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Overdamped > 1: no overshoot, results in a less sharp response.
Example of a velocity control loop step response with a damping ratio of 2:

A damping ratio higher than 1 may lead to undershoot and non-zero steady state error.

Bandwidth (also called 3 dB bandwidth) is a characteristic of a control loop that characterizes
sharpness of the control loop. It is a frequency the system may follow while keeping 71% of the
amplitude.
Example of velocity control loop 10 Hz sine wave tracking with a requested bandwidth of 10 Hz:

Synapticon Documentation

© 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01

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Summary of Contents for SOMANET Circulo 7

Page 1: ...Synapticon Documentation Documentation v 4 19 0 Built 2022 02 01 2021 Synapticon GmbH...

Page 2: ...1 Supply and phases 1 2 2 1 1 2 Connecting a brake 1 2 2 1 2 Encoders and IO 1 2 2 1 2 1 Encoder overview 1 2 2 1 2 2 Analog Input 1 2 2 1 2 3 Encoder ports 1 2 2 1 2 4 Digital IO 1 2 2 1 2 5 EtherCA...

Page 3: ...der non linearity 1 2 2 3 2 Calibration Procedure 1 2 2 3 2 1 Prerequisite 1 2 2 3 2 2 Performing the procedure 1 2 2 3 2 3 Troubleshooting 1 2 2 3 2 4 Encoder system diagnostic 1 2 3 LED signals 1 2...

Page 4: ...Specifications 1 3 1 1 1 Power Specifications 1 3 1 1 2 General specifications 1 3 1 2 Load cycle 1 3 1 3 Thermal mounting considerations 1 3 1 4 Downloads 1 3 1 4 1 Documents 1 3 1 4 2 CAD Files 1 3...

Page 5: ...3 4 4 Using the safety functions 1 3 4 4 1 Timing diagrams 1 3 4 4 1 1 Timing diagram for STO function without connected brake 1 3 4 4 1 2 Timing diagram for STO function with SBC function 1 3 4 4 2 T...

Page 6: ...dustrial I O Cable Adapter 1 4 3 1 Overview 1 4 3 2 Block diagram 1 4 3 3 Pinouts 1 4 3 4 Connector details and mating parts 1 4 3 5 Strain relief 1 4 3 6 Soldered cables 1 4 3 7 Attaching the adapter...

Page 7: ...5 1 3 LED signals 1 5 1 3 1 Overview 1 5 1 3 1 1 Legend 1 5 1 3 2 Core LED 1 5 1 3 2 1 Firmware 1 5 1 3 2 2 Bootloader 1 5 1 3 3 Drive LED 1 5 1 3 4 EtherCAT LED 1 5 1 4 Safety functions STO SBC 1 5...

Page 8: ...ry for Multi Turn 1 5 2 2 4 Mounting a bearing 1 5 2 2 5 Encoder accuracy 1 5 2 2 5 1 Wide angle error long wave error integral nonlinearity 1 5 2 2 5 2 Narrow angle error short wave error differentia...

Page 9: ...EtherCAT module 1 5 3 2 2 Processor module 1 5 3 2 3 Drive module 1 5 3 3 Installation Guide 1 5 3 3 1 Downloads 1 5 3 3 2 Wiring instructions 1 5 3 3 2 1 Warning about using contactors behind the pow...

Page 10: ...ting instructions 1 5 4 3 4 1 Heat dissipation 1 5 4 3 4 2 Dimensions 1 5 4 3 4 3 Interference with magnetic fields 1 5 4 4 LED signals 1 5 4 4 1 Overview 1 5 4 4 1 1 Legend 1 5 4 4 2 Core LED 1 5 4 4...

Page 11: ...2 2 2 8 Factory Reset 2 2 3 Using keyboard shortcuts 2 2 4 Quick Open 2 3 Set up your servo drive 2 4 Motion Control Tuning 2 4 1 Overview of the Tools 2 4 2 Auto Tuning 2 4 2 1 Concept of Auto Tuning...

Page 12: ...Nopen over EtherCAT CoE 3 1 2 1 Drive State Machine CiA 402 3 1 2 2 PDO 3 1 2 3 PDO Configuration 3 1 2 4 SDO 3 1 3 Actuator configuration 3 1 3 1 Motor and gear settings 3 1 3 1 1 Motor Configuration...

Page 13: ...uirements 3 1 3 6 3 Detailed Description 3 1 3 6 4 Parameters 3 1 4 Encoders and I O 3 1 4 1 Analog In 3 1 4 1 1 Using single ended sensors on differential inputs 3 1 4 1 2 Nonlinear conversion 3 1 4...

Page 14: ...7 Input counter 3 1 4 7 1 Overview 3 1 4 7 2 Limitations 3 1 4 7 3 Parameters 3 1 5 Protection 3 1 5 1 Overview 3 1 5 2 Usage 3 1 5 3 Parameters 3 1 6 Errors and Warnings 3 1 6 1 Error codes thrown by...

Page 15: ...oming 3 1 8 2 3 5 Operation Mode dependent Bits of Status and Controlword 3 1 8 2 3 6 Parameters 3 1 8 2 4 Quick stop 3 1 8 2 4 1 Overview 3 1 8 2 4 2 Usage 3 1 8 2 4 3 Parameters 3 1 8 2 5 Diagnostic...

Page 16: ...owing error 3 1 8 3 11 3 Following error window 3 1 8 3 11 4 Target reached function 3 1 8 3 11 5 Monitoring the internal variables 3 1 8 3 11 6 Control Effort 3 1 8 3 11 7 Parameters 3 1 8 3 12 Distr...

