x1023 3 --type int64 © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 414/915 SOMANET CIRCULO...
  • Page 415 Byte 2 Com- mand in progress (without per- centage) Com- Num- mand ber of com- pole pleted pairs without errors and with © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 415/915 SOMANET CIRCULO...
  • Page 416 Set Byte 0 of 0x1023:1 to 7. In the terminal the following command can be used: EtherCAT® download 0x1023 1 0x07 --type int64 To fetch the response, enter the following command: © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 416/915...
  • Page 417 Phase Phase Phase Phase mand res- res- res- res- com- istanc- istanc- istanc- istanc- pleted without [MSB] [MSB- [MSB- [LSB] errors © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 417/915 SOMANET CIRCULO...
  • Page 418 Set Byte 0 of 0x1023:1 to 8. In the terminal the following command can be used: EtherCAT® download 0x1023 1 0x08 --type int64 To fetch the response, enter the following command: © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 418/915...
  • Page 419 Com- Phase Phase Phase Phase mand induct- induct- induct- induct- com- ance ance ance ance pleted [MSB] [MSB- [MSB- [LSB] © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 419/915 SOMANET CIRCULO...
  • Page 420 Switch to diagnostics mode, enter operation enable and disengage the brake if there is one. For details please refer to Diagnostics opmode. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 420/915 SOMANET CIRCULO...
  • Page 421 Byt- Byt- Byt- Byt- tion Byte 2 Byte 3 Byte 4 Byte 5 Com- mand in pro- gress (without per- centag- © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 421/915 SOMANET CIRCULO...
  • Page 422 Set Byte 0 of 0x1023:1 to 10 (0xA). In the terminal the following command can be used: EtherCAT® download 0x1023 1 0x0A --type int64 © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05...
  • Page 423 The possible responses that this command will use are the following: Descrip- Byt- Byt- Byte Byte Byte Byte Byt- Byt- tion Com- mand in pro- © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 423/915 SOMANET CIRCULO...
  • Page 424 Status 3: This command doesn’t have any command-specific OS error code, so this status will only happen when a general OS error code occurs. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05...
  • Page 425 Encoder 1 (which is the encoder configured in 0x2110), a value of 2 will select Encoder 2 (which is the encoder configured in 0x2112). © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05...
  • Page 426 (without per- centage) Com- mand com- pleted without errors without response Com- mand error com- code pleted with error response © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 426/915 SOMANET CIRCULO...
  • Page 427 Note that the brake might get damaged when the motor does not ramp down to zero velo- city. This can happen due to one of the following reasons: © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05...
  • Page 428 (Cyclic Synchronous Position mode, Profile Position mode, Cog- ging recording, Homing) the quick stop procedure uses the position controller to stop the © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 428/915 SOMANET CIRCULO...
  • Page 429 In velocity control modes (Profile velocity mode, Cyclic Synchronous Velocity Mode), the drive controls 0 velocity. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 429/915 SOMANET CIRCULO...
  • Page 430 The drive continues to stay in Quick Stop Active until a command to disable the drive is received. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 430/915...
  • Page 431 Torque demand Provides the output value of the torque trajectory generator 0x6077 Torque actual Provides the actual value of the torque value © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 431/915 SOMANET CIRCULO...
  • Page 432 Manufacturer software version 0x100C Guard time 0x100D Life time factor 0x1010 Store parameters 0x1010:1 Save all parameters 0x1011 Restore default parameters © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 432/915 SOMANET CIRCULO...
  • Page 433 OS command 0x1023:1 Command 0x1023:2 Status 0x1023:3 Response 0x1024 OS command mode 0x1400 Receive PDO1 parameter 0x1400:1 COB-ID used by PDO © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 433/915 SOMANET CIRCULO...
  • Page 434 Inhibit time 0x1800 Transmit PDO1 parameter 0x1800:1 COB-ID used by PDO 0x1800:2 Transmission type 0x1800:3 Inhibit time 0x1800:4 reserved 0x1800:5 Event timer © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 434/915 SOMANET CIRCULO...
  • Page 435 COB-ID used by PDO 0x1803:2 Transmission type 0x1803:3 Inhibit time 0x1803:4 reserved 0x1803:5 Event timer 0x1C00 Sync Manager 0x1C00:1 SyncMan 0 © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 435/915 SOMANET CIRCULO...
  • Page 436 Table Caption Outside Table: Standard RxPDO mapped Objects Index PDO Index Name 0x1600 Receive PDO1 mapping 0x1600:1 0x6040 Controlword 0x1600:2 0x6060 Modes of operation © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 436/915 SOMANET CIRCULO...
  • Page 437 0x1A00:2 0x6061 Modes of operation display 0x1A00:3 0x6064 Position actual value 0x1A00:4 0x606C Velocity actual value 0x1A00:5 0x6077 Torque actual value © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 437/915 SOMANET CIRCULO...
  • Page 438 Table Caption Outside Table: Manufacturer Specific Area Index Name 0x2000 Command object (disabled) 0x2001 Commutation angle offset 0x2002 Position control strategy © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 438/915 SOMANET CIRCULO...
  • Page 439 0x2004:8 Minimum displacement (pin brake) 0x2004:9 Maximum torque (pin brake) 0x2004:10 Output voltage 0x2004:11 Switching frequency 0x2006 Protection 0x2006:1 Undervoltage setpoint © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 439/915 SOMANET CIRCULO...
  • Page 440 0x200A:1 Enabled 0x200A:2 Peak time 0x200A:3 Percent max 0x200A:4 Protection active 0x200B Max power 0x2010 Torque controller 0x2010:1 Controller Kp (disabled) © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 440/915 SOMANET CIRCULO...
  • Page 441 0x2011:3 Controller Kd 0x2011:4 Controller integral limit 0x2011:5 Encoder source 0x2012 Position controller 0x2012:1 Position loop Kp 0x2012:2 Position loop Ki © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 441/915 SOMANET CIRCULO...
  • Page 442 Velocity loop Ki 0 0x2013:9 Velocity loop Kd 0 0x2013:10 Velocity loop integral limit 0 0x2013:11 Threshold velocity 1 0x2013:12 Position loop Kp 1 © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 442/915 SOMANET CIRCULO...
  • Page 443 0x2021 Velocity feedback filter 0x2021:1 Type 0x2021:2 Cutoff frequency 0x2022 Position feedback filter 0x2022:1 Type 0x2022:2 Cutoff frequency 0x2023 Notch filter © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 443/915 SOMANET CIRCULO...
  • Page 444 Analog input 0x2038:3 Resistance 0x2038:4 Constant a0 0x2038:5 Constant a1 0x2038:6 Constant a2 0x2038:7 Constant a3 0x2038:8 Constant a4 0x2038:9 Constant a5 © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 444/915 SOMANET CIRCULO...
  • Page 445 DC synchronization 0x20F3:1 DC pulse time 0x2110 Encoder 1 configuration 0x2110:1 Sensor port 0x2110:2 Type 0x2110:3 Resolution 0x2110:4 Zero velocity threshold © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 445/915 SOMANET CIRCULO...
  • Page 446 0x2110:19 First clock delay 0x2110:20 Data ordering 0x2110:21 Endianness 0x2110:22 Index availability 0x2110:23 Hall sensor port 0x2110:24 Sinewave cycles per revolution © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 446/915 SOMANET CIRCULO...
  • Page 447 0x2112:7 Access signal type 0x2112:8 Clock frequency 0x2112:9 Frame size 0x2112:10 Multiturn bits 0x2112:11 Multiturn first bit position 0x2112:12 Singleturn bits © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 447/915 SOMANET CIRCULO...
  • Page 448 Sinusoidal output voltage 0x2112:27 Filter 0x2113 Encoder 2 feedback 0x2113:1 Raw position 0x2113:2 Adjusted position 0x2113:3 Velocity 0x2210 GPIO pin configuration © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 448/915 SOMANET CIRCULO...
  • Page 449 Pulse width 0x2214 GPIO global options 0x2214:1 Voltage level 0x2401 Analog input 1 0x2402 Analog input 2 0x2403 Analog input 3 © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 449/915 SOMANET CIRCULO...
  • Page 450 0x6060 Modes of operation 0x6061 Modes of operation display 0x6062 Position demand value 0x6064 Position actual value 0x6065 Following error window © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 450/915 SOMANET CIRCULO...
  • Page 451 0x6077 Torque actual value 0x6079 DC link circuit voltage 0x607A Target position 0x607B Position range limit 0x607B:1 Min position range limit © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 451/915 SOMANET CIRCULO...
  • Page 452 0x6091 Gear ratio 0x6091:1 Motor revolutions 0x6091:2 Shaft revolutions 0x6098 Homing method 0x6099 Homing speeds 0x6099:1 Speed during search for switch © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 452/915 SOMANET CIRCULO...

  • Page 453: Communication Area

    Target velocity 0x6502 Supported drive modes 0x6621 Safety statusword 0x6621:1 Byte 1 0x6621:2 Byte 2 Communication Area Index Name 0x1000 Device type © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 453/915 SOMANET CIRCULO...
  • Page 454 Restore manufacturer default parameters 0x1016 Consumer heartbeat time 0x1016:1 Consumer heartbeat time 0x1017 Producer heartbeat time 0x1018 Identity object 0x1018:1 Vendor-ID 0x1018:2 Product Code © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 454/915 SOMANET CIRCULO...
  • Page 455 0x1401:2 Transmission type 0x1401:3 Inhibit time 0x1402 Receive PDO3 parameter 0x1402:1 COB-ID used by PDO 0x1402:2 Transmission type 0x1402:3 Inhibit time © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 455/915 SOMANET CIRCULO...
  • Page 456 0x1601:2 Bit mask 0x1602 Receive PDO3 mapping 0x1602:1 User MOSI 0x1602:2 Velocity offset 0x1603 Receive PDO4 mapping 0x1800 Transmit PDO1 parameter © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 456/915 SOMANET CIRCULO...
  • Page 457 Transmission type 0x1802:3 Inhibit time 0x1802:4 reserved 0x1802:5 Event timer 0x1803 Transmit PDO4 parameter 0x1803:1 COB-ID used by PDO 0x1803:2 Transmission type © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 457/915 SOMANET CIRCULO...
  • Page 458 Analog input 4 0x1A01:5 Tuning status 0x1A02 Transmit PDO3 mapping 0x1A02:1 Digital inputs 0x1A03 Transmit PDO4 mapping 0x1A03:1 User MISO 0x1A03:2 Timestamp © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 458/915 SOMANET CIRCULO...
  • Page 459 SubIndex 003 0x1C12:4 SubIndex 004 0x1C13 SM 3 Assignment 0x1C13:1 SubIndex 001 0x1C13:2 SubIndex 002 0x1C13:3 SubIndex 003 0x1C13:4 SubIndex 004 © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 459/915 SOMANET CIRCULO...

