Hardware Manuals
Commissioning and Tuning Guide
Software Reference
v4.1
v4.0
Hardware Manuals
Commissioning and Tuning Guide
Software Reference
v4.1
v4.0
Documentation
Software Reference Manual v4.1
CiA 402 Object Dictionary
Profile Specific Area
SOMANET Braking Chopper 48V 500W
Overview
Technical Specs
Setup and setting the threshold voltage
Connecting the Board to DC-BUS
Suitable cables
Wiring
Failsafe Behavior
Multi-board option
LED
Dimensions
SOMANET Servo Node EtherCAT rev. C.4
Technical specifications
Power Specifications
General specifications
Hardware diagrams
EtherCAT module
Processor module
Drive module
Setup guide
Wiring Instructions
Using a PELV or SELV power supply
Warning about using contactors behind the power supply
Connector Pinouts
EtherCAT IN/OUT
Power Terminal
Encoder Port 1
Encoder Port 2
Encoder Port 3 / Digital IO
Analog IN
EtherCAT port
EtherCAT IN Port
EtherCAT OUT Port
Connector types and mating parts numbers
Grounding and connecting a brake
Connecting a Brake
Mounting instructions
Heat dissipation
Dimensions
Interference with magnetic fields
LED signals
Overview
Legend
Core LED
Firmware
Bootloader
Drive LED
Com LED
SOMANET Servo Node EtherCAT rev. D.3/D.4
Technical specifications
Power Specifications
General specifications
Hardware diagrams
EtherCAT module
Processor module
Drive module
Setup guide
Wiring Instructions
Using a PELV or SELV power supply
Warning about using contactors behind the power supply
Connector Pinouts
Power Terminal
Encoder Port 1
Encoder Port 2
Encoder Port 3 / Digital IO
Analog IN
EtherCAT port
EtherCAT IN Port
EtherCAT OUT Port
Connector types and mating parts numbers
Grounding and connecting a brake
Connecting a Brake
Mounting instructions
Heat dissipation
Dimensions
Interference with magnetic fields
Downloads
LED signals
Overview
Legend
Core LED
Firmware
Bootloader
Drive LED
Com LED
SOMANET Servo Node EtherCAT rev. E.1
Technical specifications
Power Specifications
General specifications
Hardware diagrams
EtherCAT module
Processor module
Drive module
Setup guide
Wiring instructions
Using a PELV or SELV power supply
Warning about using contactors behind the power supply
Connector pinouts
Power Terminal
Encoder Port 1
Encoder Port 2
Encoder Port 3 / Digital IO
Analog IN
EtherCAT port
EtherCAT IN Port
EtherCAT OUT Port
Connector types and mating parts numbers
Grounding and connecting a brake
Connecting a Brake
Mounting instructions
Heat dissipation
Dimensions
Interference with magnetic fields
Downloads
LED signals
Overview
Legend
Core LED
Firmware
Bootloader
Drive LED
Com LED
Circulo
Servo Nodes revisions
Software Reference Manual v4.0
Overview
Functionality description
CANopen over EtherCAT (CoE)
PDO
PDO Configuration
SDO
Actuator Configuration
Motor Configuration
0x2003 Motor Specific Settings
0x6075 Motor Rated Current
0x6076 Motor Rated Torque
0x6080 Max motor speed
Motor Control Objects
Brake Configuration
0x2004 Brake Options
Brake Parameter Object
Gear Ratio
Sensor Configuration
Sensor Objects
0x2201 BISS Encoder 1
0x2202 BISS Encoder 2
0x2203 REM 16MT Encoder
0x2204 REM 14 Encoder
0x2205 Incremental Encoder 1
0x2206 Incremental Encoder 2
0x2207 HALL Sensor 1
0x2208 HALL Sensor 2
Description of commonly used specifications
Function
Resolution
Velocity calculation period
Polarity
Multiturn resolution
Motion Control via CoE
Drive State Machine (CiA 402)
Modes of Operation
Cyclic Synchronous Torque Control (CST)
0x2010 Torque Controller
General Scope of the Torque Controller
Reference Torque Generation
Functional Description and Controller Structure
Model-Predictive Current Controller
Cyclic Synchronous Velocity Control (CSV)
0x2010 Torque Controller
0x2011 Velocity Controller
Cyclic Synchronous Position Control (CSP)
0x2010 Torque Controller
0x2012 Position Controller
0x2012 Position Controller
Cascaded PID Controller
Simple PID Controller
Switching modes