Page 17: ...t PDO4 mapping 3 1 9 1 33 0x1C00 Sync Manager 3 1 9 1 34 0x1C10 SM 0 Assignment 3 1 9 1 35 0x1C11 SM 1 Assignment 3 1 9 1 36 0x1C12 SM 2 Assignment 3 1 9 1 37 0x1C13 SM 3 Assignment 3 1 9 1 38 0x2000...

Page 18: ...1 9 1 67 4 Incremental encoder 3 1 9 1 67 5 Hall sensor Nikon A Format REM16MT SinCos module 3 1 9 1 67 6 All encoders 3 1 9 1 67 7 All encoders 3 1 9 1 67 8 Absolute encoders BiSS SSI Nikon A format...

Page 19: ...19 BiSS SSI 3 1 9 1 69 20 BiSS 3 1 9 1 69 21 BiSS 3 1 9 1 69 22 BiSS 3 1 9 1 69 23 SSI 3 1 9 1 69 24 SSI 3 1 9 1 69 25 SSI 3 1 9 1 69 26 SSI 3 1 9 1 69 27 Incremental encoder SinCos module 3 1 9 1 69...

Page 20: ...elocity threshold 3 1 9 1 103 0x6070 Velocity threshold time 3 1 9 1 104 0x6071 Target Torque 3 1 9 1 105 0x6072 Max torque 3 1 9 1 106 0x6073 Max current 3 1 9 1 107 0x6074 Torque demand 3 1 9 1 108...

Page 21: ...anufacturer Specific Area 3 1 9 5 Profile Specific Area 3 1 10 Device Information 3 1 10 1 Saving and restoring configurations 3 1 10 1 1 Overview 3 1 10 1 2 Usage 3 1 10 1 2 1 Restore configuration 3...

Page 22: ...amples of faulty values 4 1 6 2 3 Temperature Sensor input 4 1 6 2 4 Internal Resistance 4 1 7 Using Statusword and Controlword 4 1 7 1 Overview 4 1 7 1 1 What are Control and Statusword 4 1 7 1 2 How...

Page 23: ...et to device 4 1 9 4 11 Test stable operation 4 1 9 4 12 Check Zero Position 4 2 Tutorials 4 2 1 Tuning Guides 4 2 1 1 Velocity PID Tuning 4 2 1 1 1 PID Parameter Range 4 2 1 1 2 Recommended Tuning St...

Page 24: ...2 3 2 Steps of Operation 4 3 About this documentation 4 3 1 Warnings 4 3 2 Reporting errors 4 3 3 Using offline documentation 4 3 4 Versioning 1023 1023 1025 1025 1026 1030 1030 1030 1031 1031 Synapt...

Page 25: ...echnical specifications Load cycle Thermal considerations Downloads Installation guide Wiring instructions Power and brake Encoders and IO Analog input specification Temperature sensor Battery for Mul...

Page 26: ...le 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 L...

Page 27: ...al I O Cable Adapter ABI BiSS Encoder Cable Adapter Samples Legacy Products Note Please note that these products are no longer sold or updated Circulo Sample B 1 Synapticon Documentation 2021 Synaptic...

Page 28: ...on 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 s...

Page 29: ...gnals Safety functions STO SBC Specifications of the safety functions Wiring the safety inputs Using the safety functions Commissioning and maintenance SOMANET Node D 3 D 4 Overview Node D 3 4 Technic...

Page 30: ...are diagrams Installation guide Wiring instructions Connector pinouts Grounding and connecting a brake Mounting instructions LED signals Synapticon Documentation 2021 Synapticon GmbH Daimlerstra e 26...

Page 31: ...ch solder joints pins or exposed printed circuitry Do not leave the device where others can handle and possibly damage the device While the device is still in its anti static bag touch it to an unpain...

Page 32: ...n the encoder ring and for example a magnetic brake being magnetic When storing supplying and picking parts make sure the encoder rings are not transported or stored with other magnets This includes p...

Page 33: ...hermal 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 c...

Page 34: ...ntenance Changelog of the safety related documentation Note Please note that previously released samples of SOMANET Circulo were available which differed in several aspects such as pin out and dimensi...

Page 35: ...oviding a pin brake and safe motion option specifically designed for collaborative robot cobot joints and smart actuators Attention When dealing with electronic devices always consider these handling...

Page 36: ...Technical specifications Load cycle Synapticon Documentation 2021 Synapticon GmbH Daimlerstra e 26 D 71101 Sch naich Documentation v 4 19 0 Built 2022 02 01 36 1031...

Page 37: ...Thermal considerations Downloads Synapticon Documentation 2021 Synapticon GmbH Daimlerstra e 26 D 71101 Sch naich Documentation v 4 19 0 Built 2022 02 01 37 1031...

Page 38: ...e defintions for supply voltage Maximum continuous values can be reached when thethermal mounting guidelines have been considered Please refer tothe load cycle RMS RMS RMS RMS RMS RMS 1 2 1 1 2 Genera...

Page 39: ...60 C ambient air inside the enclosure 0 70 C on the mounting surface typically B side bearing flange of the motor Max installation altitude 2000 m Storage temperature 35 to 85 C Humidity Max 90 rH Sen...

Page 40: ...has its own temperature protection object which is set to 100 C by default this hardware protection will not be triggered Fast ABI is supported from firmware 5 0 on Using a PT100 is not recommended C...

Page 41: ...the wiring section Circulo 7 Encoder Specifications Position 1 inner Position 2 outer Operating principle Off axis magnetic field scanning Scanning principle 2 arrays of Hall sensors for 2 magnetic t...

