Synapticon Documentation¶

Hardware Manuals

SOMANET Servo Node EtherCATSOMANET Servo Node CirculoSOMANET Servo Node EtherCAT

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
• Setup guide
  • Wiring instructions
    • Power supply and motor brake
    • Encoders and IO
    • Connector types and mating parts numbers
  • Mounting instructions
• LED signals
• Safety Module (STO-SBC)
  • Specifications of the Safety Module
  • Safety connectors
  • Wiring the safety inputs
  • Safety functions
  • Commissioning and maintenance

Revision D.3/D.4

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

Revision C.4

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

SOMANET Servo Node Circulo

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

Preliminary Datasheet Circulo series

Commissioning and tuning with OBLAC Drives

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

Software Reference Manual

v4.1 v4.0v4.1

• 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