0x6060 Op Mode
0x607A Target Position
0x60FF Target Velocity
0x6071 Target Torque
Extended Control Functionalities
0x2008 Cogging Torque Compensation
Cogging Torque Compensation
Overview
Procedure
Prerequisites
Overview of the GUI
Recording
Automatic recording
Testing the compensation table
Manual configuration for the cogging recording
Using the compensation table
Controlling Cogging Torque Compensation and Recording Feature via EtherCAT
Subitems:
1 State
2 Enabled
Field Weakening
Anti-Windup Control
Torque Offset for Feedforward Control
Errors and Warnings
Object Dictionary
All Objects
0x1000 Device Type
0x1001 Error Register
0x1008 Manufacturer Device Name
0x100A Manufacturer Software Version
0x1010 Store parameters
0x1011 Restore default parameters
0x1018 Identity
0x1600 Rx PDO Mapping
0x1A00 Tx PDO Mapping
0x1C00 Sync Manager
0x1C10 SM 0 Assignment
0x1C11 SM 1 Assignment
0x1C12 SM 2 Assignment
0x1C13 SM 3 Assignment
0x2000 Command Object (disabled)
0x2001 Commutation Angle Offset
0x2002 Position control strategy
0x2003 Motor Specific Settings
0x2004 Brake Options
0x2005 Recuperation
0x2006 Protection
0x2008 Cogging Torque Compensation
0x2009 Commutation Offset
0x2010 Torque Controller
0x2011 Velocity Controller
0x2012 Position Controller
0x2012 Position Controller
0x20F0 Timestamp
0x20F1 Real Time Clock
0x20F2 Assigned Name
0x2100 Feedback sensor ports
0x2201 BISS Encoder 1
0x2202 BISS Encoder 2
0x2203 REM 16MT Encoder
0x2204 REM 14 Encoder
0x2205 Incremental Encoder 1
0x2206 Incremental Encoder 2
0x2207 HALL Sensor 1
0x2208 HALL Sensor 2
0x2210 GPIO
0x230A Secondary position value
0x230B Secondary velocity value
0x2401 Analog input 1
0x2402 Analog input 2
0x2403 Analog input 3
0x2404 Analog input 4
0x2501 Digital Input 1
0x2502 Digital Input 2
0x2503 Digital Input 3
0x2504 Digital Input 4
0x2601 Digital Output 1
0x2602 Digital Output 2
0x2603 Digital Output 3
0x2604 Digital Output 4
0x2701 Tuning command
0x2702 Tuning status
0x2703 User MOSI
0x2704 User MISO
0x2705 Setup Wizard Completed
0x603F Error code
0x6040 Controlword
0x6041 Statusword
0x6060 Op Mode
0x6061 Op Mode Display
0x6064 Position Value
0x606C Velocity Value
0x6071 Target Torque
0x6072 Max torque
0x6073 Max current
0x6075 Motor Rated Current
0x6076 Motor Rated Torque
0x6077 Torque Value
0x6079 DC link circuit voltage
0x607A Target Position
0x607B Position Range Limits
0x607C Home offset
0x607D Software position limit
0x607E Polarity
0x607F Max profile velocity
0x6080 Max motor speed
0x6081 Profile velocity
0x6083 Profile acceleration
0x6084 Profile deceleration
0x6085 Quick stop deceleration
0x6086 Motion profile type
0x60B2 Torque offset
0x60C5 Max acceleration
0x60FF Target Velocity
0x6502 Supported Drive Modes
Communication Area
Manufacturer Specific Area
Profile Specific Area
Process Data Objects
Standard RxPDO mapped Objects
Standard TxPDO mapped Objects
Device Information
Software Reference Manual v4.1
Overview
Functionality description
CANopen over EtherCAT (CoE)
PDO
PDO Configuration
SDO
Actuator Configuration
Motor Configuration
0x2003 Motor Specific Settings
0x6075 Motor Rated Current
0x6076 Motor Rated Torque
0x6080 Max motor speed
Motor Control Objects
Brake Configuration
0x2004 Brake Options
Brake Parameter Object
Gear Ratio
0x6091 Gear ratio
Sensor Configuration
Sensor Objects
0x2201 BISS Encoder 1
0x2202 BISS Encoder 2
0x2203 REM 16MT Encoder
0x2204 REM 14 Encoder
0x2205 Incremental Encoder 1
0x2206 Incremental Encoder 2
0x2207 HALL Sensor 1
0x2208 HALL Sensor 2
Description of commonly used specifications
Function
Resolution
Velocity calculation period
Polarity
Multiturn resolution
Logging
Overview
Types
Format
Motion Control via CoE
Drive State Machine (CiA 402)
Modes of Operation
Cyclic Synchronous Torque Control (CST)
0x2010 Torque Controller
General Scope of the Torque Controller
Reference Torque Generation
Functional Description and Controller Structure