Page 42: ...ted encoders Circulo 7 Accuracy repeatability Position 1 inner Position 2 outer Accuracy 90 0 025 72 0 02 Repeatability 14 0 0039 25 0 0069 Circulo 9 Accuracy repeatability Position 1 inner Position 2...

Page 43: ...Configuration 1 velocity commutation Configuration 2 1 2 1 1 3 1 2 Magnetic data Parameter Magnetic field strength at the surface of the chip 15 100 kA m Operating magnetic field frequency max 7 kHz...

Page 44: ...ECAN Single Encoder Position 2 outer CR7 48 24 ECBN SOMANET Circulo 7 CR7 48 24 ECBN Dual Encoder CR7 48 24 ECDN SOMANET Circulo 7 CR7 48 24 ECDN SOMANET Circulo 9 Standard CR9 48 60 ECNN SOMANET Cir...

Page 45: ...urrent does not exceed the allowable continuous current I sub cont max In the example of the current consisting of pulses with I I and idle phases of I 0 between them the maximum allowable duty cycle...

Page 46: ...unting structure must be made of metal preferably aluminum have a surface quality of Rz16 or better can be the robot or machine structure the motor housing or other parts 3 Mounting of Circulo must be...

Page 47: ...mance specifications as shown in the figure below Operation with mounting temperature hotter than specified is possible in a limited extent However the maximum continuous current and related performan...

Page 48: ...ed temperature current range is at your own risk All tests qualifications and certifications are done up to nominal mounting temperature only Your own extensive testing and qualification inside your s...

Page 49: ...ed that motors can reach significantly higher temperatures if continuously being operated at their max continuous current In such a case the full continuous torque spec of the motor cannot be used con...

Page 50: ...E SOMANET CIRCULO STO SBC FUNCTIONALITY STATEMENT SOMANET CIRCULO MECHANICAL IMMUNITY SHOCK AND VIBRATION TESTS 1 2 1 4 2 CAD Files STEP MODEL OF CIRCULO 7 STEP MODEL OF CIRCULO 9 CIRCULO 7 MECHANICAL...

Page 51: ...for Multi Turn EtherCAT STO Cable Maximum cable lengths Mating parts Mechanical integration Mounting Example Dimensions Mounting encoder rings Thermal Mounting Considerations Encoder calibration Enco...

Page 52: ...1 2 2 1 Wiring instructions Overview of connectors Circulo 7 Circulo 9 Synapticon Documentation 2021 Synapticon GmbH Daimlerstra e 26 D 71101 Sch naich Documentation v 4 19 0 Built 2022 02 01 52 1031...

Page 53: ...n Specification Temperature sensor Battery for Multi Turn EtherCAT STO Cable Maximum cable lengths Mating parts Synapticon Documentation 2021 Synapticon GmbH Daimlerstra e 26 D 71101 Sch naich Documen...

Page 54: ...2 2 1 1 Power and brake 1 2 2 1 1 1 Supply and phases Circulo 7 Circulo 9 Synapticon Documentation 2021 Synapticon GmbH Daimlerstra e 26 D 71101 Sch naich Documentation v 4 19 0 Built 2022 02 01 54 10...

Page 55: ...riately dissipate generated heat Note Use a protected extra low voltage PELV power supply 1 2 2 1 1 1 1 Warning about using contactors behind the power supply Attention Our servo drives are designed f...

Page 56: ...m side of the heatsink has a flat conductive surface and can be used as a connection for Functional Earth FE For a better EMI shielding around the electronic boards it is necessary to electrically con...

Page 57: ...ould be twisted together or at least be paired to have a minimum area between them Note This brake integrates Safe Brake Control functionality SBC Attention The brake output is not short circuit prote...

Page 58: ...Circulo 7 Circulo 9 Synapticon Documentation 2021 Synapticon GmbH Daimlerstra e 26 D 71101 Sch naich Documentation v 4 19 0 Built 2022 02 01 58 1031...

Page 59: ...der has to be mounted on the motor side for commutation purpose An encoder on a gear out side can not be used for commutation Circulo 7 Circulo 9 Synapticon Documentation 2021 Synapticon GmbH Daimlers...

Page 60: ...Analog signals can be found in our system integration guideline Connecting and configuring analog inputs Circulo 7 Circulo 9 Synapticon Documentation 2021 Synapticon GmbH Daimlerstra e 26 D 71101 Sch...

Page 61: ...not connected The supply is protected against short to ground and keeps the current below 400 mA in a continuous short The current capacity of 5 V output is shared between all connectors and the tota...

Page 62: ...ed encoder 2 is used only Hall can be configured as external encoder 2 on port 2 Please refer to the following image for details 1 2 2 1 2 3 1 Encoder port 1 Circulo 7 Synapticon Documentation 2021 Sy...

Page 63: ...urn For selecting a suitable battery please check these notes Protocol Function Multi turn battery supply BiSS Diff SSI Diff Encoder Type Integrated Encoder 1 External Encoder on port 1 External Encod...

Page 64: ...7 V_BAT The current capacity of 5 V output is shared between all connectors and the total consumption is limited to 250 mA 1 2 2 1 2 3 2 Encoder port 2 Circulo 7 Synapticon Documentation 2021 Synaptic...

Page 65: ...ound 5 A A SLO Data H3 C 6 A SLO Data 7 B B H2 B 8 B 9 I I H1 A 10 I Fast ABI is supported from firmware 5 0 on The current capacity of 5 V output is shared between all connectors and the total consum...

Page 66: ...lo 9 Pin GPIO REM14 16MT BiSS LVTTL SSI LVTTL SPI 1 3 3 V OUT 2 Digital I O 1 Fast Push Pull SCK SLO Data SCK Synapticon Documentation 2021 Synapticon GmbH Daimlerstra e 26 D 71101 Sch naich Documenta...

