Synapticon Documentation

Hardware Manuals

SOMANET CirculoSOMANET NodeSOMANET AccessoriesSOMANET Circulo

The SOMANET Circulo series is a combination of servo drive, position feedback sensor (encoder), mechanical integration solution, providing a pin brake and safe motion option, specifically designed for collaborative robot (cobot) joints and smart actuators.

Note

Please note that previously released samples of SOMANET Circulo were available which differed in several aspects, such as pin-out and dimensions.

Circulo Sample B.1Sample A.2Circulo

• Overview Circulo

  • Technical specifications

  • Load cycle

  • Thermal considerations

  • Downloads

• Installation guide

  • Wiring instructions

    • Power and brake

    • Encoders and IO

    • Analog input specification

    • Temperature sensor

    • Battery for Multi-Turn

    • EtherCAT-STO Cable

    • Maximum cable lengths

    • Mating parts

  • Mechanical integration

    • Mounting Example

    • Dimensions

    • Mounting encoder rings

    • Thermal Mounting Considerations

  • Encoder calibration

    • Encoder accuracy

    • Calibration Procedure

• LED signals

• Safety functions (STO-SBC)

  • Specifications of the safety functions

  • Safety connectors

  • Wiring the safety inputs

  • Using the safety functions

  • Examples for realising safety functions

    • Emergency stop

    • Stop category 1 emergency stop (Safe stop 1)

    • Prevention of unexpected start-up

  • Commissioning and maintenance

  • Changelog of the safety-related documentation

Sample B.1

• Overview Circulo Sample B.1

• Technical specifications

• Installation guide

  • Wiring instructions

    • Power and brake

    • Encoders and IO

    • Temperature sensor

    • EtherCAT-STO Cable

    • Mating parts

  • Dimensions and mechanical mounting

  • Mounting encoder rings

  • Mounting a bearing

  • Encoder accuracy

  • Encoder Calibration

• LED signals

• Safety functions (STO-SBC)

  • Specifications of the safety functions

  • Safety connectors

  • Wiring the safety inputs

  • Using the safety functions

  • Examples for realising safety functions

    • Emergency stop

    • Stop category 1 emergency stop (Safe stop 1)

    • Prevention of unexpected start-up

  • Commissioning and maintenance

  • Changelog of the safety-related documentation

Sample A.2

• Overview Circulo Sample A.2

• 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 encoder rings

  • Encoder accuracy

• LED signals

• Safety functions (STO-SBC)

  • Specifications of the safety functions

  • Wiring the safety inputs

  • Using the safety functions

  • Commissioning and maintenance

SOMANET Node

Note

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

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

• Overview Node E.1

  • Technical specifications

  • Load cycle

  • Thermal considerations

  • Downloads

  • Hardware diagrams

• Wiring instructions

  • Power and brake

  • Encoders and IO

  • Connector types and mating parts numbers

• Mounting instructions

• On-site installation guide (UL)

• LED signals

• Safety functions (STO-SBC)

  • Specifications of the safety functions

  • Setup of the safety functions

  • Using the safety functions

  • Examples for realising safety functions

  • Commissioning and maintenance

  • Changelog of the safety-related documentation

Revision D.3/D.4

• Overview SOMANET Node rev. 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