  • Page 460: Manufacturer Specific Area

    Pull time 0x2004:4 Release strategy 0x2004:5 Controller disable delay 0x2004:6 DC bus voltage (deprecated) 0x2004:7 Brake status 0x2004:8 Minimum displacement (pin brake) © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 460/915 SOMANET CIRCULO...
  • Page 461 0x2009:3 Measurement method 0x2009:4 Phasing controller Kp 0x2009:5 Phasing controller Ki 0x2009:6 Phasing controller Kd 0x200A 0x200A:1 Enabled 0x200A:2 Peak time © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 461/915 SOMANET CIRCULO...
  • Page 462 0x2010:10 Settling time 0x2010:11 Damping ratio 0x2010:12 Encoder source 0x2011 Velocity controller 0x2011:1 Controller Kp 0x2011:2 Controller Ki 0x2011:3 Controller Kd © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 462/915 SOMANET CIRCULO...
  • Page 463 0x2013:4 Position loop Ki 0 0x2013:5 Position loop Kd 0 0x2013:6 Position loop integral limit 0 0x2013:7 Velocity loop Kp 0 © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 463/915 SOMANET CIRCULO...
  • Page 464 Torque window 0x2014:1 Value 0x2014:2 Time 0x2015 Velocity feed forward 0x2015:1 Gain 0x2015:2 Cutoff frequency 0x2021 Velocity feedback filter 0x2021:1 Type © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 464/915 SOMANET CIRCULO...
  • Page 465 Drive temperature 0x2031:1 Measured temperature 0x2038 External scaled measurement 0x2038:1 Scaled measurement value 0x2038:2 Analog input 0x2038:3 Resistance 0x2038:4 Constant a0 © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 465/915 SOMANET CIRCULO...
  • Page 466 0x20E1:2 Data 2 0x20E1:3 Data 3 0x20E1:4 Data 4 0x20F0 Timestamp 0x20F2 Assigned name 0x20F3 DC synchronization 0x20F3:1 DC pulse time © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 466/915 SOMANET CIRCULO...
  • Page 467 Singleturn first bit position 0x2110:14 Timeout 0x2110:15 CRC polynomial 0x2110:16 Maximum tbusy 0x2110:17 Status bits active value 0x2110:18 Parity type 0x2110:19 First clock delay © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 467/915 SOMANET CIRCULO...
  • Page 468 Encoder 2 configuration 0x2112:1 Sensor port 0x2112:2 Type 0x2112:3 Resolution 0x2112:4 Zero velocity threshold 0x2112:5 Polarity 0x2112:6 Singleturn offset 0x2112:7 Access signal type © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 468/915 SOMANET CIRCULO...
  • Page 469 0x2112:22 Index availability 0x2112:23 Hall sensor port 0x2112:24 Sinewave cycles per revolution 0x2112:25 Sinewave resolution 0x2112:26 Sinusoidal output voltage 0x2112:27 Filter © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 469/915 SOMANET CIRCULO...
  • Page 470 GPIO input actions 0x2212:1 Timestamp on rising edge 0x2213 GPIO position trigger 0x2213:1 Position setpoint 0x2213:2 Target encoder 0x2213:3 Pulse width © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 470/915 SOMANET CIRCULO...
  • Page 471 0x2705 Setup wizard completed Profile Specific Area Index Name 0x603F Error code 0x6040 Controlword 0x6041 Statusword 0x605A Quick stop option code © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 471/915 SOMANET CIRCULO...
  • Page 472 Velocity threshold time 0x6071 Target Torque 0x6072 Max torque 0x6073 Max current 0x6074 Torque demand 0x6075 Motor rated current 0x6076 Motor rated torque © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 472/915 SOMANET CIRCULO...
  • Page 473 0x6084 Profile deceleration 0x6085 Quick stop deceleration 0x6086 Motion profile type 0x6087 Torque slope 0x6088 Torque profile type 0x6091 Gear ratio © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 473/915 SOMANET CIRCULO...
  • Page 474 Digital inputs 0x60FE Digital outputs 0x60FE:1 Physical outputs 0x60FE:2 Bit mask 0x60FF Target velocity 0x6502 Supported drive modes 0x6621 Safety statusword © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 474/915 SOMANET CIRCULO...

  • Page 475: Process Data Objects (Pdo)

    Modes of oper- RxPDO Mapping ation 0x6071 Target Torque RxPDO Mapping 0x607A Target position RxPDO Mapping 0x60FF Target velocity RxPDO Mapping © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 475/915 SOMANET CIRCULO...
  • Page 476 TxPDO Mapping play 0x6064 Position actual value TxPDO Mapping 160x606C Velocity actual value TxPDO Mapping 0x6077 Torque actual value TxPDO Mapping © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 476/915 SOMANET CIRCULO...
  • Page 477 Configuring custom PDO mappings EtherCAT® PDOs are transmitted cyclically in a fixed length. The standard set of PDO can be sent at up to 4000 Hz. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 477/915...
  • Page 478 This can be used to check the device configuration against the master configuration. More details can be found in our System Integration Guide © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 478/915 SOMANET CIRCULO...
  • Page 479 (SDO and FoE) 0x1C12 SM 2 Assign- This object object defines the incoming PDO map- ment pings to be used © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 479/915 SOMANET CIRCULO...