Page 67: ...Sink and source The current capacity of 5 V output is shared between all connectors and the total consumption is limited to 250 mA The supply is protected against short to ground and keeps the curren...

Page 68: ...V min 2 4 V 4 44 V V max 0 4 V 0 5 V IH IL OH OL 1 2 2 1 2 5 EtherCAT STO SBC IN OUT Note This connector features both pins for EtherCAT as well as for STO SBC to facilitate true daisy chaining Detail...

Page 69: ...lo 7 Circulo 9 Pin 1 STO SBC In 1 2 STO SBC In 2 3 Safety GND 4 RX_N 5 RX_P Synapticon Documentation 2021 Synapticon GmbH Daimlerstra e 26 D 71101 Sch naich Documentation v 4 19 0 Built 2022 02 01 69...

Page 70: ...V logic Type 1 V 15 V to 24 V V 0 V to 5 V Attention When not using the STO SBC feature please attach a 24 V supply to Pin 1 and 2 and Ground to Pin 3 It s possible to daisy chain these signals to oth...

Page 71: ...Circulo 9 Synapticon Documentation 2021 Synapticon GmbH Daimlerstra e 26 D 71101 Sch naich Documentation v 4 19 0 Built 2022 02 01 71 1031...

Page 72: ...Wiring diagrams for the safety digital inputs Synapticon Documentation 2021 Synapticon GmbH Daimlerstra e 26 D 71101 Sch naich Documentation v 4 19 0 Built 2022 02 01 72 1031...

Page 73: ...1V 2 5V 5V The common mode voltage Any voltage out of this range causes saturation and inaccuracy in the measurements V 15V 15V The tolerable voltage between the positive input pin and GND Any voltage...

Page 74: ...saturation to min max ADC value V 0 5V 6V The tolerable input voltage between the input and GND Any voltage out of this range damages the analog input s circuitry R 100k Internal input resistance Erro...

Page 75: ...pically about 1 mA please refer to the manufacturer data sheet The pull up resistor has to be selected according to the RTDs data sheet to ensure that the current is not higher or lower than required...

Page 76: ...n the servo drive need to be activated This is done internally with a multiplexer The desired value can be selected via software through object 0x2038 subindex 3 Attention The ADC value is scaled to 1...

Page 77: ...Analog Input Scaling For details about using temperature sensors please check our System integration guide 1 2 2 1 4 1 Specification for the single ended temperature sensor input Symbol Min typical M...

Page 78: ...g input s circuitry R 1M Internal input resistance Error 1 1 Error in ticks Attention The temperature sensor input should only be used for measuring temperatures with RTD in lim i Synapticon Documenta...

Page 79: ...utput voltage stability and operating life up to 25 years The self discharge per year is typically in the range of 1 Form Factor Description 1 2 AA A cylindrical cell with 25 2 mm length and 14 5 mm d...

Page 80: ...e encoder is rotated the chip will be switched from standby to operational In this case the current consumption will be 800 A This could be negligible in most of the battery life time calculations If...

Page 81: ...ables that are considered A Y Splitter cable that connects the first servo drive with the master It has two terminals A standard RJ45 connector for the Ethernet communication with the master A three s...

Page 82: ...litter cable and on both sides of the Drive to Drive cable Pin Wire Function Color 1 STO SBC1 Red 2 STO SBC2 Black 3 Safety GND White 4 RX_N Green 5 RX_P Green White 6 TX_N Orange 7 TX_P Orange White...

Page 83: ...e On the Y Splitter cable these wires are open strands at the master side 1 2 2 1 6 2 3 EtherCAT Connection Pin Function Color 1 TX_P Orange White 2 TX_N Orange 3 RX_P Green White Synapticon Documenta...

Page 84: ...ires must be secured protected with a shrink tube that is lined with adhesive This prevents the shrink tube from sliding off All the wires should be of the same length or as much as possible of the sa...

Page 85: ...tails Connector Manufacturer Connector Part Number Cable Thickness Cable Flexibility JST GHR 08V S As thin as possible while conforming to specs As thin as possible while conforming to specs Synaptico...

Page 86: ...air 7 TX_P 28 8 PE 28 shield According to EtherCAT standards 1 2 2 1 6 3 2 3 Connectorization Both sides must be provided with this connector GHR 08V S from manufacturer JST 1 2 2 1 6 3 3 Y Splitter C...

Page 87: ...lexibility STO Cable JST GHR 08V S As thin as possible while conforming to specs As thin as possible while conforming to specs EtherCAT Cable any RJ45 According to LINK5 Synapticon Documentation 2021...

Page 88: ...2 TX_N 2 6 28 orange 2 Twisted pair 3 TX_P 1 7 28 orange white 2 PE shield 8 28 shield 1 2 3 Exemplary used by Synapticon According to TIA EIA 568B According to EtherCAT standards 1 2 2 1 6 3 3 3 Con...

Page 89: ...um voltage of 100V wire to wire and wire to shield 1 2 2 1 6 3 3 5 Cable Thickness and Flexibility The cable must be as thin and as flexible as possible Synapticon Documentation 2021 Synapticon GmbH D...

Page 90: ...cable length Main supply cable 30 m Ethercat cable 30 m Motor cable 3 m Brake cable 3 m Encoder cable 3 m Digital I O cable 3 m Analog inputs cable 3 m Temperature sensor cable 3 m Synapticon Document...

Page 91: ...AWG Temperature Sensor JST GHR 02V S SSHL 002T P0 2 1 28 AWG EtherCAT STO SBC In Out JST GHR 08V S Customized cable 28 32 AWG Brake Connector JST ZER 02V S SZE 002T P0 3 2 28 AWG 24V 48V Supply TE Co...

