Synapticon Documentation¶

Hardware Manuals

SOMANET Servo NodeSOMANET Servo Node Circulo (Preliminary)SOMANET Servo Node

Note

Different revisions and sizes of SOMANET Servo Nodes are available which differ in their specifications as well as in their pinouts. If you are not sure about the revision of your node please check our revision guide

Revision E.1 Revision D.3/D.4 Revision C.4Revision E.1

• Technical specifications
• Hardware diagrams
• Installation guide
  • Wiring instructions
    • Power supply and motor brake
    • Encoders and IO
    • Connector types and mating parts numbers
  • Mounting instructions
• LED signals
• Safety Module
  • Specifications of the safety functions
  • Safety connectors
  • Using the safety functions
  • Commissioning and maintenance
  • Changelog of the safety-related documentation

Revision D.3/D.4

• Technical specifications
• Hardware diagrams
• Installation guide
  • Wiring instructions
  • Connector pinouts
  • Grounding and connecting a brake
  • Mounting instructions
• LED signals

Revision C.4

• Technical specifications
• Hardware diagrams
• Installation guide
  • Wiring instructions
  • Connector pinouts
  • Grounding and connecting a brake
  • Mounting instructions
• LED signals

SOMANET Servo Node Circulo (Preliminary)

Our upcoming SOMANET Servo Node Circulo series is specifically designed for Cobot axes. Preliminary specifications, pinouts and dimensions can be found here:

• Technical specifications
• Installation guide
  • Wiring instructions
    • Power supply and motor brake
    • Encoders and IO
    • Temperature sensor
    • Mating parts and encoder battery
  • Dimensions and mechanical mounting
  • Mounting the encoder disks
  • Accuracy of the encoder module
• LED signals
• Safety functions (STO-SBC)
  • Specifications of the safety functions
  • Using the safety functions
  • Commissioning and maintenance

Commissioning and tuning with OBLAC Drives

• Set up OBLAC Drives Box
• Set up OBLAC Drives Virtual Machine
  • Set up the drive parameters
• Motion control tuning
  • Automatic tuning
    • System Identification
    • Positon auto-tuning
    • Velocity auto-tuning
  • Manual tuning
    • Manual Tuning of the current controller
    • Manual tuning of the velocity control loop
    • Manual tuning of the position control loop
• Test your drive at the playground
• Update or downgrade OBLAC Drives
• Troubleshooting

Software Reference Manual

v4.2-beta v4.1 v4.0v4.2-beta

• Overview
• CANopen over EtherCAT
• Actuator configuration
  • Motor and gear settings
  • Automatic motor parameter detection
  • Manually controlling phase D voltage
  • Brake release feature
• I/O
  • Analog In
  • Digital I/O
  • Encoder configuration
  • Commutation with Hall and ABI combined
• Errors and warnings
  • Errors thrown by the firmware
  • Error report object
• Logging
• Motion control
  • Drive state machine (CiA 402)
  • Modes of operation
    • Cyclic modes
      • Cyclic synchronous torque control (CST)
      • Cyclic synchronous velocity control (CSV)
      • Cyclic synchronous position control (CSP)
    • Profile modes
      • Profile position mode
      • Profile velocity mode
      • Profile torque mode
    • Homing modes
    • Switching the modes
  • Extended control functionalities
    • Cogging compensation
    • Field weakening
    • Anti-windup control
    • Gain scheduling
    • Motor overload protection (i2t)
    • Feedforward control
    • Torque offset
    • Velocity offset
    • Filtering
    • Control supervision
    • Distributed clocks
• CiA 402 object dictionary
  • All objects
  • Communication area
  • Manufacturer specific area
  • Profile specific area
• Process Data Objects
  • Standard RxPDO mapped objects
  • Standard TxPDO mapped objects
  • Advanced PDO mapping
• Device info

v4.1

• Overview
• CANopen over EtherCAT
• Actuator configuration
• Sensor configuration
• Errors and warnings
  • Errors thrown by the firmware
  • Error report object
• Logging
• Motion control
  • Drive state machine (CiA 402)
  • Modes of operation
    • Cyclic synchronous torque control (CST)
    • Cyclic synchronous velocity control (CSV)
    • Cyclic synchronous position control (CSP)
    • Switching the modes
  • Extended control functionalities
    • Cogging compensation
    • Field weakening
    • Anti-windup control
    • Gain scheduling
    • Motor overload protection (i2t)
    • Torque offset for feedforward control
    • Velocity offset for feedforward control
• CiA 402 object dictionary
  • All objects
  • Communication area
  • Manufacturer specific area
  • Profile specific area
• Process Data Objects
  • Standard RxPDO mapped objects
  • Standard TxPDO mapped objects
  • Advanced PDO mapping
• Device info

v4.0

• Overview
• CANopen over EtherCAT
• Actuator configuration
• Sensor configuration
• Errors and warnings
• Motion control
  • Drive state machine (CiA 402)
  • Modes of operation
    • Cyclic synchronous torque control (CST)
    • Cyclic synchronous velocity control (CSV)
    • Cyclic synchronous position control (CSP)
    • Switching the modes
  • Extended control functionalities
    • Cogging compensation
    • Field weakening
    • Anti-windup control
    • Torque offset for feedforward control
• CiA 402 object dictionary
  • All objects
  • Communication area
  • Manufacturer specific area
  • Profile specific area
• Process Data Objects
  • Standard RxPDO mapped objects
  • Standard TxPDO mapped objects
• Device info