  • Page 480: Device Information

    Saving factory defaults is not possible via firmware command. This must be performed off- line. In case needed please contact support@synapticon.com for details. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 480/915 SOMANET CIRCULO...
  • Page 481 The values loaded into the object dictionary are not checked for validity. Ensure that the values are correct when the parameters are set manually, otherwise malfunctions or © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05...
  • Page 482 Note: All parameters that are not stored will be discarded on power off since all parameters are restored automatically at startup. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 482/915 SOMANET CIRCULO...
  • Page 483 It takes about 3 seconds to save the configuration file. Limitations The drive must be disabled for saving or restoring parameters. This feature is supported in all modes of operation. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 483/915 SOMANET CIRCULO...
  • Page 484 Loads either factory settings or user defined para- 0x1011 Restore default meters from the drive. parameters © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 484/915 SOMANET CIRCULO...
  • Page 485 Users can define limits for undervoltage, overvoltage and overcurrent Errors and warnings A list of all standard and SOMANET specific errors © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 485/915 SOMANET CIRCULO...
  • Page 486 In profile torque mode, the drive sends a target torque to the motor Homing modes Diagnostics opmode Used for triggering diagnostic OS commands Switching the modes Describes how the modes can be selected © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 486/915 SOMANET CIRCULO...
  • Page 487 Control Loop Tuning Each motor needs to be tuned before it is operational. Synapticon provides an easy-to-use Auto-Tuning feature but all drives can also be tuned manually Extended control functionalities These features can be used to enhance performance Cogging compensation...
  • Page 488 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: © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 488/915...
  • Page 489 Cyclic Synchronous Modes: Profile Modes: Profile position mode Profile velocity mode Profile torque mode Homing Modes that support limit and home switches © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 489/915 SOMANET CIRCULO...
  • Page 490 Anti-Windup Control Gain Scheduling Motor Overload Protection (i2t) Feed Forward Control Torque Offset Velocity Offset Control supervision Command smoothing and Interpolation © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 490/915 SOMANET CIRCULO...
  • Page 491 Image 1 - The transitions of the system’s states according to IEC 61800-7-201 The function that are available in each state are given in the table below: © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05...
  • Page 492 PDO data is internally updated by the slave (servo drive) at a rate of up to 4kHz and can be accessed by the master (e.g. PLC, Motion Controller) at any desired frequency. For more information about PDO refer to ETG1000.5 and ETG1000.6 © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 492/915...
  • Page 493 In a three-phase PM motor, the number of poles depends on the rotor design and shows how many “south” and “north” magnetic poles exist. These magnetic poles are created by permanent © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05...
  • Page 494 The software assumes that the motor windings are in a star configuration. For a “delta” winding configuration, the values which should be entered in the configuration must be converted to the equivalent star winding configuration. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 494/915...
  • Page 495 (Ld and Lq). In this case, the value of phase inductance can be calculated from the following equation: © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05...
  • Page 496 By default, the switching frequency is set to 16 kHz. Higher switching frequency values will result in higher switching losses in the inverter and less copper and iron losses in the motor. Moreover, © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05...
  • Page 497 Parameters according to your motor specification Settings 0x2010 Torque con- Values Damping Ration and Settling time for tuning troller the current controller and switching frequency (PWM) © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 497/915 SOMANET CIRCULO...
  • Page 498 This voltage is applied at the Brake Terminal of SOMANET Circulo. Attention: The brake output can be switched off safely but not controlled safely. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 498/915...
  • Page 499 Release Subitem 0x2004:7 (Brake status) turns it On and Subitem 0x2004:10 (Output voltage) sets the voltage. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 499/915 SOMANET CIRCULO...
  • Page 500 A pin-brake is a special type of brake commonly used in light-weight robot joints. The brake usu- ally consists of a solenoid linear actuator fixed to robot body and a notched wheel fixed to the © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05...
  • Page 501 Diagnostic mode and OP ENABLED state. If the drive is not in OP ENABLED state, then releasing the brake will only apply voltage on PIN (Phase D). © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 501/915...
  • Page 502 Timing diagram © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 502/915 SOMANET CIRCULO...
  • Page 503 Target position is set to the initial position of the rotor and the open loop profiler motor moves to the initial position. Step 5 Control is enabled, the drive accepts Position / Velocity / Torque targets. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 503/915 SOMANET CIRCULO...
  • Page 504 Overview The default unit for all velocity and speed data is rpm The default unit for all acceleration and deceleration data is rpm/s © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 504/915...
  • Page 505 0.001 rpm (value 0xFDB44700 or 0d4256450304) Since version 19.​ 1 .​ 0 of OBLAC Drives, this can be done directly in the UI using Quick Open: © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05...
  • Page 506 0x2010:6 Torque controller: Field weakening starting speed 0x2010:7 Torque controller: Field weakening ending speed 0x2012:4 Position controller: Position loop integral limit © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 506/915 SOMANET CIRCULO...
  • Page 507 Configures the velocity that is considered zero threshold velocity. 0x6080 Max motor speed Sets the maximum allowed speed for the motor in © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 507/915 SOMANET CIRCULO...
  • Page 508 Values Kp, Ki and Kd for Cascaded Position Con- 0x2012 Position Con- troller (Both loops: Position and Velocity) troller Parameters needed for Gain Scheduling 0x2013 Gain Scheduling © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 508/915 SOMANET CIRCULO...
  • Page 509 Normally, both rotor angle and sensor angle should increase/decrease at the same time. This situation is called “NORMAL motor phase configuration” and is shown in Image 1. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05...
  • Page 510 In most cases, the provided sensor angle contains a shift respect rotor angle. Image 3 shows such a case where the provided sensor angle has an offset respect rotor angle: © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05...
  • Page 511 The power supply used should be able to provide the voltage / current required by the routine © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 511/915 SOMANET CIRCULO...
  • Page 512 It is able to hold the load The offset can be precisely measured It will rotate the rotor up to 100% of a pole-pair range © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 512/915...
  • Page 513 2. It can take up to 250 milliseconds. The precision of method 2 is not as high as methods 0 or 1. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 513/915...
  • Page 514 Less good None Duration up to 250 ms cause audible noise * This procedure is usually carried out with applied brakes. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 514/915 SOMANET CIRCULO...
  • Page 515 OBLAC Box. The commutation off- set detection method is chosen with subitem 0x2009:3. The default method is 1. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 515/915 SOMANET CIRCULO...
  • Page 516 Command 4: Motor phase order detection Command 5: Commutation offset measurement Autophasing after power on with incremental encoder: The following steps are mandatory: © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 516/915 SOMANET CIRCULO...
  • Page 517 0.001), this will reduce the oscillations of the load. Parameters Object ID Name Description 0x2001 Commutation Represents the required shift for position sensor angle offset output. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 517/915 SOMANET CIRCULO...
  • Page 518 Use case: Battery powered system © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 518/915 SOMANET CIRCULO...
  • Page 519 This limit is updated in each execution loop of the torque control, and it limits the absolute value of reference torque. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 519/915...
  • Page 520 Hall and ABI encoders can be combined for com- mutation with the benefits of each. Input counter: Allows counting pulses in a particular pin of an encoder connector. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 520/915 SOMANET CIRCULO...
  • Page 521 Scaling: Nonlinear conversion of an analog voltage using a 5th order poly- nomial function. Parameters Object ID Name Description 0x2401 Analog input 1 Parameter holding the value of analog input 1 © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 521/915 SOMANET CIRCULO...
  • Page 522 Torque sensor: Applications include converting the output of a torque sensor directly into mNm, Nm or any other unit desired by the user. Requirements The hardware must support at least one analog input © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 522/915 SOMANET CIRCULO...
  • Page 523 A 5th order polynomial function with or without voltage-divider is supported. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 523/915...
  • Page 524 Upper and lower level thresholds can be configured in subitems 0x2038:11 and 0x2038:12. When these thresholds are violated, the error ExAnSnsr is triggered in the Error report object. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 524/915 SOMANET CIRCULO...
  • Page 525 Parameters Object ID Name Description Transforms an analog input to an output by a 5th 0x2038 Analog Input order polynomial Scaling © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 525/915 SOMANET CIRCULO...
  • Page 526 Digital Outputs to trigger when certain events happen. This can be used to control some aspects of the Drive with an external signal or to control an external device with the Drive. Available features are: © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 526/915...
  • Page 527 Fault Reset - Edge Triggered [IN] Interlock (Fault Reaction) Active Low - Level Triggered [IN] Time Stamped Rising Edge - Edge Triggered © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 527/915 SOMANET CIRCULO...
  • Page 528 In this object a feature can be selected for each Digital I/O pin. Some features require additional settings in other objects as well. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 528/915...
  • Page 529 Home Switch Active High - Level Triggered (4) © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 529/915...
  • Page 530 Digital Input Object 0x60FD. Note: Positive Limit switch also triggers Quick Stop, if the drive is either in any opmode other © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 530/915...
  • Page 531 Driving out of the limit switch is only possible in the opposite direction, the concrete behavior is mode-dependant: Modes CSP, PP , PV , CSV , CST and PT © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 531/915...
  • Page 532 All those methods which try to move the axis further into the limit switch will raise an error. The error raised depends on the limit switch being active: © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 532/915...
  • Page 533 (interlock bit) of the Digital Inputs Object 60FD will also be high when Interlock is active. Time Stamped Rising Edge - Edge Triggered (13) © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 533/915 SOMANET CIRCULO...
  • Page 534 15000 µs after the current time. Both times need to be converted to the units of 0x2211:1 and added: 2385309 * 100 + 15000 * 100 = 240030900. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05...
  • Page 535 Output a configurable width pulse to the selected Digital Output at a certain encoder position. The encoder port that is used can be selected in subitem 2 of object 0x2213: © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05...
  • Page 536 The value of the selected Digital Output mimics bit 0 of the Statusword (rtso). When the “rtso” bit is high, the selected digital output will be high. Mimics Operation Enabled (oe) Bit of Statusword (21) © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 536/915...
  • Page 537 “Position Triggered Output” Note: The pulse is generated independently of the direction from which the setpoint is crossed. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 537/915 SOMANET CIRCULO...
  • Page 538 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. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 538/915...
  • Page 539 Which encoder should be used for position Encoder source control 0x2011:5 Velocity controller: Which encoder should be used for velocity Encoder source control © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 539/915 SOMANET CIRCULO...
  • Page 540 2. Configuring the Hall additionally on port 2 will lead to a HwRsrcEr. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05...
  • Page 541 9 (rev. B.1) used for anything else. Pulses are counted at pin Use case: Counting revolutions for simple speed estimation © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 541/915 SOMANET CIRCULO...
  • Page 542 One Digital I/O pin can be used for the addressable LED feature. The available voltage at the Digital I/O connector supplies with 250 mA either 3,3 V or 5 V. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05...
  • Page 543 The table shows the parameter values to achieve the rated supported current of Circulo (250 mA) with a ring with 42 LEDs WS2812B-Mini-V3. Object 0x2215:01 Condition Value Dec Value Hex Blue 0x80 © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 543/915 SOMANET CIRCULO...
  • Page 544 GND of the Digital I/O (Pin 4 or Pin 10) must be connected to the GND of the external power sup- ply, as illustrated. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05...
  • Page 545 This feature allows users to define limits for the following values: Undervoltage Overvoltage Overcurrent Once these limits are violated, an error is triggered and the drive is stopped. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 545/915 SOMANET CIRCULO...
  • Page 546 SOMANET throws firmware errors as specified in CiA 402. Error Report Object: Each occurring error is described in the Error Report Object. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 546/915...
  • Page 547 PHASE_FAILURE_L1 0x3132 PHASE_FAILURE_L2 0x3133 PHASE_FAILURE_L3 0x3210 DC_LINK_OVER_VOLTAGE 0x3220 DC_LINK_UNDER_VOLTAGE 0x3331 FIELD_CIRCUIT_INTERRUPTED 0x4210 EXCESS_TEMPERATURE_DEVICE 0x4310 EXCESS_TEMPERATURE_DRIVE 0x5300 OPERATING_UNIT 0x6010 SOFTWARE_RESET_WATCHDOG 0x6320 PARAMETER_ERROR © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 547/915 SOMANET CIRCULO...
  • Page 548 Explanation 0x603F Remedy NoFault No fault Default value This error code of the object, should indicate which means that there's no © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 548/915 SOMANET CIRCULO...
  • Page 549 Syn- apticon. Protection faults of user-defined parameters Errors triggered by user-defined thresholds (for more details see object 0x2006: Protection) © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 549/915 SOMANET CIRCULO...
  • Page 550 User-defined long as the hard- Over-current ware protection Phase C is available, this software pro- tection can be considered unfunctional. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 550/915 SOMANET CIRCULO...
  • Page 551 User-defined the DC bus is user-defined, Over-voltage voltage is meas- please first ured exceeding check the object the user-defined 0x2006:2 Over- © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 551/915 SOMANET CIRCULO...
  • Page 552 PhFault Protection A generic hard- 0x5300 Please refer to Hardware ware fault was the Protection Fault © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 552/915 SOMANET CIRCULO...
  • Page 553 This for further error indicates investigation. that the watch- dog tick is not © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 553/915 SOMANET CIRCULO...
  • Page 554 This error indicates that the effect- ive deadtime is detected below the man- ufacturer- © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 554/915 SOMANET CIRCULO...
  • Page 555 / Over-tem- MOSFETs and and over-tem- perature the DC bus perature. voltage are checked by the same hardware protection cir- cuit against © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 555/915 SOMANET CIRCULO...
  • Page 556 PhUv Protection 0x3220 Please refer to Hardware the remedy for © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 556/915 SOMANET CIRCULO...
  • Page 557 Over-current over-current. Phase B PhOcC Protection 0x2220 Please refer to Hardware the remedy for Over-current over-current. Phase C © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 557/915 SOMANET CIRCULO...
  • Page 558 Note that You can only reset the safety fault if you are in the SAFETY ACTIVATED state, meaning both STO-SBC1 (0x2611:1) and STO-SBC2 © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 558/915 SOMANET CIRCULO...
  • Page 559 Synapticon tech- nical support for further invest- igation. If this fault is permanent © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 559/915 SOMANET CIRCULO...
  • Page 560 SMM got the para- meters val- idated from safety PLC via FSoE. In the case of parametrization by OBLAC © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 560/915 SOMANET CIRCULO...
  • Page 561 1 reports have to be in a discrepancy the same state, between the if not this fault is two channels. reported. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 561/915 SOMANET CIRCULO...
  • Page 562 The error will Check con- © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 562/915 SOMANET CIRCULO...