Page 92: ...4 520447 2 4 10 12 AWG 24V 48V Supply piggyback 6 Molex 0190130033 3 10 12 AWG Motor Phases Molex 0190070040 3 0190070041 4 10 12 AWG 1 2 3 4 5 6 Crimped cable from JST Sales America can be used Parts...

Page 93: ...2 Mechanical integration Mounting Example Dimensions Mounting encoder rings Synapticon Documentation 2021 Synapticon GmbH Daimlerstra e 26 D 71101 Sch naich Documentation v 4 19 0 Built 2022 02 01 93...

Page 94: ...tite 243 If the Circulo internal encoder is used it is mandatory to use two 3 mm ISO 8734 dowel pins for aligning the Circulo internal encoder read heads with the actuator Circulo is designed to induc...

Page 95: ...e for gluing the hub to the shaft tested with Loctite 648 and a G6 h7 fit for the inner and H7 g6 for the outer encoder disc These aluminum adapters are connected to the appropriate shaft by a press f...

Page 96: ...If it is not supported properly this might result in poor performance or even failure of the corresponding position encoder Note The bearing adapter must be designed individually according to each ap...

Page 97: ...motor phase cables It is recommended to use these cutouts so that the outer diameter of the actuator is minimized and to shorten the cable lengths to avoid unnecessary cable tangle Synapticon Document...

Page 98: ...Synapticon Documentation 2021 Synapticon GmbH Daimlerstra e 26 D 71101 Sch naich Documentation v 4 19 0 Built 2022 02 01 98 1031...

Page 99: ...ase ensure sufficient contact to heat conducting materials and use thermal paste if necessary Attention Servo drives should not be mounted in direct sunlight 1 2 2 2 2 1 Dimensions Circulo 7 Synaptico...

Page 100: ...Synapticon Documentation 2021 Synapticon GmbH Daimlerstra e 26 D 71101 Sch naich Documentation v 4 19 0 Built 2022 02 01 100 1031...

Page 101: ...Circulo 9 Synapticon Documentation 2021 Synapticon GmbH Daimlerstra e 26 D 71101 Sch naich Documentation v 4 19 0 Built 2022 02 01 101 1031...

Page 102: ...Synapticon Documentation 2021 Synapticon GmbH Daimlerstra e 26 D 71101 Sch naich Documentation v 4 19 0 Built 2022 02 01 102 1031...

Page 103: ...621 g Circulo 9 23 402 g 30 949 g Inertia Inner Ring Outer Ring Circulo 7 0 025 Kg cm 0 087 Kg cm Circulo 9 0 130 Kg cm 0 2981Kg cm 1 2 2 2 2 3 Drilling patterns Circulo 7 Synapticon Documentation 20...

Page 104: ...Synapticon Documentation 2021 Synapticon GmbH Daimlerstra e 26 D 71101 Sch naich Documentation v 4 19 0 Built 2022 02 01 104 1031...

Page 105: ...Circulo 9 Synapticon Documentation 2021 Synapticon GmbH Daimlerstra e 26 D 71101 Sch naich Documentation v 4 19 0 Built 2022 02 01 105 1031...

Page 106: ...bearing is required it can be fitted into the dowel holes and tightened with screws Circulo 7 Circulo 9 Synapticon Documentation 2021 Synapticon GmbH Daimlerstra e 26 D 71101 Sch naich Documentation...

Page 107: ...1 2 2 2 2 5 Side view with phase connectors Circulo 7 Synapticon Documentation 2021 Synapticon GmbH Daimlerstra e 26 D 71101 Sch naich Documentation v 4 19 0 Built 2022 02 01 107 1031...

Page 108: ...Circulo 9 Synapticon Documentation 2021 Synapticon GmbH Daimlerstra e 26 D 71101 Sch naich Documentation v 4 19 0 Built 2022 02 01 108 1031...

Page 109: ...distance between an encoder ring and an encoder read head Air gap B is the distance between the top side of an encoder ring and the mounting surface of Circulo C is the distance between the bottom sid...

Page 110: ...gth and recommends the next action Circulo 9 Value Inner Ring Outer Ring A mm 0 4 0 20 0 75 0 20 B mm 0 66 0 14 0 31 0 14 C mm 2 84 0 13 3 19 0 13 Note that dimension A and the respective tolerance ar...

Page 111: ...se the narrow angle error amplitude This can be compensated by calibration Moving the chip closer to the center of the ring will have the most effect due to a direct influence on the main positioning...

Page 112: ...system It has a direct effect on the encoder system in terms of performance and robustness Hence it should be as minimal as possible Please refer to our encoder calibration guide for more information...

Page 113: ...nd higher Note A special firmware is required for performing the calibration routine which is marked with v0 x y calibration You will find it in the list of firmwares in OBLAC Drives on the calibratio...

Page 114: ...of the dynamic trajectories The total angle measurement error non linearity of the encoder system is composed of 2 parts Wide angle errors installation dependent non linearity Non linearity caused by...

Page 115: ...nalogue signals errors and magnetic target magnetization errors It s not possible to clearly distinguish the contribution of each error type but the total system specific non linearity is specified in...

Page 116: ...or or position encoding device It can be an optical disk magnetic ring or a capacitive system Very accurate magnetic rings are expensive and further accuracy improvements result in exponential product...

Page 117: ...ly important to produce encoder relevant mechanical parts with the highest precision possible to achieve good encoder accuracy 1 2 2 3 1 3 Detecting the encoder non linearity To inspect the effect of...

