Software
3.0
4.0
4.1
Hardware
Q&A
Software
3.0
4.0
4.1
Hardware
Q&A
Documentation
SOMANET Software 4.0
Software Manual - SOMANET Servo Node EtherCAT
CiA 402 Object Dictionary
List of all Objects
0x1C10
Hardware
Servo Nodes
SOMANET Servo Node 400/1000 EtherCAT
Contents of your Evaluation Kit
Attaching the cables
Powering up the Servo Drive
Additional Resources
Core (Processor Modules)
SOMANET Core C2X A3/4
Overview
Technical Specs
General Specifications
Absolute Maximum Ratings
Connectors
IF1 Board to Board Connector
IF2 Board to Board Connector
Power Supply
Programming the Board
Geometry & Dimensions
Revisions
SOMANET Core C2X A5
Overview
Technical Specs
General Specifications
Absolute Maximum Ratings
Connectors
IF1 Board to Board Connector
IF2 Board to Board Connector
Programming the Board
Geometry & Dimensions
Revisions
Com (Communication Modules)
SOMANET Com EtherCAT
SOMANET Com EtherCAT A.4
Overview
Technical Specs
General Specifications
Absolute Maximum Ratings
Connectors
EtherCAT 1
EtherCAT 2
Ports Definition
Geometry & Dimensions
Revisions
SOMANET Com EtherCAT B.1
Overview
Technical Specs
General Specifications
Absolute Maximum Ratings
Connectors
EtherCAT IN Port
EtherCAT OUT Port
Ports Definition
Geometry & Dimensions
Revisions
Drive & IO
SOMANET Drive 400 and Drive 1000
SOMANET Drive 1000 C.4
Overview
Hardware Diagram
Technical Specs
Connectors
Power Terminal
Encoder Port 1
Encoder Port 2
Encoder Port 3 / Digital IO
Analog IN
Connector types and mating parts numbers
On-board Chopper
Wiring and Grounding the Board
Connecting a Brake
Geometry & Dimensions
Revisions
SOMANET Drive 400 D.4 and Drive 1000 D.3/D.4
Overview
Hardware Diagram
Technical Specs
Connectors
Power Terminal
Encoder Port 1
Encoder Port 2
Encoder Port 3 / Digital IO
Analog IN
Wiring and Grounding the Board
Connecting a Brake
Connector types and mating parts numbers
Warning about usage of contactors behind the power supply
Geometry & Dimensions
Revisions
Accessories
SOMANET Proto Board
SOMANET IO Proto Board IF1
Overview
Technical Specs
General Specifications
Port Mapping
SOMANET Core C2X
SOMANET Core C4X
Geometry & Dimensions
Revisions
SOMANET IO Proto Board IF2
Overview
Technical Specs
General Specifications
Port Mapping
Power Supply
Geometry & Dimensions
Revisions
SOMANET Sense REM 16 MT
Overview
Technical Specification
Electrical installation
SPI connectors
Mechanical assembling manual
Mounting Scheme
Mechanical Dimensions
Readout Mode
Timing Diagram
Data Format
Configuration Mode
Timing Diagram
Data Format
Configuration Commands
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
Legacy Products
SOMANET Drive 100
Overview
Block Diagram
Technical Specs
General Specifications
Absolute Maximum Ratings
Connectors
Ports Definition
Power Supply
Heat Dissipation
Geometry & Dimensions
SOMANET Drive 300
Overview
Block Diagram
Technical Specs
General Specifications
Absolute Maximum Ratings
Connectors
Ports Definition
Power Supply
Heat Disipation
Geometry & Dimensions
Revisions
SOMANET Com Ethernet
Overview
Technical Specs
General Specifications
Absolute Maximum Ratings
Connectors
Ethernet 1
Ethernet 2
Ports Definition
Revisions
SOMANET Com Serial
Overview
Block Diagram
Technical Specs
General Specifications
Absolute Maximum Ratings
CAN Interface
RS-485 Interface
LIN Interface
Geometry & Dimensions
Revisions
SOMANET Core C22
Overview
Block Diagram
Technical Specs
General Specifications
Absolute Maximum Ratings
Connectors
FLASH SPI Pads
Auxiliar Power Connector
Ports Definition
Power Supply
Programming the Board
xSCOPE
Geometry & Dimensions
Revisions
SOMANET Core C21 DX
Overview
Technical Specs
General Specifications
Absolute Maximum Ratings
Connectors
DX connector
Auxiliar Power Connector
Ports Definition
Power Supply
Programming the Board
Revisions
SOMANET Software 4.0
SOMANET Applications
Software Manual - SOMANET Servo Node EtherCAT
Functional Overview
Functionality description
CANopen over EtherCAT (CoE)
PDO
SDO
Actuator Configuration
Motor Configuration
Motor Control Objects
Brake
Brake Parameter Object
Sensor Configuration
Sensor Objects
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)
Cyclic Synchronous Velocity Control (CSV)
Cyclic Synchronous Position Control (CSP)
Switching modes
Extended Control Functionalities