  • Page 563 1 reports nections and missing test configuration on pulses. the safe digital input 1. If the error persists exchange the © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 563/915 SOMANET CIRCULO...
  • Page 564 4 reports nections and missing test configuration on pulses. the safe digital input 4. If the error persists exchange the drive. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 564/915 SOMANET CIRCULO...
  • Page 565 Check con- nections, If the error persists after the power cycle and error © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 565/915 SOMANET CIRCULO...
  • Page 566 2 reports an nections, If the error. error persists after the power cycle and error remains after disconnecting the wires from © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 566/915 SOMANET CIRCULO...
  • Page 567 SmmFIO16 Brake output The brake out- 0xFF16 Check con- fault put reports an nections, If the © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 567/915 SOMANET CIRCULO...
  • Page 568 Vp and Vn. If this voltage levels of both channels are in the range between 0-5 V © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 568/915 SOMANET CIRCULO...
  • Page 569 5 V measure supply for voltage on pin 1 encoders or on encoder analog input © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 569/915 SOMANET CIRCULO...
  • Page 570 HW fault and exchange the drive. SmmFIO23 Encoder fault Encoder mon- 0xFF23 Either no itoring showed © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 570/915 SOMANET CIRCULO...
  • Page 571 (raw values of encoder 1 and 2). - check if configuration between of non safe encoder © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 571/915 SOMANET CIRCULO...
  • Page 572 SMM to taking place but enable FSoE valid para- para- meters are metrization. available. This fault is raised if FSoE master down- © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 572/915 SOMANET CIRCULO...
  • Page 573 SmmFIn27 Core fault SMM reports 0xFF27 If the error per- internal errors. sists after the power, cycle exchange drive. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 573/915 SOMANET CIRCULO...
  • Page 574 If fault remains when safe digital outputs are not con- nected there is an internal HW fault and © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 574/915 SOMANET CIRCULO...
  • Page 575 SmmFIn37 Internal dis- A discrepancy 0xFF37 If the error per- crepancy between the sists after the two micro- power cycle, © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 575/915 SOMANET CIRCULO...
  • Page 576 BiSS Error Bit One of the bits 0x7303, Please check active. in the BiSS 0x7304 the 2 cases frame is used to © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 576/915 SOMANET CIRCULO...
  • Page 577 2. The encoder is indeed rasing an error/ warning. Please check the doc- umentation of © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 577/915 SOMANET CIRCULO...
  • Page 578 BisAcBit BiSS Acknow- The BiSS slave 0x7303, Please firstly ledge Bit not is not acknow- 0x7304 make sure that © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 578/915 SOMANET CIRCULO...
  • Page 579 This usually happens when there is some issue with the © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 579/915 SOMANET CIRCULO...
  • Page 580 BisFrame BiSS Frame The sensor con- 0x7303, Please check configuration figuration 0x7304 the sensor con- © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 580/915 SOMANET CIRCULO...
  • Page 581 This error is 1. Mis- raised when the configuration of CRC sent by the BiSS slave is different than © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 581/915 SOMANET CIRCULO...
  • Page 582 2. Mis- configuration of the object CRC polynom, thus the CRC is cal- © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 582/915 SOMANET CIRCULO...
  • Page 583 Please check the signals received by the drive with an oscilloscope under operation © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 583/915 SOMANET CIRCULO...
  • Page 584 Error code Description Explanation 0x603F Remedy SsiFrame SSI Frame The sensor con- 0x7303, Please check configuration figuration 0x7304 the sensor con- © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 584/915 SOMANET CIRCULO...
  • Page 585 Assist- © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 585/915 SOMANET CIRCULO...
  • Page 586 Assist- ance of meas- urement tools © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 586/915 SOMANET CIRCULO...
  • Page 587 SSI slave. Please check the sensor con- figuration accord- ing to the documentation of the encoder © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 587/915 SOMANET CIRCULO...
  • Page 588 © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 588/915 SOMANET CIRCULO...
  • Page 589 Please figured by user. check the Res- olution con- © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 589/915 SOMANET CIRCULO...
  • Page 590 The encoder being improp- erly mounted, or the encoder ring is dam- aged. Please check the mounting instruction of your encoder © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 590/915 SOMANET CIRCULO...
  • Page 591 © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 591/915 SOMANET CIRCULO...
  • Page 592 2-channel (no an index for the index) for Num- absolute sing- ber of chan- leturn position. This error indic- © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 592/915 SOMANET CIRCULO...
  • Page 593 2. Incon- sistency in sig- nal transfer. Please check the signals received by the drive with an © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 593/915 SOMANET CIRCULO...
  • Page 594 © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 594/915 SOMANET CIRCULO...
  • Page 595 If the HALL and the last sensor is used state is invalid. together with an incremental © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 595/915 SOMANET CIRCULO...
  • Page 596 0, and 0x2003:5 Motor phases inverted should show 0 (No). © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 596/915 SOMANET CIRCULO...
  • Page 597 AftCrc A-Format The A-Format 0x7303, Please check CRC error. frame contains a 0x7304 the signals CRC of some of © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 597/915 SOMANET CIRCULO...
  • Page 598 © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 598/915 SOMANET CIRCULO...
  • Page 599 MT Error. AftOvFlw A-Format The encoder is 0x7303, Please check OvFlow raising Over 0x7304 the encoder doc- status. Flow Alarm. umentation for © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 599/915 SOMANET CIRCULO...
  • Page 600 Memory Error. AftSTErr A-Format The encoder is 0x7303, Please check © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 600/915 SOMANET CIRCULO...
  • Page 601 0x7304 the encoder doc- status. MEMBUSY umentation for Flag. Check better under- your A-Format standing the encoder data- meaning of the © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 601/915 SOMANET CIRCULO...
  • Page 602 Error. Check better under- your A-Format standing the encoder data- meaning of the sheet for more Incremental Sig- information. nal Error. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 602/915 SOMANET CIRCULO...
  • Page 603 3. The motor is the mechanical not moving dur- position. You ing the QEI can manually index detec- rotate the motor tion. for investigation. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 603/915 SOMANET CIRCULO...
  • Page 604 (position, commutation) velocity or com- are configured mutation) was with the triggered, but sensors. there is no © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 604/915 SOMANET CIRCULO...
  • Page 605 0x7304 the con- figuration figuration of the chosen is not GPIO according available. This to the doc- includes umentation. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 605/915 SOMANET CIRCULO...
  • Page 606 The error is also raised when the mul- titurn count of such an © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 606/915 SOMANET CIRCULO...
  • Page 607 32 kHz For an SSI sampling encoder, only (which are only the clock fre- BiSS or SSI) is quency can be © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 607/915 SOMANET CIRCULO...
  • Page 608 "0" or "No" to the encoder. "Multiturn res- This situation olution" para- will happen meter of this when the bat- encoder. tery of the © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 608/915 SOMANET CIRCULO...
  • Page 609 (0x2004:9 Max- mounting. imum torque While the motor (pin brake)). © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 609/915 SOMANET CIRCULO...
  • Page 610 0x6079: DC link voltage). circuit voltage. Pay attention that the actual voltage supplied to the drive © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 610/915 SOMANET CIRCULO...
  • Page 611 Commutation Please pay atten- angle offset is tion that, the not valid. This change in some error comes dir- fundamental con- © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 611/915 SOMANET CIRCULO...
  • Page 612 ZeroMxI Max. current User-defined 0x6320 Please configure © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 612/915 SOMANET CIRCULO...
  • Page 613 ZeroMxP Max. power User-defined 0x6320 Pleaes configure is zero or limit on Max. 0x200B: Max © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 613/915 SOMANET CIRCULO...
  • Page 614 0x60A9: SI unit provides avail- velocity is out- able options for side of the sup- the configuration ported range. of 0x60A9: SI © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 614/915 SOMANET CIRCULO...
  • Page 615 IvldFeed Invalid Feed One of the 0x6320 Please check the constant Feed para- values of meters 0x6092 0x6092:1 and © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 615/915 SOMANET CIRCULO...
  • Page 616 MxMSLmt Maximum Max. motor 0x5200 motor speed speed limit is limit active. Target or demand © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 616/915 SOMANET CIRCULO...
  • Page 617 Target position is limited and can't wrap around range limits. IntgrLmt IntLmAct Integral limit is 0x5200 active. Integral part of position © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 617/915 SOMANET CIRCULO...
  • Page 618 Check rence of the that the PDO error is expec- messages are © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 618/915 SOMANET CIRCULO...
  • Page 619 - disturbance in communication signal transfer, make sure that a communication cable with shield- © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 619/915 SOMANET CIRCULO...
  • Page 620 0x1023:3. Whenever the first byte becomes 0, 1, 2 or 3, a new OS command can be sent. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 620/915 SOMANET CIRCULO...
  • Page 621 The value of 0x6320 Please firstly ing method 0x6098: Hom- check object ing method is 0x6098: Homing invalid or not method and see © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 621/915 SOMANET CIRCULO...
  • Page 622 © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 622/915 SOMANET CIRCULO...
  • Page 623 Internal fault Internal Error 0x7500 Please contact Code. Motion ser- support. vice is skipping cycles and there is no downstream communication. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 623/915 SOMANET CIRCULO...
  • Page 624 © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 624/915 SOMANET CIRCULO...
  • Page 625 Please check cut-off fre- ition feedback 0x2022:2 Pos- quency too filter Cutoff fre- ition feedback fil- high quency is ter: Cutoff © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 625/915 SOMANET CIRCULO...
  • Page 626 5 Hz. Please check the doc- umentation of the object for latest inform- © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 626/915 SOMANET CIRCULO...
  • Page 627 2000 Hz. Please check the doc- © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 627/915 SOMANET CIRCULO...
  • Page 628 The © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 628/915 SOMANET CIRCULO...
  • Page 629 InterLck DI for Interlock 0x5300 (Fault Reac- tion) is low SkpCycls Motion or drive The warning 0xF002 Try to disable © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 629/915 SOMANET CIRCULO...
  • Page 630 4 see if the prob- kHz, which lem is fixed. means that the cycles are taking longer than 250 us. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 630/915 SOMANET CIRCULO...
  • Page 631 It can also result in irregular clock timing. TmpDrive or This fault is 0x4310 Disable the PhOtDrve drive until the © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 631/915 SOMANET CIRCULO...
  • Page 632 High drive tem- perature can lead to equip- ment damage. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 632/915 SOMANET CIRCULO...
  • Page 633 Upper error umentation for threshold scaled meas- 0x2038:12 urements. External scaled measurement Lower error threshold © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 633/915 SOMANET CIRCULO...
  • Page 634 Check the voltage output of your power supply, if necessary with a measurement tool. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05...
  • Page 635 0x6079 The DC link circuit voltage The voltage between the main power supply pins on the drive The voltage output by the power supply © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 635/915...
  • Page 636 These types are as follows: DEBG denotes a debugging log entry INFO this is the default log level. It contains information such as state changes © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 636/915 SOMANET CIRCULO...
  • Page 637 Cyclic synchronous position mode (CSP) In position control modes the master sends desired positions to the drive. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 637/915 SOMANET CIRCULO...
  • Page 638 Command smoothing and Interpolation Successive setpoints can be smoothed, so that low com- mand resolution and jitter have a reduced effect on the control. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 638/915...
  • Page 639 Velocity Control Loop Position Control Loop Dual Loop Cascaded Postion Control Current and Torque Control Loop Torque control loop General view Detail view © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 639/915 SOMANET CIRCULO...
  • Page 640 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). © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 640/915...
  • Page 641 Parameters Object ID Name Description 0x2010 Torque Controller Values Kp, Ki and Kd for Torque Controller Velocity Control Loop General view © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 641/915 SOMANET CIRCULO...
  • Page 642 This means the controller gains for the velocity controller described here (objects 0x2011:1 … 0x2011:4) and the velocity cascade being part of the position controller (objects 0x2012:5 … 0x2012:8) are set independently. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 642/915...
  • Page 643 There are two implementations available for position control: Cascaded PID controller Simple PID controller Cascaded PID Controller General view Detailled view © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 643/915 SOMANET CIRCULO...
  • Page 644 This target torque is then controlled by the torque / cur- rent control loop described in the section on Torque Control. The overall control structure includ- © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 644/915 SOMANET CIRCULO...
  • Page 645 This controller represents the simplest and most known form of position con- trol. However, for productive use Synapticon recommends to use the cascaded controller. In the simple PID controller, one Proportional, Integral and Derivative feedback acts on the position itself and will directly generate the target torque / current.
  • Page 646 A second encoder can be attached to the output shaft after the gear for an optimized position control. This section shows exemplary how the cascaded position controller can be configured for a dual encoder setup. General view © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 646/915 SOMANET CIRCULO...
  • Page 647 The velocity FIR filter is before velocity feed forward until firmware 5.0.3! Only in the soon- to-be-released firmware 5.0.4 it will be at the shown position. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05...
  • Page 648 Cyclic synchronous velocity Mode (CSV): In velocity control modes the master sends desired velocities to the drive. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 648/915 SOMANET CIRCULO...
  • Page 649 Optionally, an additive torque value can be provided by the control system in order to allow two instances to set up the torque. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05...
  • Page 650 For further information please refer to the section on Control Supervision. 15-13 Target Inter- Tar- basic Torque ignored limit reach- act- © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 650/915 SOMANET CIRCULO...
  • Page 651 In this mode, the trajectory generator is located in the control device, not in the servo drive. In a cyclic synchronous manner, it provides a target velocity to the drive device, which performs © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05...
  • Page 652 The time period between two updates of the target velocity and/or additive velocity can be inter- polated for smooth trajectories. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 652/915 SOMANET CIRCULO...
  • Page 653 PID controller and the bit will be cleared. Note: 0 = Target velocity ignored 1 = Target velocity shall be used as input © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 653/915 SOMANET CIRCULO...
  • Page 654 Especially in a cascaded control structure, where a position control is followed by a velocity or torque control, the output of the © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05...
  • Page 655 Target reached: the bit is set to 1 if the actual position stays in the window of the target position ± position window for a duration of position window time. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05...
  • Page 656 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. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 656/915...
  • Page 657 0x6084 - Profile deceleration 0x6085 - Quick Stop deceleration Note: Profile velocity is limited by the Object: Max motor speed 0x6080 © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 657/915 SOMANET CIRCULO...
  • Page 658 - Software position limit 0x607D The output of the trajectory generator is the position demand internal value for the position PID. General view © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 658/915 SOMANET CIRCULO...
  • Page 659 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. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05...
  • Page 660 Therefore, this bit has to be 1 before setting a new-point. The new set-points will be executed immediately and won’t wait for the previous one to fin- ish. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 660/915...