• Overview SOMANET Node rev. C.4

• Technical specifications

• Hardware diagrams

• Installation guide

  • Wiring instructions

  • Connector pinouts

  • Grounding and connecting a brake

  • Mounting instructions

• LED signals

SOMANET Accessories

• SOMANET Braking Chopper 48V 500W

• Sin/Cos Encoder Cable Adapter

• Industrial I/O Cable Adapter

• ABI/BiSS Encoder Cable Adapter

Commissioning and tuning with OBLAC Drives

• OBLAC Drives Setup

  • Set up OBLAC Drives Box

  • Set up OBLAC Drives Virtual Machine

• Using OBLAC Drives

• Set up your servo drive

• Motion control tuning

  • Automatic tuning

    • System Identification

    • Position 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

v5.0 v4.4 v4.2 v4.1 v4.0v5.0

• Migration guide from v4.x to 5.0

• Overview

• CANopen over EtherCAT

• Actuator configuration

  • Motor and gear settings

  • Manually controlling phase D voltage

  • Brake release feature

  • User defined velocity units

  • Commutation Offset Detection

  • Power limit

• Encoders and I/O

  • Analog In

  • Analog Input Scaling

  • Digital I/O

  • Digital GPIO

  • Encoder configuration

  • Commutation with Hall and ABI combined

  • Input counter

• Protection

• Errors and warnings

  • Errors thrown by the firmware

  • Error report object

  • Remedies for protection errors

• Logging

• Motion control

  • Control Loops

    • Current and Torque Control Loop

    • Velocity Control Loop

    • Position Control Loop

    • Dual Loop Cascaded Postion Control

  • 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

    • Quick stop

    • Diagnostics opmode

    • Switching the modes

  • Extended control functionalities

    • Cogging compensation

    • Field weakening

    • Anti-windup control

    • Gain scheduling

    • Motor overload protection (i2t)

    • Velocity feed forward

    • Torque offset

    • Velocity offset

    • Filtering

      • Position and Velocity Feedback Low-pass filters

      • Torque loop input shaping filter

    • Command smoothing and Interpolation

    • Control supervision

    • Distributed clocks (DC clocks)

    • OS Command

• 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

  • Saving and restoring configurations

• Changelog v5.0

v4.4

• Overview

• CANopen over EtherCAT

• Actuator configuration

  • Motor and gear settings

  • Manually controlling phase D voltage

  • Brake release feature

  • User defined velocity units

• Encoders and I/O

  • Analog In

    • Analog Input Scaling

  • Digital I/O

  • Encoder configuration

  • Commutation with Hall and ABI combined

  • Input counter

• Protection

• Errors and warnings

  • Errors thrown by the firmware

  • Error report object

  • Remedies for protection errors

• Logging

• Motion control

  • Control Loops

    • Current and Torque Control Loop

    • Velocity Control Loop

    • Position Control Loop

    • Dual Loop Cascaded Postion Control

  • 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)

    • Velocity feed forward

    • Torque offset

    • Velocity offset

    • Filtering

    • Command smoothing and Interpolation

    • Control supervision

    • Distributed clocks (DC clocks)

• 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

• Changelog v4.4

v4.2

• Overview

• CANopen over EtherCAT

• Actuator configuration

  • Motor and gear settings

  • Manually controlling phase D voltage

  • Brake release feature

  • User defined velocity units

• Encoders and I/O

  • Analog In

    • Analog Input Scaling

  • Digital I/O

  • Encoder configuration

  • Commutation with Hall and ABI combined

  • Input counter

• Protection

• Errors and warnings

  • Errors thrown by the firmware

  • Error report object

• Logging

• Motion control

  • Control Loops

    • Current and Torque Control Loop

    • Velocity Control Loop

    • Position Control Loop

    • Dual Loop Cascaded Postion Control

  • 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)

    • Velocity feed forward

    • Torque offset

    • Velocity offset

    • Filtering

    • Control supervision

    • Distributed clocks (DC clocks)

• 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

• Changelog v4.2

v4.1

• Overview

• CANopen over EtherCAT

• Actuator configuration

• Sensor configuration

• Protection

• 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 feed forward control

    • Velocity offset for feed forward control

• 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

• Changelog v4.1

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 feed forward control

• 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

Resources

• System Integration Guidelines

  • Drive Sizing

  • Choosing a power supply

  • Earthing

  • Regenerative energy

  • Measuring the brake output voltage

  • Connecting and configuring analog inputs

  • Temperature sensors

  • Using Statusword and Controlword

  • Circulo Mounting Example

  • Replacing a SOMANET Drive

• Tutorials

  • Tuning guides

    • Velocity PID Tuning

    • Position tuning with Gain Scheduling

    • Cascaded position Tuning

  • Drive operations through File Access over EtherCAT (FoE)

• About this documentation