Hardware Manuals
Commissioning and Tuning Guide
Software Reference
v4.2-beta
v4.1
v4.0
Hardware Manuals
Commissioning and Tuning Guide
Software Reference
v4.2-beta
v4.1
v4.0
Documentation
Firmware Versions
Software Reference Manual v4.1
CiA 402 Object Dictionary
Profile Specific Area
SOMANET Servo Nodes
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
Power supply and motor brake
Pinout Power Terminal
Connecting a Brake
Encoders and IO
Encoder Port 1
Encoder Port 2
Encoder Port 3 / Digital IO
Analog IN
EtherCAT port
Connectors and mating parts
Overview of connectors
Mounting instructions
Heat dissipation
Thermal mounting considerations
Dimensions
Interference with magnetic fields
Downloads
LED signals
Overview
Legend
Core LED
Firmware
Bootloader
Drive LED
Com LED
Safety Module (STO-SBC) (Preliminary)
Specifications of the safety functions
System requirements
Technical specifications
Block diagram
Safety connectors
Connector Pinout
Safe digital I/O port
Safe brake terminal
Connector types and mating parts numbers
Wiring the safety inputs
Connection diagrams for the STO inputs
Manual switch + drive
Manual switch + drive (single-channel)
Manual switch + multiple drives
Safety PLC PM (Plus-Minus output) + drive
Safety PLC PM (Plus-Minus output) + multiple drives
Safety PLC PP (Plus-Plus output) + drive
Safety PLC PP (Plus-Plus output) + multiple drives
Connection diagrams for the STO/SBC feedback output
High side driver
Low side driver
Connection diagram for the brake
Using the safety functions
Timing diagrams
Timing diagram for STO-function without SBC
Timing diagram for STO-function with SBC-function
Truth table for digital inputs
Diagnostic functions
Software diagnostics
Hardware diagnostics
STO-SBC status register
Use cases
Emergency stop
Prevention of unexpected start-up
Commissioning and maintenance
Commissioning
Maintenance
Downloads
SOMANET Servo Node EtherCAT rev. D.3/4
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. 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 Revisions
SOMANET Servo Node Circulo rev. A.2 Preliminary
Technical specifications
Power Specification
General Specification
Optional Integrated Encoders
Optional Integrated Brake
Setup Guide
Wiring instructions
Power supply and motor brake
Power Terminal
Motor phases
Connecting a Brake
Encoders and IO
Connector overview
Analog Input
External Encoder
Digital IO
Safety STO-SBC
Encoder Battery (for multi-turn)
EtherCAT In/Out
Temperature sensor
Mating parts and encoder battery
Connector details and mating part numbers
Suitable encoder batteries
Overview of connectors
Dimensions and mechanical mounting
Circulo 700
Dimensions
Drilling patterns for mounting
Aligning the encoder discs
Circulo 1800
Dimensions
Drilling patterns for mounting
Aligning the encoder discs
Heat dissipation
Downloads
LED signals
Overview
Legend
Core LED
Firmware
Bootloader
Drive LED
EtherCAT LED
Safety functions (STO-SBC)
Specifications of the safety functions
System requirements
Technical specifications
Block diagram
Wiring the safety inputs
Connection diagrams for the STO inputs
Manual switch + drive
Manual switch + drive (single-channel)
Manual switch + multiple drives
Safety PLC PM (Plus-Minus output) + drive
Safety PLC PM (Plus-Minus output) + multiple drives
Safety PLC PP (Plus-Plus output) + drive
Safety PLC PP (Plus-Plus output) + multiple drives
Connection diagrams for the STO/SBC feedback output
High side driver
Low side driver
Connection diagram for the brake
Using the safety functions
Timing diagrams
Timing diagram for STO-function without SBC
Timing diagram for STO-function with SBC-function
Truth table for digital inputs
Diagnostic functions
Software diagnostics
Hardware diagnostics
STO-SBC status register
Use cases
Emergency stop
Prevention of unexpected start-up
Commissioning and maintenance
Commissioning
Maintenance
SOMANET Braking Chopper
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 Sin/Cos Cable Adapter
Overview
Block Diagram
Connectors
Encoder Connector Top
Encoder Connector Bottom
Interface Connector
Mounting remarks
Strain relief
Soldered cables
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
Next steps
F.A.Q.