  • Page 661: Status Word

    0x6067 - Position window 0x6068 - Position window time Fol- Set-point Inte- Tar- low- acknow- rnal ledge limit reac- error act- © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 661/915 SOMANET CIRCULO...
  • Page 662 Profile Velocity 0x6081 Profile acceleration 0x6083 Profile deceleration 0x6084 Quick Stop deceleration 0x6085 set mode of operation to 1 © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 662/915 SOMANET CIRCULO...
  • Page 663 Quick Stop decel- eration 0x6080 Max motor speed The maximum possible speed of the Motor according to the data sheet 0x6072 Max torque © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 663/915 SOMANET CIRCULO...
  • Page 664 0x6066 Following error timeout 0x60F4 Following error actual value 0x6067 Position window 0x6068 Position window time 0x606B Velocity demand value © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 664/915 SOMANET CIRCULO...
  • Page 665 0x607E * - Polarity 0x6080 - Max motor speed * This object is automatically detected and configured by Commutation Offset Detection. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 665/915 SOMANET CIRCULO...
  • Page 666 The figure shows the structure of the controlword. For the general struc- ture and usage, please refer to our Application note on Status- and Controlword. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 666/915 SOMANET CIRCULO...
  • Page 667 Velocity window time . Speedbit:The speed bit is set to 1 when the actual velocity goes below the velocity threshold (meaning the motor is in standstill). © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 667/915...
  • Page 668 Velocity window time 0x606F Velocity threshold 0x6070 Velocity threshold time 0x6080 Max. motor speed 0x606B Velocity demand value 0x6081 Profile velocity © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 668/915 SOMANET CIRCULO...
  • Page 669 - Torque slope 0x6085 - Quick Stop deceleration Note: 0x6071 Target torque is limited by the Object : Max torque 0x6072 © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 669/915 SOMANET CIRCULO...
  • Page 670 The mode specific bits of the statusword can be used to monitor the performance of the oper- ation. For further information please refer to the section on Control Supervision. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 670/915 SOMANET CIRCULO...
  • Page 671 0x6085 Quick Stop deceleration 0x6072 Max torque 0x6074 Torque demand 0x60B2 Torque offset 0x606D Torque window value 0x606E Torque window time © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 671/915 SOMANET CIRCULO...
  • Page 672 Reverse if positive limit switch is hit Homing on a home switch (inactive) and index pulse with negative ini- tial direction. Reverse if negative limit switch is hit © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 672/915...
  • Page 673 The following images represent the direction of movement and the starting position of each hom- ing method. The respective method is indicated by the encircled number. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 673/915...
  • Page 674 (home switch inactive). Method 4: the home position is the first index to the right when the positive home switch changes state (home switch active). © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 674/915...
  • Page 675 If the home switch is initially active then the direction of movement depends on the homing method. The direction will be reversed when encountering the positive limit switch. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 675/915...
  • Page 676 Homing method 35/37 can be performed in any operational state. All other homing meth- ods require the drive to be in “operation enabled” state. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05...
  • Page 677 Method -1 moves the motor in the negative direction with velocity value defined in (0x6099:1). End stop is detected when © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 677/915...
  • Page 678 Similar to methods -1 and -2, but instead of Homing on Index pulse. Hom- ing is done at an offset from end stop. Homing on Positive End stop and Index Pulse. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 678/915...
  • Page 679 Note: Homing speeds are not required in method 35/37. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 679/915...
  • Page 680 How to perform homing The following diagram shows the steps that are necessary to perform the homing function. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 680/915 SOMANET CIRCULO...
  • Page 681 Bit 10 Status Homing is performed Homing is interrupted or not started Homing confirmed, but target not yet reached Homing completed © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 681/915 SOMANET CIRCULO...
  • Page 682 The mode specific bits of the statusword can be used to monitor the performance of the oper- ation. For further information, please refer to the section on Control Supervision. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 682/915 SOMANET CIRCULO...
  • Page 683 GPIO Pin con- Configures the digital inputs for homing and limit figuration switches 0x2005 Homing Options configures different options for homing modes © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 683/915 SOMANET CIRCULO...
  • Page 684 Always ensure that the brake is engaged or disengaged depending on the command that is executed: Command 4 rotates the rotor Command 5 rotates the rotor when the selected method is 0 or 1 © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 684/915 SOMANET CIRCULO...
  • Page 685 Profile position mode Profile velocity mode Torque profile mode Homing mode Cyclic Syncronous Position Mode Cyclic Syncronous Velocity Mode Cyclic Syncronous Torque Mode © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 685/915 SOMANET CIRCULO...
  • Page 686 0x6060 Op Mode Use this object to select the desired Mode Extended Control Functionalities Synapticon provides several features for enhancing motion control even with low-cost hardware: Cogging Torque Compensation Removes ripples caused by magnetic interaction between motor rotor and stator.
  • Page 687 © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05...
  • Page 688 For executing the cogging torque recording the motor must not be mechanically blocked and ideally must have no load attached. The motor is fully functional and the drive is properly configured. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 688/915...
  • Page 689 To use the automatic recording, simply click on “Start Recording” Attention: During the recording routine the motor will do several turns. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 689/915 SOMANET CIRCULO...
  • Page 690 Select “Position control mode” and tune the cascaded control loop with the sliders. The tuning should be as sharp as possible: try setting the settling time slider to 50-80 ms. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05...
  • Page 691 Object 0x6060 (Op Mode) by setting the value to -1. Subitems: 1 State State of the cogging torque compensation table. Possible values: © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 691/915 SOMANET CIRCULO...
  • Page 692 As shown in Fig. 1, “Field Weakening” is a feature that increases the speed range of a PM motor by weakening the magnetic field of the rotor linearly over the speed range. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05...
  • Page 693 In some development or test scenarios, it is acceptable to still use the torque control mode, © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05...
  • Page 694 As a result, the slope of rotor field reduction would be: Note: The field weakening feature can not be enabled when the drive is in fault state. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 694/915...
  • Page 695 This method is known as “clamping”. It requires no tuning. Detail view on the integrator branch with anti-windup: © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 695/915...
  • Page 696 This technique can be used within the cascaded position controller to com- pensate for nonlinear effects, especially stiction / friction in the mechanics. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05...
  • Page 697 Please note that this feature is at the moment experimental. It is currently accessible only directly via EtherCAT® through the parameter 0x2013:1 … 0x2013:18. The gain © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05...
  • Page 698 To use this feature, the following parameters must be set properly according to the motor data sheet: Object ID Name Description 0x6075 Motor rated current Motor rated current (rms value) © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 698/915 SOMANET CIRCULO...
  • Page 699 When the i2t tracking variable falls to 50%, current limiting is turned off and the motor phase cur- rents can reach higher values again. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05...
  • Page 700 Default value of gain is 0 (This means Velocity feed forward is off) The gain is given in per mil 1. A value of 1000 is a good starting point. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05...
  • Page 701 Additionally, a velocity offset can be added to the control loop for even faster movements with high dynamic. Click here for details for using the velocity offset. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 701/915 SOMANET CIRCULO...
  • Page 702 The offset torque can be updated at full EtherCAT® communication frequency (4 kHz in most configurations) and is given in the unit of per thousands of rated torque. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 702/915...
  • Page 703 This velocity offset must be computed by the master, it is not computed on the slave. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05...
  • Page 704 Loop shaping filter - Suppress excitation of resonance frequencies in the output of the motion control loop or in the input of the torque control loop. A 2nd order notch filter is sup- ported. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 704/915...
  • Page 705 - Laplace-domain frequency parameter - Cutoff frequency of the low-pass filter or central frequency of the Notch filter, defined in Radians/s My new footnote © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 705/915 SOMANET CIRCULO...
  • Page 706 The following equation was used to design the torque loop input shaping filter: Application Guide Position and Velocity Feedback Low-pass filters Torque loop input shaping filter My new footnote My new footnote © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 706/915 SOMANET CIRCULO...
  • Page 707 -3 dB of the amplitude. After that fre- quency, a roll-off region starts that further attenuates the signal. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05...
  • Page 708 Enable a filter with the default cutoff frequency. Try to change the cutoff frequency until an appropriate balance between noise filtering and phase-shift/magnitude attenuation is reached. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 708/915...
  • Page 709 Decide which resonance should be compensated and identify the width of excitation fre- quencies. Record the reference behavior of the system before applying the notch filter. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 709/915...
  • Page 710 Commands are sent to the slaves with a step size that depends on the master’s update rate. In EtherCAT®, these steps are usually in intervals of 250 µs to 8 ms while other protocols may © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05...
  • Page 711 Note: All axes on the chain must be commanded together and should have the same FIR set- tings. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 711/915 SOMANET CIRCULO...
  • Page 712 End effector precision may be poorly affected for robots with serial kinematics. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 712/915...
  • Page 713 - 1. An example of the filter order for a master with 1 ms cycle time and 250 µs cycle time SOMANET slave: © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 713/915...
  • Page 714 The Order is allowed between 0 (no action) and 31. The filter is enabled by default with an order of 3. The order reflects the amount of steps the algorithm “looks back”. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 714/915...
  • Page 715 Name and designation of these objects differ, depending on the chosen mode of operation: Profile Position © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 715/915...
  • Page 716 © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 716/915 SOMANET CIRCULO...
  • Page 717 Note: In Profile Position mode, the master does not send a new calculated position at each © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 717/915 SOMANET CIRCULO...
  • Page 718 Use case: Predictive maintenancing (monitor system wear) In case the following error grows bigger in time, check if mechanical wear is the reason. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 718/915...
  • Page 719 13 of the statusword is raised to 1, indicating that a Following error has occurred. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05...
  • Page 720 Use case: Pick and place operation In case the real position where the good is to be picked up or placed has more margin © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 720/915...
  • Page 721 0x6067 Position window (unit is given in incre- ments of the position encoder). The value 0xFFFFFFFF switches the feature off (default). © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 721/915 SOMANET CIRCULO...
  • Page 722 Position demand value 0x6062: Provides the value of the position sent to the position con- troller after position limits are checked. (See 0x607D Software position limit.) The units are in increments of the position encoder. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 722/915 SOMANET CIRCULO...
  • Page 723 If velocity control is used, the control effort is torque demand value Parameters Object ID Name Description 0x2014 Torque win- Indicates the accepted torque values and time © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 723/915 SOMANET CIRCULO...
