• Hardware Manuals
  • Commissioning and Tuning Guide
  • Software Reference
    • v4.2-beta
    • v4.1
    • v4.0
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  • Hardware Manuals
  • Commissioning and Tuning Guide
  • Software Reference
    • v4.2-beta
    • v4.1
    • v4.0
  1. Documentation
  2. SOMANET Servo Nodes
  3. SOMANET Servo Node EtherCAT rev. D.3/D.4
  • SOMANET Servo Nodes
    • Handling instructions
      • Electrostatic sensitive devices
      • Magnetic sensitive devices
    • SOMANET Servo Node Revisions
    • SOMANET Servo Node EtherCAT rev. E.1
      • Technical specifications
        • Power Specifications
        • General specifications
        • Downloads
      • 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
      • LED signals
        • Overview
          • Legend
        • Core LED
          • Firmware
          • Bootloader
        • Drive LED
        • Com LED
      • Safety Module
        • 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
          • Disabling the safety functions
          • Cabling lenghts
          • 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 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
            • Fault diagnostics
            • Fault reaction
            • Resetting diagnostic faults
          • 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 Circulo rev. A.2 Preliminary
      • Technical specifications
        • Power Specification
        • General Specification
        • Optional Integrated Encoders
          • Functions
          • Magnetic data
        • Optional Integrated Brake
        • Downloads
      • 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
          • Dimensions
          • Drilling patterns for mounting
          • Heat dissipation
        • Mounting the encoder disks
          • Aligning the encoder discs
          • Mounting tolerances
            • Radial displacement (r)
            • Tangential displacement (t)
            • Axial distance
            • Tilt angle
            • Mounting eccentricity (rotation axis offset)
      • 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
    • Industrial I/O Adapter for SOMANET Drives
  • 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
      • Virtualization not activated
      • 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
            • Parameters related to the Motor
          • Gear Ratio
            • Parameters related to Gear Ratio
        • Brake release
          • Pin-brake Mode
            • Timing diagram
            • Parameters related to Brake
      • I/O
        • Analog In
          • Using differential inputs for single-ended sensors
          • External scaled measurement
            • Requirements
            • Specifications
          • Parameters related to Analog Inputs
        • Digital I/O
          • Configuration of Digital I/Os as Input or Output
          • Parameters related to GPIO
        • Encoder Configuration
          • Description of common encoder parameters
            • Function
            • Resolution
            • Zero velocity threshold
            • Polarity
            • Multiturn resolution
          • Encoder related parameters
        • Commutation with Hall and ABI combined
          • Overview
          • Requirements
          • Usage
          • Detailed description
      • Logging
        • Overview
        • Types
        • Format
      • 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:
            • Objects used for Cogging Torque Compensation
          • Field Weakening
          • Anti-Windup Control
            • Objects used for Anti-Windup Control
          • Gain Scheduling
          • Motor Overload Protection (i2t)
            • Overview
            • Requirements
            • Description of Subitems for 0x200A:
            • Operating principle
          • Feedforward Control
            • Usage
            • Object used for Feedforward control
          • Torque Offset
          • Velocity Offset
          • Filtering
            • Position and Velocity Feedback Low-pass filters
            • Torque loop input shaping filter
            • Overview
            • Methods
            • Application Guide
          • Control supervision
            • Timing diagram of the supervision objects
            • Following error
            • Following error window
            • Target reached function
            • Monitoring the internal variables
            • Control Effort
            • Objects used for Control supervision
          • Distributed clocks
            • Overview
            • Reference Clock
            • Sample configuration (TwinCAT)
            • Behavior of the feature
      • 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 Communication 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 object
          • 0x1019 Synchronous counter overflow value
          • 0x1400 Receive PDO1 parameter
          • 0x1401 Receive PDO2 parameter
          • 0x1600 Receive PDO1 mapping
          • 0x1601 Receive PDO2 mapping
          • 0x1602 Receive PDO3 mapping
          • 0x1603 Receive PDO4 mapping
          • 0x1800 Transmit PDO1 parameter
          • 0x1801 Transmit PDO2 parameter
          • 0x1A00 Transmit PDO1 mapping
          • 0x1A01 Transmit PDO2 mapping
          • 0x1A02 Transmit PDO3 mapping
          • 0x1A03 Transmit PDO4 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
          • 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 Modes of operation
          • 0x6061 Modes of operation display
          • 0x6062 Position demand value
          • 0x6064 Position actual value
          • 0x6065 Following error window
          • 0x6066 Following error time out
          • 0x6067 Position window
          • 0x6068 Position window time
          • 0x606B Velocity demand value
          • 0x606C Velocity actual 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 actual value
          • 0x6079 DC link circuit voltage
          • 0x607A Target position
          • 0x607B Position range limit
          • 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
    • About this documentation
      • Warnings
      • Reporting errors
      • Using offline documentation
    • Glossary
      • Differential and single-ended I/Os

SOMANET Servo Node EtherCAT rev. D.3/D.4¶

Attention

When dealing with electronic devices, always consider these handling instructions!

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

Europe (HQ)

Synapticon GmbH
Daimlerstraße 26
71101 Schönaich
Germany

+49 7031 / 30 478 -0

sales@synapticon.com

Americas

Synapticon Inc.
303 Twin Dolphin Drive
Redwood City 94065
California

+1 (650) 632 4599

sales-us@synapticon.com

Asia

Synapticon
518 Shen Chang Road
Shanghai 201106
China

+86 180-1628-7337

sales-ap@synapticon.com

About

Synapticon is a technology company focusing on the transition band between advanced software and electromechanics. The company provides a comprehensive portfolio of motion control-related technology to robot and machinery OEMs.

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