Model-Predictive Current Controller
Cyclic Synchronous Velocity Control (CSV)
0x2010 Torque Controller
0x2011 Velocity Controller
Cyclic Synchronous Position Control (CSP)
0x2010 Torque Controller
0x2012 Position Controller
0x2012 Position Controller
Cascaded PID Controller
Simple PID Controller
Switching modes
0x6060 Op Mode
0x607A Target Position
0x60FF Target Velocity
0x6071 Target Torque
Extended Control Functionalities
0x2008 Cogging Torque Compensation
Cogging Torque Compensation
Overview
Procedure
Prerequisites
Overview of the GUI
Recording
Automatic recording
Testing the compensation table
Manual configuration for the cogging recording
Using the compensation table
Controlling Cogging Torque Compensation and Recording Feature via EtherCAT
Subitems:
1 State
2 Enabled
Field Weakening
Anti-Windup Control
Gain Scheduling
0x2002 Position control strategy
0x2013 Gain Scheduling
Motor Overload Protection (i2t)
Overview
Requirements
Description of Subitems for 0x200A:
Operating principle
Torque Offset for Feedforward Control
Velocity Offset for Feedforward Control
0x2010 Torque Controller
0x2012 Position Controller
Errors and Warnings
Error codes thrown by the firmware
Error Report Object
Object Dictionary
All Objects
0x1000 Device Type
0x1001 Error Register
0x1008 Manufacturer Device Name
0x100A Manufacturer Software Version
0x1010 Store parameters
0x1011 Restore default parameters
0x1018 Identity
0x1600 RxPDO Mapping 1
0x1A00 TxPDO Mapping 1
0x1C00 Sync Manager
0x1C10 SM 0 Assignment
0x1C11 SM 1 Assignment
0x1C12 SM 2 Assignment
0x1C13 SM 3 Assignment
0x2000 Command Object (disabled)
0x2001 Commutation Angle Offset
0x2002 Position control strategy
0x2003 Motor Specific Settings
0x2004 Brake Options
0x2005 Recuperation
0x2006 Protection
0x2008 Cogging Torque Compensation
0x2009 Commutation Offset
0x200A I2t
0x2010 Torque Controller
0x2011 Velocity Controller
0x2012 Position Controller
0x2012 Position Controller
0x2013 Gain Scheduling
0x2021 Velocity Feedback Filter
0x2022 Position Feedback Filter
0x2031 Drive temperature
0x203F Error report
0x20F0 Timestamp
0x20F1 Real Time Clock
0x20F2 Assigned Name
0x2100 Feedback sensor ports
0x2201 BISS Encoder 1
0x2202 BISS Encoder 2
0x2203 REM 16MT Encoder
0x2204 REM 14 Encoder
0x2205 Incremental Encoder 1
0x2206 Incremental Encoder 2
0x2207 HALL Sensor 1
0x2208 HALL Sensor 2
0x2209 SSI Encoder 1
0x220A SSI Encoder 2
0x2210 GPIO
0x230A Secondary position value
0x230B Secondary velocity value
0x2401 Analog input 1
0x2402 Analog input 2
0x2403 Analog input 3
0x2404 Analog input 4
0x2501 Digital Input 1
0x2502 Digital Input 2
0x2503 Digital Input 3
0x2504 Digital Input 4
0x2601 Digital Output 1
0x2602 Digital Output 2
0x2603 Digital Output 3
0x2604 Digital Output 4
0x2701 Tuning command
0x2702 Tuning status
0x2703 User MOSI
0x2704 User MISO
0x2705 Setup Wizard Completed
0x603F Error code
0x6040 Controlword
0x6041 Statusword
0x6060 Op Mode
0x6061 Op Mode Display
0x6064 Position Value
0x606C Velocity Value
0x6071 Target Torque
0x6072 Max torque
0x6073 Max current
0x6075 Motor Rated Current
0x6076 Motor Rated Torque
0x6077 Torque Value
0x6079 DC link circuit voltage
0x607A Target Position
0x607B Position Range Limits
0x607C Home offset
0x607D Software position limit
0x607E Polarity
0x607F Max profile velocity
0x6080 Max motor speed
0x6081 Profile velocity
0x6085 Quick stop deceleration
0x6086 Motion profile type
0x6091 Gear ratio
0x60B1 Velocity offset
0x60B2 Torque offset
0x60FF Target Velocity
0x6502 Supported Drive Modes
Communication Area
Process Data Objects
Standard RxPDO mapped Objects
Standard TxPDO mapped Objects
Advanced PDO mapping
Manufacturer Specific Area
Profile Specific Area
Process Data Objects
Standard RxPDO mapped Objects
Standard TxPDO mapped Objects
Advanced PDO mapping
Device Information
Assembling your SOMANET hardware
What do I need?