  • Page 724 Provides the output of the trajectory generator in pro- demand file position mode internal value 0x6064 Position value Provides the actual value of the position encoder © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 724/915 SOMANET CIRCULO...
  • Page 725 The value must be inserted in object 0x6092 (Feed constant) as follows: Parameter Name Description 0x6092:1 Feed Measured distance 0x6092:2 Shaft revolutions Conducted revolutions © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 725/915 SOMANET CIRCULO...
  • Page 726 Target position 0x607A Position range limit 0x607B Software position limit 0x607D Position window 0x6067 Following error window 0x6065 Home offset 0x607C © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 726/915 SOMANET CIRCULO...
  • Page 727 The feed constant is given with 10 000 mm per revolution Encoder resolution Feed constant Target Position value Internal value 4096 ticks 10 000 mm / rev 1 mm 0 ticks © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 727/915 SOMANET CIRCULO...
  • Page 728 Acceleration units The user-defined acceleration units are given in [user-defined velocity unit /s]. The default unit is RPM / s (when feed disabled). © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 728/915...
  • Page 729 Restoring the home value after a power cycle or config reload should be done with absolute pos- ition encoders on the output shaft (dual loop setups, multi-turn encoders with battery, single-turn encoders on torque motors). © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 729/915...
  • Page 730 Name Description 0x2005:1 Home Position Encoder value at home position 0x2005:2 Restore Home Position Flag that shows if the home position © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 730/915 SOMANET CIRCULO...
  • Page 731 This feature has to be configured on the master side. We recommend user to use the Master mode as it has better performance than the Slave mode. Additionally, the synchronization options have to be configured: © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 731/915...
  • Page 732 Command 6 Open phase detection Command 7 Pole pair detection Command 8 Phase resistance measurement Command 9 Phase inductance measurement Command 10 Torque constant measurement © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 732/915 SOMANET CIRCULO...
  • Page 733 0: last command com- pleted, no errors, no response data 1: last command com- pleted, no errors, response data available 2: last command com- © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 733/915 SOMANET CIRCULO...
  • Page 734 2 because reading subindex 2 when a command is finished will not make subindex 1 writ- able again. The subindex 3 has to be read at least once after writing, before the next write © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05...
  • Page 735 Byt- Byte Byte Byte Byte Byte Byte tion Com- 100 - mand in progress (with per- centage) Com- mand in progress © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 735/915 SOMANET CIRCULO...
  • Page 736 Com- Data Dat- Dat- Dat- Dat- Dat- mand com- pleted without errors and with respons- Com- mand com- pleted with © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 736/915 SOMANET CIRCULO...
  • Page 737 Command timeout: A request to execute an OS command or to abort it was not acknow- ledged by any downstream service after 5s. Command aborted: The abort action triggered by the user was successful. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 737/915...
  • Page 738 Ope- err- n ter- error mina- allow- Dur- Ope- err- ation n ter- value mina- Data Ope- err- index value high © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 738/915 SOMANET CIRCULO...
  • Page 739 OS Command # Action Ope- err- value Ope- err- high Ope- err- Ope- err- high © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 739/915 SOMANET CIRCULO...
  • Page 740 OS Command # Ope- err- … (reserved for future use) Command not allowed err- Command aborted err- Command timeout err- © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 740/915 SOMANET CIRCULO...
  • Page 741 “last command completed, error, response data available” (3) will be sent by the slave, and the OS error code (which will be explained in more detail © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05...
  • Page 742 For more information about how BiSS register communication works, please refer to the official BiSS-C Interface Protocol Description. Command request The values in 0x1023:1 for this command are as follows: © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 742/915 SOMANET CIRCULO...
  • Page 743 Register write value: Value to write to the register. This is only used if the parameter ¬R/W is set to 1. Command response Descrip- Byte Byte Byte Byte Byte Byte Byte tion Byte 2 Com- mand in © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 743/915 SOMANET CIRCULO...
  • Page 744 Status 3: The command has finished unsuccessfully. The error code will be sent, either as a general OS error code or a command-specific OS error code: © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05...
  • Page 745 0x1023:1 should be set like this: Byte Value 0x11 0x08 In the terminal the following command can be used: EtherCAT® download 0x1023 1 0x0811010200 --type int64 © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 745/915 SOMANET CIRCULO...
  • Page 746 This means that the motor should not be moved while in Configuration mode if we plan to switch to Raw mode after. Command request Values in 0x1023:1 for this command: © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 746/915 SOMANET CIRCULO...
  • Page 747 Command response Possible responses of this command: Descrip- Byte Byte Byte Byte Byte Byte Byte Byte tion Com- mand in progress (without © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 747/915 SOMANET CIRCULO...
  • Page 748 Status 3: This command doesn’t have any command-specific OS error code, so this status will only happen when a general OS error code occurs. Example Configuring raw mode on encoder configured as Encoder 1: © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 748/915 SOMANET CIRCULO...
  • Page 749 EtherCAT® download 0x1023 1 0x0901 --type int64 To fetch the response, enter the following command: EtherCAT® upload 0x1023 3 --type int64 Which should return 0x0000000000000000 (Status 0). © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 749/915 SOMANET CIRCULO...
  • Page 750 Parameter index Byte 2 Parameter value [MSB] Byte 3 Parameter value [MSB-1] Byte 4 Parameter value [MSB-2] Byte 5 Parameter value [LSB] © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 750/915 SOMANET CIRCULO...
  • Page 751 Byte 0 Descrip- (Statu- Byte Byte Byte Byte Byte Byte Byte tion Com- mand in progress (without per- centage) Com- mand © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 751/915 SOMANET CIRCULO...
  • Page 752 Status 0: The command was finished successfully. Status 2: The command couldn’t be executed. The received Parameter index value is unknown. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 752/915 SOMANET CIRCULO...
  • Page 753 Each of the files will have a maximum size of 8032 bytes The files are named “hr_dataX.bin”, where X is a number starting at 0. Two actions are supported for this command: © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 753/915...
  • Page 754 Duration in ms: select the duration in milli-seconds of the stream. This value is only used when the Action is Configure stream (0). The maximum value for this parameter is 10000 © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05...
  • Page 755 Com- mand in progress (without per- centage) Com- mand com- pleted without errors without response Com- mand error com- cod- pleted © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 755/915 SOMANET CIRCULO...
  • Page 756 The selected Data index is unknown. Action value The selected Action is unknown. Example Streaming encoder raw data into a file for 5 s: © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 756/915 SOMANET CIRCULO...
  • Page 757 In the terminal the following command can be used: EtherCAT® download 0x1023 1 0x0103 --type int64 To fetch the response, enter the following command: © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 757/915...
  • Page 758 Byte Byte Byte Byte tion Com- mand in progress (without per- centage) Com- Motor mand phas- com- pleted order without errors © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 758/915 SOMANET CIRCULO...
  • Page 759 Set Byte 0 of 0x1023:1 to 4. In the terminal the following command can be used: EtherCAT® download 0x1023 1 0x04 --type int64 © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 759/915...
  • Page 760 Byte 0 Command response Descrip- Byt- Byt- Byt- Byt- Byt- Byt- tion Byte 2 Byte 3 Com- mand in pro- gress © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 760/915 SOMANET CIRCULO...
  • Page 761 OS error code occurs. Example To measure the commutation angle offset of our setup, we would need to: © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 761/915...
  • Page 762 Bit 0 Byte 0 Command response Descrip- Byte Byte Byte Byte Byte Byte Byte Byte tion Com- mand in progress (without per- © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 762/915 SOMANET CIRCULO...
  • Page 763 Terminal A of the Drive is not connected minal A Open ter- Terminal B of the Drive is not connected minal B © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 763/915 SOMANET CIRCULO...
  • Page 764 EtherCAT® download 0x1023 1 0x06 --type int64 To fetch the response, enter the following command: EtherCAT® upload 0x1023 3 --type int64 © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 764/915 SOMANET CIRCULO...
  • Page 765 Byte 2 Com- mand in progress (without per- centage) Com- Num- mand ber of com- pole pleted pairs without errors and with © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 765/915 SOMANET CIRCULO...
  • Page 766 Set Byte 0 of 0x1023:1 to 7. In the terminal the following command can be used: EtherCAT® download 0x1023 1 0x07 --type int64 To fetch the response, enter the following command: © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 766/915...
  • Page 767 Phase Phase Phase Phase mand res- res- res- res- com- istanc- istanc- istanc- istanc- pleted without [MSB] [MSB- [MSB- [LSB] errors © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 767/915 SOMANET CIRCULO...
  • Page 768 Set Byte 0 of 0x1023:1 to 8. In the terminal the following command can be used: EtherCAT® download 0x1023 1 0x08 --type int64 To fetch the response, enter the following command: © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 768/915...
  • Page 769 Com- Phase Phase Phase Phase mand induct- induct- induct- induct- com- ance ance ance ance pleted [MSB] [MSB- [MSB- [LSB] © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 769/915 SOMANET CIRCULO...
  • Page 770 Switch to diagnostics mode, enter operation enable and disengage the brake if there is one. For details please refer to Diagnostics opmode. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 770/915 SOMANET CIRCULO...
  • Page 771 Byt- Byt- Byt- Byt- tion Byte 2 Byte 3 Byte 4 Byte 5 Com- mand in pro- gress (without per- centag- © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 771/915 SOMANET CIRCULO...
  • Page 772 Set Byte 0 of 0x1023:1 to 10 (0xA). In the terminal the following command can be used: EtherCAT® download 0x1023 1 0x0A --type int64 © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05...
  • Page 773 The possible responses that this command will use are the following: Descrip- Byt- Byt- Byte Byte Byte Byte Byt- Byt- tion Com- mand in pro- © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 773/915 SOMANET CIRCULO...
  • Page 774 Status 3: This command doesn’t have any command-specific OS error code, so this status will only happen when a general OS error code occurs. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05...
  • Page 775 Encoder 1 (which is the encoder configured in 0x2110), a value of 2 will select Encoder 2 (which is the encoder configured in 0x2112). © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05...
  • Page 776 (without per- centage) Com- mand com- pleted without errors without response Com- mand error com- code pleted with error response © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 776/915 SOMANET CIRCULO...
  • Page 777 Note that the brake might get damaged when the motor does not ramp down to zero velo- city. This can happen due to one of the following reasons: © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05...
  • Page 778 (Cyclic Synchronous Position mode, Profile Position mode, Cog- ging recording, Homing) the quick stop procedure uses the position controller to stop the © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 778/915 SOMANET CIRCULO...
  • Page 779 In velocity control modes (Profile velocity mode, Cyclic Synchronous Velocity Mode), the drive controls 0 velocity. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 779/915 SOMANET CIRCULO...
  • Page 780 The drive continues to stay in Quick Stop Active until a command to disable the drive is received. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 780/915...
  • Page 781 Torque demand Provides the output value of the torque trajectory generator 0x6077 Torque actual Provides the actual value of the torque value © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 781/915 SOMANET CIRCULO...
  • Page 782 Manufacturer software version 0x100C Guard time 0x100D Life time factor 0x1010 Store parameters 0x1010:1 Save all parameters 0x1011 Restore default parameters © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 782/915 SOMANET CIRCULO...
  • Page 783 OS command 0x1023:1 Command 0x1023:2 Status 0x1023:3 Response 0x1024 OS command mode 0x1400 Receive PDO1 parameter 0x1400:1 COB-ID used by PDO © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 783/915 SOMANET CIRCULO...
  • Page 784 Inhibit time 0x1800 Transmit PDO1 parameter 0x1800:1 COB-ID used by PDO 0x1800:2 Transmission type 0x1800:3 Inhibit time 0x1800:4 reserved 0x1800:5 Event timer © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 784/915 SOMANET CIRCULO...
  • Page 785 COB-ID used by PDO 0x1803:2 Transmission type 0x1803:3 Inhibit time 0x1803:4 reserved 0x1803:5 Event timer 0x1C00 Sync Manager 0x1C00:1 SyncMan 0 © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 785/915 SOMANET CIRCULO...