Page 118: ...le on Circulos that are part of an assembly e g a robot joint that is delivered preconfigured and calibrated by a joint manufacturer 1 2 2 3 2 2 Performing the procedure Note If you turn off the Circu...

Page 119: ...nfiguration of the motor shaft encoder and open the Encoder Calibration tab The calibration requires mechanical rotation of the motor with an attached encoder see table below The encoder will perform...

Page 120: ...he Limited Range Calibration has a minimum possible motion range Encoder Minimum motion range Circulo 7 Internal encoder 1 Inner ring 7 gear ratio 360 degrees Circulo 7 Internal encoder 2 Outer ring 7...

Page 121: ...lly with the production firmware For details please refer to Commutation Offset Detection On a dual encoder system the calibration has to be repeated for the second encoder ring Internal encoder 1 sim...

Page 122: ...likely to cause an error If the phase reserve is 0 then the encoder system will not provide a reliable absolute position Check the troubleshooting section Note The calibration procedure might change...

Page 123: ...b 1 2 2 3 2 3 Troubleshooting If the Encoder Calibration Procedure has failed during recording please check the error description and go through the hints in this troubleshooting section If the calibr...

Page 124: ...e Nominal air gap for each encoder ring If the ring is further away than specified the following pattern will appear in the calibration results irregular high oscillations and isolated points outliers...

Page 125: ...can be used for diagnostics Note that even a magnetic tip of the screwdriver can disrupt the magnetization pattern Attention Please observe the general handling guidelines for magnetic rings to preve...

Page 126: ...U number Revision 1 Don t have any marks on it ACC 002X 01 Revision 2 Printed text on the outer diameter that includes production week and year SKU number Can have some text on top of the rubber mater...

Page 127: ...ource during the ring mounting process mechanical design should take a priority Note The releases of the OBLAC Drives at version v21 1 0 beta 4 and before display the estimated air gap based on outdat...

Page 128: ...the goal Attention The feature currently needs to perform a full revolution and does not respect the software position limits 1 2 2 3 2 4 3 Check encoder errors This command establishes a direct comm...

Page 129: ...d Circulo 7 12000 RPM or Circulo 9 6000 RPM FRQ_ABZ Encoder maximum speed was exceeded Encoder maximum speed was exceeded Circulo 7 12000 RPM or Circulo 9 6000 RPM NON_CTR Internal Encoder calibration...

Page 130: ...e EEPROM memory of the chip is distorted Power Cycle the drive If this can t be reset there might be a hardware problem Please contact support Synapticon Documentation 2021 Synapticon GmbH Daimlerstra...

Page 131: ...antly luminous Single flashes 1 pulse per second Slow blinking 3 pulses per second Fast blinking 10 pulses per second Two colored behavior One part of the LED is constantly luminous the other is blink...

Page 132: ...overview of the firmware state at a glance to quickly see whether a drive is operating nominally 1 2 3 2 1 Firmware CiA 402 State Not Ready to Switch On Switch on Disabled Ready to Switch On Switched...

Page 133: ...1 2 3 3 EtherCAT LED Signals on the EtherCAT LED are required for EtherCAT conformity LED 1 Port 1 In ACT LED 2 Port 2 Out ACT LED 3 RUN RUN is constantly showing a green light if there is a cable co...

Page 134: ...hen the command has been released e g manually resetting the emergency stop device the currents are allowed to be carried to the motor and to the brake The safety system must be designed to meet the r...

Page 135: ...s Safety parameters IEC 61508 2010 Probability of dangerous failure per hour PFH 1 59 10 hour Probability of dangerous failure on demand PFD 1 39 10 Safe Failure Fraction SFF 99 95 Hardware Fault Tole...

Page 136: ...olled location which does not contain conductive contamination or by using IP54 enclosure according to IEC 60529 1989 A1 1999 A2 2013 Safe digital inputs STO SBC input Number of digital inputs 2 dual...

Page 137: ...ive main power supply 48 VDC Min output voltage 0 V Max current 1 A Max peak current 4 A Note This PWM controlled brake is configured by the same object as the regular brake Synapticon Documentation 2...

Page 138: ...into the EtherCAT connector Please refer to the EtherCAT pinout table for details Mating parts can be found here under EtherCAT STO SBC Synapticon Documentation 2021 Synapticon GmbH Daimlerstra e 26 D...

Page 139: ...cted fixed and protected against external damage e g by cable ducting armouring OR separate multicore cables OR installation within an electrical enclosure OR individually shielded with earth connecti...

Page 140: ...to SIL 3 PL e cat 3 Note Safety GND functions as a secondary line when a PLC with Plus Minus output is used Attention In case of multiple drive connection ensure that the output driver has sufficient...

Page 141: ...tiple drive connection ensure that the output driver has sufficient current driving capability 1 2 4 3 3 Connection diagram for the brake Now you are ready to use the feature Safety functions Synaptic...

Page 142: ...e activated if a brake is connected it will be engaged To prevent damaging the brake a Safe Stop Category 1 SS1 is recommended 1 2 4 4 1 Timing diagrams 1 2 4 4 1 1 Timing diagram for STO function wit...

Page 143: ...1 2 4 4 1 2 Timing diagram for STO function with SBC function Synapticon Documentation 2021 Synapticon GmbH Daimlerstra e 26 D 71101 Sch naich Documentation v 4 19 0 Built 2022 02 01 143 1031...

Page 144: ...Synapticon Documentation 2021 Synapticon GmbH Daimlerstra e 26 D 71101 Sch naich Documentation v 4 19 0 Built 2022 02 01 144 1031...

Page 145: ...ation of the STO SBC function the servo drive verifies that the two channels of the module are internally operating correctly In case an internal fault is detected the servo drive will stop the motor...