Cogging Compensation
Dynamic Offset Torque for Feedforward Control
Field Weakening
Anti-Windup Control
Errors and Warnings
Supported error codes from the CiA402 Standard
Manufacturer Specific error codes
Object Dictionary
All Objects
0x1000
0x1001
0x1008
0x100A
0x1010
0x1011
0x1018
0x1600
0x1A00
0x1C00
0x1C10
0x1C11
0x1C12
0x1C13
0x2000
0x2001
0x2002
0x2003
0x2004
0x2005
0x2006
0x2008
0x2009
0x2010
0x2011
0x2012
0x2012
0x20F0
0x20F1
0x20F2
0x2100
0x2201
0x2202
0x2203
0x2204
0x2205
0x2206
0x2207
0x2208
0x2210
0x230A
0x230B
0x2401
0x2402
0x2403
0x2404
0x2501
0x2502
0x2503
0x2504
0x2601
0x2602
0x2603
0x2604
0x2701
0x2702
0x2703
0x2704
0x2705
0x603F
0x6040
0x6041
0x6060
0x6061
0x6064
0x606C
0x6071
0x6072
0x6073
0x6075
0x6076
0x6077
0x6079
0x607A
0x607B
0x607C
0x607D
0x607E
0x607F
0x6080
0x6081
0x6083
0x6084
0x6085
0x6086
0x60B2
0x60C5
0x60FF
0x6502
Communication Area
Standard RxPDO mapped Objects
Standard TxPDO mapped Objects
Manufacturer Specific Area
Profile Specific Area
Process Data Objects
TxPDO: Inputs
RxPDO: Outputs
Device Information
SOMANET SDK
Migration to v4
Upgrading from v3.2
Upgrading from v3.0
SOMANET Base
Modules
Board Support Module
How to use
Content
COM Recognition Module
API
Locks Module
Hardware lock API
Software lock API
Reboot Module
How to use
API
Flash Service Module
API
SPI Flash File System Module
How to use
API
Examples
XScope Test
Hardware setup
Quick how-to
COM-detect Test
EtherCAT
Hardware Compatibility
Modules
EtherCAT Slave Library
How to Use
API
Examples
Dependencies
Ethernet
Hardware Compatibility
Modules
Examples
Ping demo
Quick How-to
Loopback demo
Quick How-to
Ethernet hub demo
Quick How-to
Dependencies
Motion Control
Hardware Compatibility
Modules
PWM Module
How to use
API
Position Feedback Module
How to use
API
Hall Sensor Feedback Module
How to use
API
Incremental Encoder Feedback Module
How to use
API
BiSS / SSI Encoder Feedback Module
How to use
API
REM 14 Module
How to use
API
REM 16MT Module
How to use
API
Serial Encoder Module
How to use
API
SPI Master Module
How to use
API
ADC Module
How to use
API
Watchdog Module
How to use
API
GPIO Server Module
How to use
API
Miscellaneous Module
How to use
API
Controllers Implementation Module
How to use
API
Profile Module
How to use
API
Motion Control Module
How to use
API
Cogging Torque Feature
Shared Memory Module
How to use
API
Examples
PWM Demo
Quick How-to
Hall Sensor Test
Quick How-to
Incremental Encoder Test
Quick How-to
BiSS Absolute Encoder Test
Quick How-to
SSI Encoder Test
Quick How-to
REM 14 Absolute Encoder Test
Quick How-to
REM 16MT Absolute Encoder Test
Quick How-to
Position Feedback Service Test
Quick How-to
BLDC Control Tuning Demo
Console commands
XScope display
Quick How-to
BLDC Motion Control Demo
Introduction
Quick How-to
Motor Control Quick Guides
Motion Control Library configuration
Dependencies
Network Drive
Hardware Compatibility
Modules
Drive Module
How to use
API
Canopen Interface Service
How to use CANopen Interface Service
Implementation Notes
API
Examples
Cyclic Position/Velocity/Torque Control Demo
Hardware setup
Build the application
Run the application
Commands
Examine the code
Special Tuning Mode Application
Hardware setup
Build the application
Commands
Run the application
Examine the code
SDO Handling Demo Slave
Quick How-to
SDO Handling Demo Master
Prerequisites
Usage
Dependencies
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
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
OBLAC Drives
OBLAC Drives Box
Connectors
Installation
Connect to the GUI
Accessing the internet
OBLAC Drives VM
System Requirements
Getting started
Connecting to OBLAC Drives
Shutting down the Virtual Machine
Troubleshooting
Set up your drive system
Tune your Drives
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
Tutorial: Motion Control System
Prerequisites
Rotate your motor at a defined torque
Rotate your motor to defined positions
OBLAC Drives Update Service
Troubleshooting
Setup Issues
Memory Warning
Runtime Issues
Other Issues
Resources
0x1C10
¶
0x1C10:0 SM 0 Assignment
Object Type
OBJECT_TYPE_ARRAY
Index
0x1C10
SubIndex
0
Type
USINT
Bit Size
8
Deftype
DEFTYPE_UNSIGNED8
Min Data
Max Data
Default Data
Unit
Access
readonly (default)
Category
optional
PDO Mapping
Feedback