  • Page 786 Table Caption Outside Table: Standard RxPDO mapped Objects Index PDO Index Name 0x1600 Receive PDO1 mapping 0x1600:1 0x6040 Controlword 0x1600:2 0x6060 Modes of operation © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 786/915 SOMANET CIRCULO...
  • Page 787 0x1A00:2 0x6061 Modes of operation display 0x1A00:3 0x6064 Position actual value 0x1A00:4 0x606C Velocity actual value 0x1A00:5 0x6077 Torque actual value © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 787/915 SOMANET CIRCULO...
  • Page 788 Table Caption Outside Table: Manufacturer Specific Area Index Name 0x2000 Command object (disabled) 0x2001 Commutation angle offset 0x2002 Position control strategy © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 788/915 SOMANET CIRCULO...
  • Page 789 0x2004:8 Minimum displacement (pin brake) 0x2004:9 Maximum torque (pin brake) 0x2004:10 Output voltage 0x2004:11 Switching frequency 0x2006 Protection 0x2006:1 Undervoltage setpoint © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 789/915 SOMANET CIRCULO...
  • Page 790 0x200A:1 Enabled 0x200A:2 Peak time 0x200A:3 Percent max 0x200A:4 Protection active 0x200B Max power 0x2010 Torque controller 0x2010:1 Controller Kp (disabled) © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 790/915 SOMANET CIRCULO...
  • Page 791 0x2011:3 Controller Kd 0x2011:4 Controller integral limit 0x2011:5 Encoder source 0x2012 Position controller 0x2012:1 Position loop Kp 0x2012:2 Position loop Ki © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 791/915 SOMANET CIRCULO...
  • Page 792 Velocity loop Ki 0 0x2013:9 Velocity loop Kd 0 0x2013:10 Velocity loop integral limit 0 0x2013:11 Threshold velocity 1 0x2013:12 Position loop Kp 1 © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 792/915 SOMANET CIRCULO...
  • Page 793 0x2021 Velocity feedback filter 0x2021:1 Type 0x2021:2 Cutoff frequency 0x2022 Position feedback filter 0x2022:1 Type 0x2022:2 Cutoff frequency 0x2023 Notch filter © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 793/915 SOMANET CIRCULO...
  • Page 794 Analog input 0x2038:3 Resistance 0x2038:4 Constant a0 0x2038:5 Constant a1 0x2038:6 Constant a2 0x2038:7 Constant a3 0x2038:8 Constant a4 0x2038:9 Constant a5 © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 794/915 SOMANET CIRCULO...
  • Page 795 DC synchronization 0x20F3:1 DC pulse time 0x2110 Encoder 1 configuration 0x2110:1 Sensor port 0x2110:2 Type 0x2110:3 Resolution 0x2110:4 Zero velocity threshold © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 795/915 SOMANET CIRCULO...
  • Page 796 0x2110:19 First clock delay 0x2110:20 Data ordering 0x2110:21 Endianness 0x2110:22 Index availability 0x2110:23 Hall sensor port 0x2110:24 Sinewave cycles per revolution © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 796/915 SOMANET CIRCULO...
  • Page 797 0x2112:7 Access signal type 0x2112:8 Clock frequency 0x2112:9 Frame size 0x2112:10 Multiturn bits 0x2112:11 Multiturn first bit position 0x2112:12 Singleturn bits © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 797/915 SOMANET CIRCULO...
  • Page 798 Sinusoidal output voltage 0x2112:27 Filter 0x2113 Encoder 2 feedback 0x2113:1 Raw position 0x2113:2 Adjusted position 0x2113:3 Velocity 0x2210 GPIO pin configuration © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 798/915 SOMANET CIRCULO...
  • Page 799 Pulse width 0x2214 GPIO global options 0x2214:1 Voltage level 0x2401 Analog input 1 0x2402 Analog input 2 0x2403 Analog input 3 © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 799/915 SOMANET CIRCULO...
  • Page 800 0x6060 Modes of operation 0x6061 Modes of operation display 0x6062 Position demand value 0x6064 Position actual value 0x6065 Following error window © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 800/915 SOMANET CIRCULO...
  • Page 801 0x6077 Torque actual value 0x6079 DC link circuit voltage 0x607A Target position 0x607B Position range limit 0x607B:1 Min position range limit © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 801/915 SOMANET CIRCULO...
  • Page 802 0x6091 Gear ratio 0x6091:1 Motor revolutions 0x6091:2 Shaft revolutions 0x6098 Homing method 0x6099 Homing speeds 0x6099:1 Speed during search for switch © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 802/915 SOMANET CIRCULO...
  • Page 803 Target velocity 0x6502 Supported drive modes 0x6621 Safety statusword 0x6621:1 Byte 1 0x6621:2 Byte 2 Communication Area Index Name 0x1000 Device type © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 803/915 SOMANET CIRCULO...
  • Page 804 Restore manufacturer default parameters 0x1016 Consumer heartbeat time 0x1016:1 Consumer heartbeat time 0x1017 Producer heartbeat time 0x1018 Identity object 0x1018:1 Vendor-ID 0x1018:2 Product Code © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 804/915 SOMANET CIRCULO...
  • Page 805 0x1401:2 Transmission type 0x1401:3 Inhibit time 0x1402 Receive PDO3 parameter 0x1402:1 COB-ID used by PDO 0x1402:2 Transmission type 0x1402:3 Inhibit time © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 805/915 SOMANET CIRCULO...
  • Page 806 0x1601:2 Bit mask 0x1602 Receive PDO3 mapping 0x1602:1 User MOSI 0x1602:2 Velocity offset 0x1603 Receive PDO4 mapping 0x1800 Transmit PDO1 parameter © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 806/915 SOMANET CIRCULO...
  • Page 807 Transmission type 0x1802:3 Inhibit time 0x1802:4 reserved 0x1802:5 Event timer 0x1803 Transmit PDO4 parameter 0x1803:1 COB-ID used by PDO 0x1803:2 Transmission type © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 807/915 SOMANET CIRCULO...
  • Page 808 Analog input 4 0x1A01:5 Tuning status 0x1A02 Transmit PDO3 mapping 0x1A02:1 Digital inputs 0x1A03 Transmit PDO4 mapping 0x1A03:1 User MISO 0x1A03:2 Timestamp © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 808/915 SOMANET CIRCULO...
  • Page 809 SubIndex 003 0x1C12:4 SubIndex 004 0x1C13 SM 3 Assignment 0x1C13:1 SubIndex 001 0x1C13:2 SubIndex 002 0x1C13:3 SubIndex 003 0x1C13:4 SubIndex 004 © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 809/915 SOMANET CIRCULO...
  • Page 810 Pull time 0x2004:4 Release strategy 0x2004:5 Controller disable delay 0x2004:6 DC bus voltage (deprecated) 0x2004:7 Brake status 0x2004:8 Minimum displacement (pin brake) © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 810/915 SOMANET CIRCULO...
  • Page 811 0x2009:3 Measurement method 0x2009:4 Phasing controller Kp 0x2009:5 Phasing controller Ki 0x2009:6 Phasing controller Kd 0x200A 0x200A:1 Enabled 0x200A:2 Peak time © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 811/915 SOMANET CIRCULO...
  • Page 812 0x2010:10 Settling time 0x2010:11 Damping ratio 0x2010:12 Encoder source 0x2011 Velocity controller 0x2011:1 Controller Kp 0x2011:2 Controller Ki 0x2011:3 Controller Kd © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 812/915 SOMANET CIRCULO...
  • Page 813 0x2013:4 Position loop Ki 0 0x2013:5 Position loop Kd 0 0x2013:6 Position loop integral limit 0 0x2013:7 Velocity loop Kp 0 © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 813/915 SOMANET CIRCULO...
  • Page 814 Torque window 0x2014:1 Value 0x2014:2 Time 0x2015 Velocity feed forward 0x2015:1 Gain 0x2015:2 Cutoff frequency 0x2021 Velocity feedback filter 0x2021:1 Type © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 814/915 SOMANET CIRCULO...
  • Page 815 Drive temperature 0x2031:1 Measured temperature 0x2038 External scaled measurement 0x2038:1 Scaled measurement value 0x2038:2 Analog input 0x2038:3 Resistance 0x2038:4 Constant a0 © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 815/915 SOMANET CIRCULO...
  • Page 816 0x20E1:2 Data 2 0x20E1:3 Data 3 0x20E1:4 Data 4 0x20F0 Timestamp 0x20F2 Assigned name 0x20F3 DC synchronization 0x20F3:1 DC pulse time © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 816/915 SOMANET CIRCULO...
  • Page 817 Singleturn first bit position 0x2110:14 Timeout 0x2110:15 CRC polynomial 0x2110:16 Maximum tbusy 0x2110:17 Status bits active value 0x2110:18 Parity type 0x2110:19 First clock delay © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 817/915 SOMANET CIRCULO...
  • Page 818 Encoder 2 configuration 0x2112:1 Sensor port 0x2112:2 Type 0x2112:3 Resolution 0x2112:4 Zero velocity threshold 0x2112:5 Polarity 0x2112:6 Singleturn offset 0x2112:7 Access signal type © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 818/915 SOMANET CIRCULO...
  • Page 819 0x2112:22 Index availability 0x2112:23 Hall sensor port 0x2112:24 Sinewave cycles per revolution 0x2112:25 Sinewave resolution 0x2112:26 Sinusoidal output voltage 0x2112:27 Filter © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 819/915 SOMANET CIRCULO...
  • Page 820 GPIO input actions 0x2212:1 Timestamp on rising edge 0x2213 GPIO position trigger 0x2213:1 Position setpoint 0x2213:2 Target encoder 0x2213:3 Pulse width © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 820/915 SOMANET CIRCULO...
  • Page 821 0x2705 Setup wizard completed Profile Specific Area Index Name 0x603F Error code 0x6040 Controlword 0x6041 Statusword 0x605A Quick stop option code © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 821/915 SOMANET CIRCULO...
  • Page 822 Velocity threshold time 0x6071 Target Torque 0x6072 Max torque 0x6073 Max current 0x6074 Torque demand 0x6075 Motor rated current 0x6076 Motor rated torque © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 822/915 SOMANET CIRCULO...
  • Page 823 0x6084 Profile deceleration 0x6085 Quick stop deceleration 0x6086 Motion profile type 0x6087 Torque slope 0x6088 Torque profile type 0x6091 Gear ratio © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 823/915 SOMANET CIRCULO...
  • Page 824 Digital inputs 0x60FE Digital outputs 0x60FE:1 Physical outputs 0x60FE:2 Bit mask 0x60FF Target velocity 0x6502 Supported drive modes 0x6621 Safety statusword © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 824/915 SOMANET CIRCULO...
  • Page 825 Modes of oper- RxPDO Mapping ation 0x6071 Target Torque RxPDO Mapping 0x607A Target position RxPDO Mapping 0x60FF Target velocity RxPDO Mapping © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 825/915 SOMANET CIRCULO...
  • Page 826 TxPDO Mapping play 0x6064 Position actual value TxPDO Mapping 160x606C Velocity actual value TxPDO Mapping 0x6077 Torque actual value TxPDO Mapping © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 826/915 SOMANET CIRCULO...
  • Page 827 Configuring custom PDO mappings EtherCAT® PDOs are transmitted cyclically in a fixed length. The standard set of PDO can be sent at up to 4000 Hz. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 827/915...
  • Page 828 This can be used to check the device configuration against the master configuration. More details can be found in our System Integration Guide © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 828/915 SOMANET CIRCULO...
  • Page 829 (SDO and FoE) 0x1C12 SM 2 Assign- This object object defines the incoming PDO map- ment pings to be used © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 829/915 SOMANET CIRCULO...
  • Page 830 Saving factory defaults is not possible via firmware command. This must be performed off- line. In case needed please contact support@synapticon.com for details. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 830/915 SOMANET CIRCULO...
  • Page 831 The values loaded into the object dictionary are not checked for validity. Ensure that the values are correct when the parameters are set manually, otherwise malfunctions or © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05...
  • Page 832 Note: All parameters that are not stored will be discarded on power off since all parameters are restored automatically at startup. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 832/915 SOMANET CIRCULO...
  • Page 833 It takes about 3 seconds to save the configuration file. Limitations The drive must be disabled for saving or restoring parameters. This feature is supported in all modes of operation. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 833/915 SOMANET CIRCULO...
  • Page 834 Loads either factory settings or user defined para- 0x1011 Restore default meters from the drive. parameters © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 834/915 SOMANET CIRCULO...
  • Page 835 This is an overview of how to integrate SOMANET servo drives into an application. Drive Sizing Choosing a power supply Wiring guidelines © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 835/915 SOMANET CIRCULO...
  • Page 836 The selection highly depends on your application but it’s necessary to understand the different parts of the drivetrain: Application Requirements Mechanical Power: (Upper limit can be given by gearbox) Practically simplified formula: © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 836/915 SOMANET CIRCULO...
  • Page 837 Continuous cur- Continuous Similar thermal limit as in stall operation rent stall current continuous rated operation. Since there are no iron © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 837/915 SOMANET CIRCULO...
  • Page 838 2, 3 or 4 times the rated torque of the motor, the motor can run into its sat- uration region, where bigger nonlinearity buffers can be required. For details, consult with the motor manufacturer and check the motor curves. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 838/915...
  • Page 839 The bus capacitance consists of all capacitances on a DC link: DC bus capacitance = power supply capacitance + drives capacitances + other capacitances © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05...
  • Page 840 The amount of energy (in joules) stored by a capacitor is determined by the capacitance (C) and voltage (V) and is given by: is the nominal voltage. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 840/915...
  • Page 841 Switching power supplies are the most common power supplies for industrial applications, but some applications require batteries. There are some considerations for selecting a suitable © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05...
  • Page 842 The above-mentioned rule of thumb can be exceeded by no more than 50% in extreme cases, however in many practical use cases even less power is sufficient. This is © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05...