Assembling
Getting started with IgH EtherCAT® Master for Linux
Installing IgH EtherCAT master
Installing EtherCAT Master driver
Starting and stopping the driver
Firmware update via FoE
Preparing an upgrade binary image
Deploying your update image
SII/EEPROM Update
Siitool
Overview
Key Features
How to use it
Examples
sii_example.bin
Somanet_CiA402-multi.xml
Somanet_CiA402-single.xml
Somanet_CtrlProto.xml
Getting started with SOMANET SDK
Downloading the SOMANET SDK
Importing a SOMANET SDK Libraries into xTIMEcomposer
Building an application on xTIMEcomposer (recomended)
Building an application from linux terminal (optional alternative)
Generating binary files from xTIMEcomposer (recomended)
Generating binary files from a terminal (optional alternative)
Getting started with XMOS development tools
Installing Java SE Runtime Environment
Installing XMOS xTIMEcomposer
Developing motion applications with C++ and IgH EttherCAT master on Linux
Requirements
Motion Master C++ application installation guide
Overview
Prerequisites
Pull the Motion Master
Create and run a C++ application
Guideline for mounting Servo Nodes
Programming your SOMANET
Running an application from xTIMEcomposer
Running an application from the Command-Line Tools
Flashing a node from the xTIMEcomposer
Flashing a node from the Command-Line Tools
Flashing a node using EtherCAT
Tuning Guides
Velocity PID Tuning
PID Parameter Range
Recommended Tuning Steps
Position tuning with Gain Scheduling
Introduction
Control Basics
Tuning Concept in Brief
Tuning Steps
Cascaded position Tuning
Introduction
Control Basics
Tuning Concept in Brief
Tuning Steps
Commissioning and Tuning with OBLAC Drives
OBLAC Drives Box
Connectors
Installation
Powering the box off and resetting
Open OBLAC Drives
Using OBLAC Drives Box with WiFi
Sharing a connection with your Host-PC
Update OBLAC Drives
OBLAC Drives Virtual Machine
Prerequisite
Getting started
Connecting to OBLAC Drives
Troubleshooting
Set up your drive system
Motion Control Tuning
Auto-Tuning
System Identification
Prerequisites
Limitations
How to use
F.A.Q.
Position Auto-tuning
Prerequisites
Limitations
How to use
F.A.Q.
Velocity Auto-tuning
Prerequisites
Limitations
How to use
F.A.Q.
Concept of Auto-Tuning
Goal of Position Auto-tuning
Goal of Velocity Auto-tuning
Manual Tuning
Manual Tuning of torque/current control loop
Manual Tuning of the velocity control loop
Manual Tuning of the position control loop: Cascaded controller
Test your drive at the playground
Prerequisites
Apply a defined torque to your motor
Rotate your motor at defined velocities
Rotate your motor to defined positions
OBLAC Drives Update Service
Troubleshooting
Setup Issues
Memory Warning
Runtime Issues
Other Issues
Resources
Profile Specific Area
¶
Index
Name
0x603F
Error code
0x6040
Controlword
0x6041
Statusword
0x6060
Op Mode
0x6061
Op Mode Display
0x6064
Position Value
0x606C
Velocity Value
0x6071
Target Torque
0x6072
Max torque
0x6073
Max current
0x6075
Motor Rated Current
0x6076
Motor Rated Torque
0x6077
Torque Value
0x6079
DC link circuit voltage
0x607A
Target Position
0x607B
Position Range Limits
0x607B:1
Min position range limit
0x607B:2
Max position range limit
0x607C
Home offset
0x607D
Software position limit
0x607D:1
Min position limit
0x607D:2
Max position limit
0x607E
Polarity
0x607F
Max profile velocity
0x6080
Max motor speed
0x6081
Profile velocity
0x6085
Quick stop deceleration
0x6086
Motion profile type
0x6091
Gear ratio
0x6091:1
Motor revolutions
0x6091:2
Shaft revolutions
0x60B1
Velocity offset
0x60B2
Torque offset
0x60FF
Target Velocity
0x6502
Supported Drive Modes
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