Page 146: ...elay with an external safety logic device such as a safety timer This way an equivalent of SS1 with time monitoring is implemented Attention The STO function does not provide electrical isolation from...

Page 147: ...and hazard analysis is required for each application to find necessary safety functionalities and the requirements for the safety functions Emergency stop Stop category 1 emergency stop Safe stop 1 P...

Page 148: ...C emergency stop switch Please read the section about theworking principle of the Safety circuit All cases above requires correct behaviour from the controlling PLC After releasing the emergency stop...

Page 149: ...mediately the signal to the Master PLC IPC Digital Input When the Digital Input is logical 0 the Master PLC IPC shall request quick stop via EtherCAT Controlword 0x6040 K3 K4 are triggered after a con...

Page 150: ...stop viaEtherCAT Controlword 0x6040 Delay time in Safety relay Configure the time according to your application The delay time should be longer than the maximum deceleration time of the application R...

Page 151: ...rify that the PFD PFHd is sufficiently low for the desired safety level You can find the values for SOMANET Circulo here Commissioning Test and validate the safety functions before taking the system i...

Page 152: ...14118 A lockable safety switch for activating the STO SBC function is required The function Prevention of unexpected start up can be used for system maintenance activities e g Repairing cleaning acti...

Page 153: ...d stored who what when 2 Define maintenance routines according to the need see chapter maintenance 1 2 4 6 2 Maintenance IEC 61800 5 2 2017 requires to have a maintenance test for STO SBC function The...

Page 154: ...al Safety Module Documentation 2020 12 09 4 5 5 Update Add Safety parameters 2021 01 19 4 5 9 Update Correct Safety details 2021 01 27 4 5 10 Update Correct Safety details and remove SELV 2021 02 01 S...

Page 155: ...erations Downloads Hardware diagrams Installation guide Wiring instructions Power and brake Encoders and IO Connector types and mating parts numbers Mounting instructions On site installation guide UL...

Page 156: ...always consider these handling instructions Technical specifications Load cycle Thermal considerations Downloads Hardware diagrams Synapticon Documentation 2021 Synapticon GmbH Daimlerstra e 26 D 711...

Page 157: ...S Maximum Efficiency 98 Maximum continuous values can be reached when the thermal mounting guidelines have been considered Please consider these defintions for supply voltage Please refer tothe load c...

Page 158: ...4 6 2013 IEC 61000 4 3 2020 IEC 61000 4 2 2008 IEC 61000 4 8 2009 IEC 61800 5 1 2007 IEC 60204 1 2016 Compliance with European directives CE EMC Directive 2014 30 EU Certificates UL listed Node 400 N...

Page 159: ...lease contact sales synapticon com Upon Request Two Digital IO can be configured as 5 0 V CMOS logic Upon request only please contact sales synapticon com Depends on the firmware used Value given for...

Page 160: ...e wave load cycle alternating between 0 and max current a duty cycle of 10 is achievable The value can be higher for optimized system setups e g 25 when using a SOMANET Node variant with directly sold...

Page 161: ...ures are typically too complex to reflect them here a simple geometry rectangular aluminum plate of 250 x 250 x 20 mm was selected The drive is bolted to the center of a metal plate of such geometry u...

Page 162: ...Synapticon Documentation 2021 Synapticon GmbH Daimlerstra e 26 D 71101 Sch naich Documentation v 4 19 0 Built 2022 02 01 162 1031...

Page 163: ...ETY EC TYPE EXAMINATION SOMANET NODE SAFETY CERTIFICATE SOMANET NODE SAFETY 1 3 1 4 2 CAD Files STEP MODEL SOMANET NODE STEP MODEL SOMANET NODE SAFETY Synapticon Documentation 2021 Synapticon GmbH Dai...

Page 164: ...ot be exposed to external magnetic fields see our mounting instructions for details Wiring instructions Power and brake Encoders and IO Connector types and mating parts numbers Mounting instructions O...

Page 165: ...2 1 1 Overview of connectors Power and brake Encoders and IO Connector types and mating parts numbers Synapticon Documentation 2021 Synapticon GmbH Daimlerstra e 26 D 71101 Sch naich Documentation v...

Page 166: ...reasons Attention No reverse polarity protection Always ensure that the power cables are connected correctly otherwise the Drive may be damaged beyond repair Terminal 1 Phase A 2 Phase B 3 Phase C 4...

Page 167: ...t efficient servo drives available The heat generation is not linear which makes it actually more noticeable at idle or low power Please ensure by design of your mounting situation that the heat inter...

Page 168: ...the transient voltage suppression diodes could get damaged due to the power up voltage increase Surge This is likely to happen when the power up occurs fast and can lead to complete failure of your s...

Page 169: ...efault Logic Supply is deactivated it is therefore recommended to use Logic Ground pin 7 of the Main Supply Connector for the brake If Logic Supply is active Ground of the brake can be connected to th...

Page 170: ...make sure the servo drive is properly grounded You can connect the heatsink to ground Synapticon Documentation 2021 Synapticon GmbH Daimlerstra e 26 D 71101 Sch naich Documentation v 4 19 0 Built 202...

Page 171: ...LO Data 7 B 8 B 9 I 10 I This is a differential line according to RS422 RS485 standards This is a 5 V supply that can provide up to 250 mA for external use The supply is protected against short to gro...

Page 172: ...his is a differential line according to RS422 RS485 standards This is a single ended TTL line with 1 kOhm pull up resistors This is a 5 V supply that can provide up to 250 mA for external use The supp...