Velocity Auto-tuning
Prerequisites
Limitations
How to use
Next steps
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
Update or downgrade OBLAC Drives
Troubleshooting
Setup Issues
Memory Warning
Runtime Issues
Other Issues
Firmware Versions
Software Reference v4.0
Overview
Functionality description
CANopen over EtherCAT (CoE)
PDO
PDO Configuration
SDO
Actuator Configuration
Motor Configuration
Motor Control Objects
Brake Configuration
Brake Parameter Object
Gear Ratio
Sensor Configuration
Sensor Objects
Description of commonly used specifications
Function
Resolution
Velocity calculation period
Polarity
Multiturn resolution
Motion Control
Drive State Machine (CiA 402)
Modes of Operation
Cyclic Synchronous Torque Control (CST)
General Scope of the Torque Controller
Reference Torque Generation
Functional Description and Controller Structure
Model-Predictive Current Controller
Cyclic Synchronous Velocity Control (CSV)
Cyclic Synchronous Position Control (CSP)
Cascaded PID Controller
Simple PID Controller
Switching modes
Extended Control Functionalities
Cogging Torque Compensation
Overview
Procedure
Controlling Cogging Torque Compensation and Recording Feature via EtherCAT
Subitems:
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
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 v4.1
Overview
Functionality description
CANopen over EtherCAT (CoE)
PDO
PDO Configuration
SDO
Actuator Configuration
Motor Configuration
Motor Control Objects
Brake Configuration
Brake Parameter Object
Gear Ratio
Sensor Configuration
Sensor Objects
Description of commonly used specifications
Function
Resolution
Velocity calculation period
Polarity
Multiturn resolution
Logging
Overview
Types
Format
Motion Control
Drive State Machine (CiA 402)
Modes of Operation
Cyclic Synchronous Torque Control (CST)
General Scope of the Torque Controller
Reference Torque Generation
Functional Description and Controller Structure
Model-Predictive Current Controller
Cyclic Synchronous Velocity Control (CSV)
Cyclic Synchronous Position Control (CSP)
Cascaded PID Controller
Simple PID Controller
Switching modes
Extended Control Functionalities
Cogging Torque Compensation
Overview
Procedure
Controlling Cogging Torque Compensation and Recording Feature via EtherCAT
Subitems:
Field Weakening
Anti-Windup Control
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
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
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
Software Reference v4.2-beta
Overview
Functionality description
CANopen over EtherCAT (CoE)
PDO
PDO Configuration
SDO
Actuator Configuration
Motor and Gear settings
Motor Configuration
Motor Control Objects
Gear Ratio
Brake release
Brake Parameter Object
I/O
Analog In
Using differential I/Os for single-ended sensors
External scaled measurement
Requirements
Specifications
Digital I/O
How to configure Digital I/Os as Input or Output
Sensor Configuration
Sensor Objects
Description of commonly used specifications
Function
Resolution
Velocity calculation period
Polarity
Multiturn resolution
Differential and single-ended I/Os
Logging
Overview
Types
Format
Motor parameter 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)
Profiled modes
Profile position mode
Profile velocity mode
Profile torque mode
Homing modes
Overview
Settings for homing mode
How to perform homing
Objects used
Switching modes
Extended Control Functionalities
Cogging Torque Compensation
Overview
Procedure
Controlling the feature via EtherCAT
Subitems:
Field Weakening
Anti-Windup Control
Gain Scheduling
Motor Overload Protection (i2t)
Overview
Requirements
Description of Subitems for 0x200A:
Operating principle
Feedforward Control
Usage
Torque Offset
Velocity Offset
Filtering
Position and Velocity Feedback Low-pass filters
Torque loop input shaping filter
Overview
Methods
Application Guide
Errors and Warnings
Error codes thrown by the firmware
Error Report Object
Object Dictionary
All Objects
0x1000 Device Type
0x1001 Error Register
0x1005 COB-ID SYNC
0x1006 Cycle period
0x1008 Manufacturer Device Name
0x100A Manufacturer Software Version
0x100C Guard Time
0x100D Life time factor
0x1010 Store parameters
0x1011 Restore default parameters
0x1016 Consumer Heartbeat Time
0x1017 Producer Heartbeat Time
0x1018 Identity
0x1019 Synchronous counter overflow
0x1400 RPDO1
0x1401 RPDO2
0x1600 RxPDO Mapping 1
0x1601 RxPDO Mapping 2
0x1602 RxPDO Mapping 3
0x1603 RxPDO Mapping 4
0x1800 TPDO1
0x1801 TPDO2
0x1A00 TxPDO Mapping 1
0x1A01 TxPDO Mapping 2
0x1A02 TxPDO Mapping 3
0x1A03 TxPDO Mapping 4
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
0x2014 Torque window
0x2015 Velocity feed forward
0x2021 Velocity feedback filter
0x2022 Position feedback filter
0x2023 Notch Filter
0x2030 Core temperature
0x2031 Drive temperature
0x2038 External scaled measurement
0x203F Error report
0x2040 Input counter
0x20E1 High Resolution Data
0x20F0 Timestamp
0x20F1 Real Time Clock
0x20F2 Assigned Name
0x20F3 DC Synchronization
0x2100 Feedback sensor ports
0x2201 BISS Encoder 1
0x2202 BISS Encoder 2
0x2203 REM 16MT 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
0x220B A Format Encoder
0x220C Fast ABI Module
0x220E SinCos Module
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
0x2611 Safety digital input diagnostics
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
0x6062 Position demand value
0x6064 Position Value
0x6065 Following error window
0x6066 Following error time out
0x6067 Position window
0x6068 Position window time
0x606B Velocity demand value
0x606C Velocity Value
0x606D Velocity window
0x606E Velocity window time
0x606F Velocity threshold
0x6070 Velocity threshold time
0x6071 Target Torque
0x6072 Max torque
0x6073 Max current
0x6074 Torque demand
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
0x6080 Max motor speed
0x6081 Profile velocity
0x6083 Profile acceleration
0x6084 Profile deceleration
0x6085 Quick stop deceleration
0x6086 Motion profile type
0x6087 Torque slope
0x6088 Torque profile type
0x6091 Gear ratio
0x6098 Homing Method
0x6099 Homing speeds
0x609A Homing acceleration
0x60A9 SI unit velocity
0x60B1 Velocity offset
0x60B2 Torque offset
0x60E3 Supported homing methods
0x60F4 Following error actual value
0x60FA Control effort
0x60FC Position demand internal value
0x60FF Target Velocity
0x6502 Supported Drive Modes
0x6621 Safety statusword
Communication Area
Process Data Objects
Standard RxPDO mapped Objects
Standard TxPDO mapped Objects
Advanced PDO mapping
Changing the content of an object
Manufacturer Specific Area
Profile Specific Area
Device Information
Tutorials
Motion Master C++ application installation guide
Prerequisites
Pull the Motion Master
Create and run an application
Run Motion master via OBLAC Drives Box
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
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
Feedback