  • Page 843: Wiring Guidelines

    There are a lot of EMI issues around the motor, Drive and power cables. Wires act as antennas, which enables them to pick up radiated signals from nearby sources. The longer the wire, the more pronounced the effect. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 843/915...
  • Page 844 Earthing is an electrically conductive connection to the earth. Earthing helps to cope with elec- tromagnetic interference (EMI) and should always be considered. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 844/915...
  • Page 845 This protects users from electrical shocks when a piece of electric equipment has an insulation failure. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 845/915 SOMANET CIRCULO...
  • Page 846 SELV, PELV, FELV power supplies Switching power supplies are widely used as a DC source for many applications in the ELV range. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 846/915 SOMANET CIRCULO...
  • Page 847 Because the mounting holes are connected to the V- plane in the PCB, the isolation will break when a con- ductive Spacer is used between the mounting holes © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 847/915...
  • Page 848 In this circuit, the noise passes through the earth cable. The shielding is connected to the earth correctly, and there is no ground loop because of the unbalanced impedance. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 848/915...

  • Page 849: Regenerative Energy

    The regenerated energy is related to the mechanical energy. Load, gravity and deceleration are important parameters to define the amount of regenerated energy: © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 849/915...
  • Page 850 The SOMANET Braking Chopper is protected against overvoltage and overcurrent. In both cases of overload the chopper will switch off, which will lead to an overvoltage fault on the drive. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05...
  • Page 851 2004:11). A PWM method is used for applying the appropriate voltage to the brake output. The brake output voltage does not have a negative component. It is connected to an inductor which results in a constant current. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 851/915...
  • Page 852 Brake resistance = 50 Ω Attention: Applying more voltage to the brake than required will increase the brake temperature and damage the brake. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 852/915 SOMANET CIRCULO...
  • Page 853 The brake or a similar electrical load has to be connected to the brake outputs when meas- uring the output voltage. Without a load, the multimeter will show an incorrect input DC voltage! © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 853/915...
  • Page 854 The brake or a similar electrical load has to be connected to the brake outputs when meas- uring the output voltage. Without a load, the multimeter will show an incorrect input DC voltage. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 854/915...

  • Page 855: 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. Relevant parameters for single-ended inputs are V and R in,lim © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 855/915 SOMANET CIRCULO...
  • Page 856 The ADC ticks are calculated by this formula: if V ≤ V ≤ V diff,min diff diff,max ADC [ticks] = 0 if V < V diff diff,min © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 856/915 SOMANET CIRCULO...
  • Page 857 V must be within a range of V and V , otherwise the measured values will have non-linearity faults. cm,min cm,max © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 857/915 SOMANET CIRCULO...
  • Page 858 Example for normal values (On SOMANET Node) Example ADC (ticks) in,P in,N diff 4095 2047 © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 858/915 SOMANET CIRCULO...
  • Page 859 ADC input and has a high input resistance. On this port the resistance of a tem- perature sensor can be measured with high accuracy. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05...

  • Page 860: Temperature Sensors

    A thermocouple is an electrical device consisting of two dissimilar electrical conductors forming an electrical junction. A thermocouple produces a temperature-dependent voltage as a result of the thermoelectric effect. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 860/915...
  • Page 861 0 = 0 volts and 4096 = full scale (according to the full scale voltage of the analog input) Pull-up resistor (0x2038:3) > 0 © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05...
  • Page 862 According to the curves below, PT1000 and KTY-130 are good fitting sensors, both sensors are almost linear in the desired range. → PT1000: 3.9 Ω per °C © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 862/915...
  • Page 863 4095 for full scale input voltage. The image below depicts a schematic of input circuits. The ADC will measure the input voltage which is proportional to the resistance. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 863/915...
  • Page 864 = 4.7 kΩ, R be neglected because R >> R Temperature range in ticks: 932 - 718 = 214 ticks for 100° C. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 864/915 SOMANET CIRCULO...
  • Page 865 There are two methods for compensating the errors: Using the master controller and perform the calculation on the master side. Using the integrated polynomial function © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 865/915...
  • Page 866 = 0 the result equals the exact value of the sensor resistance. The image below shows the PT1000 curve with and without input resistor. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05...
  • Page 867 The image below shows the resistance vs. temperature curve for a PT1000 sensor. Temperature = -243 + 0.236x + 5.93E-06x² + 1.16E-09x³ => a = -243, a = 0.236, a = 5.93E-06 © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 867/915 SOMANET CIRCULO...
  • Page 868 The simple equation is Defining the parameters a … a will improve the accuracy by adding the sensor non-linearity in the temperature calculation. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 868/915 SOMANET CIRCULO...
  • Page 869 1 - Create the table. 2 - Insert the chart. 3 - Select the Scatter chart type in the chart editor menu in Setup. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 869/915...
  • Page 870 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. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05...
  • Page 871 If no commercial master is used and the interface to a SOMANET drive is manually implemented or the system is realized with the use of free basic solutions like SOEM, a deep knowledge of the standard is required. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 871/915...
  • Page 872 Each data can be accessed with a 16-bit index and an optional 8- bit subindex. For example, the measurement “Velocity actual value” is stored in 0x606C, and the © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05...
  • Page 873 The behavior of a Power Drive System is also determined by the activated mode of operation. The mode of operation can be selected by writing the object “0x6060 Modes of operation”. It © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05...
  • Page 874 The five states of the EtherCAT® state machine and their transitions are shown below: Slave-to-Master Master-to-Slave (mailbox com- PDO (process data PDO (process data State munication) communication) communication) Init Pre-Oper- ational Safe-Oper- ational © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 874/915 SOMANET CIRCULO...
  • Page 875 Drive state machine The figure below specifies the drive state machine, with its state transitions based on user com- mands and internal drive faults. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 875/915...
  • Page 876 When the cycle time is lower than 1 ms, a high performance of the hardware system is required. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 876/915 SOMANET CIRCULO...
  • Page 877 Please check the section of each mode for details about which bits have which meaning: Cyclic synchronous torque control (CST) Cyclic synchronous velocity control (CSV) © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 877/915 SOMANET CIRCULO...
  • Page 878 The yellow marked bits have a specific functions which depends on the mode the drive is currently in. See the documentation of the specific mode for details. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05...
  • Page 879 - If bit 4 of the statusword is 1 that means that voltage is applied to the drive - If bit 5 of the statusword is 0 that means that the drive is in quick stop active state © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05...
  • Page 880 Mode specific bits of the Statusword © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 880/915 SOMANET CIRCULO...
  • Page 881 Homing Hom- Homing attained error Internal limit Active bit The values that are limited by this bit differ in each mode: © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 881/915 SOMANET CIRCULO...
  • Page 882 CSP: Cyclic Synchronous Position CSV: Cyclic Synchronous Velocity CST: Cyclic Synchronous Torque Controlword General structure m- m- m- m- m- r © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 882/915 SOMANET CIRCULO...
  • Page 883 State Coding © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 883/915 SOMANET CIRCULO...
  • Page 884 4,16 operation Fault reset NOTE Automatic transition to Enable Operation state after executing SWITCHED ON state functionality. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 884/915 SOMANET CIRCULO...
  • Page 885 No Operation mode specific bits used chronous Position Cyclic Syn- chronous Velocity Cyclic Syn- chronous Torque Homing Halt Homing oper- ation start © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 885/915 SOMANET CIRCULO...
  • Page 886 In this document, the used configuration tool is OBLAC Drives. It can be used with an OBLAC Box or using a Virtual Machine. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 886/915 SOMANET CIRCULO...
  • Page 887 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. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 887/915...
  • Page 888 A firmware needs to be installed before the first commissioning of a new SOMANET drive. Please make sure to have the same or compatible firmware version installed as before. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05...
  • Page 889 The firmware update can be done online if the Virtual machine or the OBLAC Drives have inter- net connection, or it can be done offline through the firmware bundles that can be downloaded here © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 889/915...
  • Page 890 It contains all the objects that can be written from the .csv file to the drive’s memory. Please proceed by clicking on “LOAD CONFIGURATION” and wait until the procedure is fin- ished. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 890/915...
  • Page 891 © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 891/915...
  • Page 892 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. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 892/915...
  • Page 893 © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 893/915 SOMANET CIRCULO...
  • Page 894 The calibration data is not stored in the config file nor somewhere else on the Circulo’s file sys- tem and can’t be moved from one to another Circulo. Note: Update to the latest calibration firmware. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 894/915 SOMANET CIRCULO...
  • Page 895 Load the configuration file © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 895/915 SOMANET CIRCULO...
  • Page 896 Place your system in a position where these movements can’t damage anything. From OBLAC Drives version 21.3.0 onward, the movement will be limited within the defined soft- ware position limits. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 896/915...
  • Page 897 Tutorials Tuning guides Velocity PID Tuning Position tuning with Gain Scheduling © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 897/915 SOMANET CIRCULO...
  • Page 898 By default, the integral limit of velocity controller should be set to the maximum torque of selected motor in [milli-Nm]. Step 2. Set the reference velocity to 50% of rated motor velocity [rpm]. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 898/915 SOMANET CIRCULO...
  • Page 899 0.1, and in each step increase k with a factor of 2. Fig. 2: increasing k to increase the actual speed © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 899/915 SOMANET CIRCULO...
  • Page 900 Image 1. Image 1 - Cascaded position control structure © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 900/915...
  • Page 901 (system is far away from the reference position). Usually the sched- ling of gains depending on axis velocity looks like on the picture shown in Image 2. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05...
  • Page 902 [rpm]. Important: from this step forth, the step response of position controller should always be evaluated. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 902/915...
  • Page 903 The inner controlling loop is responsible for controlling the velocity while the outer con- trolling loop is responsible for controlling the position. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 903/915...
  • Page 904 10 (k = 10 * k ). Once the real position started to follow the reference P_velocity P_position © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 904/915 SOMANET CIRCULO...
  • Page 905 P_position only focus on increasing the k . Increase (sharpen) the velocity controller as much P_velocity © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 905/915 SOMANET CIRCULO...
  • Page 906 - the steady-state error is eliminated in a short enough period of time Drive operations through File Access over EtherCAT® (FoE) Overview Synapticon SOMANET servo drives support File Access over EtherCAT® (FoE) operations, which allows a number of operations for accessing files in the drive memory such as: Updating the firmware...
  • Page 907 Prerequisite If the drive is already used, updating the firmware with a third-party tool should be done only while the installed firmware and the firmware to install are checked by the Synapticon technical support team. Factory resetting the drive before operations is recommended for safety reasons.
  • Page 908 FOE name edited as “app_xyz.bin”. In TwinCAT 3 the operations are shown in Image 3-4. This prompts the bootloader to flash the firmware. Image 3 - Choose the file to be uploaded to the slave © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 908/915...
  • Page 909 In TwinCAT 3, double-click the servo drive under “I/O” - “Devices”, as shown in Image 5, to access the slave operations. Click the tab “Online” for state machine operations and FOE access. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 909/915...
  • Page 910 Image 6 - Choose the configuration file to be uploaded to the slave Change the name to “config.csv” and click “OK” , as shown in Image 7. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05...
  • Page 911 In TwinCAT 3, this can be done in the “CoE - Online” tab. Double-click on the object to write it, as shown in Image 9. Image 9 - Restore default parameters without resetting drive © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 911/915...

  • Page 912: Handling Instructions

    Take additional care when you handle devices during cold weather. Indoor humidity tends to decrease in cold weather, causing an increase in static electricity. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05...
  • Page 913 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. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05...

  • Page 914: About This Documentation

    If these warnings are ignored, hazardous and potentially fatal situations may arise from improper or careless use. Reporting errors It is in our best interest to provide a detailed, user-centered and error-free documentation. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 914/915 SOMANET CIRCULO...
  • Page 915 Minor: New software features, products or sections. Major: New feature of the documentation system. Note: Be careful when sharing links since the structure is constantly updated. © 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich Documentation v 5.1.1 | Built 2023-04-05 915/915 SOMANET CIRCULO...

This manual is also suitable for:

Circulo 9

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