Page 173: ...inst short to ground and keeps the current below 400mA in a continuous short Can be configured as 5 0 V CMOS logic Upon request only please contact sales synapticon com This is a 5 V supply that can p...

Page 174: ...10 V Analog input 2 0x2402 7 5 V 8 10 V 9 Analog Input 3 Differential 5 V Analog input 3 0x2403 10 Analog Input 3 Differential 5 V Analog input 3 0x2403 11 Analog Input 4 Differential 5 V Analog inpu...

Page 175: ...Differential Symbol Min typical Max Description Impact V 10V 10V The input voltage between the positive and negative input pins Any voltage out of this range causes saturation to min max ADC value V 1...

Page 176: ...tolerable input voltage between the input and GND Any voltage out of this range damages the analog input s circuitry R 20 4k Internal input resistance Error 1 1 Error in ticks in lim i 1 3 2 1 3 4 2...

Page 177: ...e implemented externally For details about using temperature sensors please check our System integration guide 1 3 2 1 3 4 3 Attaching a voltage divider A voltage divider is needed when the Analog In...

Page 178: ...e single ended analog input is 20 4 k and it is connected in parallel to the RTD sensor i 1 3 2 1 3 5 EtherCAT port Synapticon Documentation 2021 Synapticon GmbH Daimlerstra e 26 D 71101 Sch naich Doc...

Page 179: ...air negative line Pin 1 is on left 1 3 2 1 3 5 2 EtherCAT OUT Port Pin Name Function 1 TX Differential transmit pair positive line 2 TX Differential transmit pair negative line 3 Shield 4 RX Different...

Page 180: ...2 26 30 AWG Power Terminal Block Phoenix Contact N A 5859 WH005 Alpha Wire EtherCAT IN OUT Molex 510210500 500588000 28 32 AWG Crimped cable from JST Sales America can be used Parts number AGHGH28K305...

Page 181: ...eat conducting surface made of a suitable material such as aluminum Ensure that the servo drive is screwed properly to the heat conducting surface to facilitate the heat transfer 1 3 2 2 2 Dimensions...

Page 182: ...ch of the available thread length as possible for tightening the Node to prevent damage to the thread Synapticon Documentation 2021 Synapticon GmbH Daimlerstra e 26 D 71101 Sch naich Documentation v 4...

Page 183: ...on Please also consider the magnetic fields that emanate from the brake These are the preferred arrangements 1 At any position but shielded with a Faraday s cage 2 Behind the motor 3 Beside the motor...

Page 184: ...lass T Fuse rated min 160Vdc 50A 20kA JDDZ 7 E81895 Temperature rating of field installed conductors 85 N A 1 3 2 3 1 Branch fuse required SOMANET servo drives don t have a fuse on board so a branch f...

Page 185: ...branch circuit protection Branch circuit protection must be provided in accordance with the National Electrical Code and any additional local codes Attention CSA For Canada Integral solid state short...

Page 186: ...stallation et de fonctionnement fournies dans le manuel d installation utilisation pr vu pour ce produit Cette information est disponible en ligne sur www doc synapticon com et peut tre t l charg e so...

Page 187: ...icate errors 1 3 3 1 1 Legend Symbol Explanation Off Constantly luminous Single flashes 1 pulse per second Slow blinking 3 pulses per second Fast blinking 10 pulses per second Synapticon Documentation...

Page 188: ...to indicate internal status and errors It provides an overview of the firmware state at a glance to quickly see whether a drive is operating nominally 1 3 3 2 1 Firmware CiA 402 State Not Ready to Sw...

Page 189: ...the LED fading in rainbow colors indicating that the bootloader is active 1 3 3 3 Drive LED The four LEDs on the Drive module show Hardware Errors LED 1 Red LED 2 Red LED 3 Red LED 4 Green Explanation...

Page 190: ...herCAT conformity LED 1 OUT ACT LED 2 OUT LINK LED 3 IN ACT LED 4 IN LINK LINK is constantly showing a green light if there is a cable connected to either OUT or IN ACT is blinking when there are tran...

Page 191: ...nd to a brake when STO SBC command has been given e g from an emergency stop device When the command has been released e g manually resetting the emergency stop device the currents are allowed to be c...

Page 192: ...Changelog of the safety related documentation 1 3 4 1 Dimensions Synapticon Documentation 2021 Synapticon GmbH Daimlerstra e 26 D 71101 Sch naich Documentation v 4 19 0 Built 2022 02 01 192 1031...

Page 193: ...ation level SIL according to IEC 61508 2010 SIL 3 Performance Level PL according to ISO 13849 1 2015 PL e cat 3 Safe Failure Fraction SFF 99 99 Probability of dangerous failure per hour PFH 1 07 10 ho...

Page 194: ...ive is out of operation PD2 environment can be reached for example with environmentally controlled location which does not contain conductive contamination or by using IP54 enclosure according to IEC...

Page 195: ...pply 48 VDC Min output voltage 0 V Max current 1 A Max peak current 4 A Note This PWM controlled brake is configured by the same object as the regular brake 1 3 4 2 3 Block diagram Simplified block di...

Page 196: ...rs according to ISO 13849 2 2012 between signals STO SBC 1 and STO SBC 2 permanently connected fixed and protected against external damage e g by cable ducting armouring OR separate multicore cables O...

Page 197: ...2 IN1 STO SBC input 1 Input 1 for STO SBC 3 IN1 STO SBC input 1 Extra Pin for Input 1 4 IN2 STO SBC input 2 Input 2 for STO SBC 5 GND Safety GND Must be isolated from main Ground 6 BY Bypass Connect t...

Page 198: ...using plus plus logic must be connected to both inputs for redundancy PLCs using plus minus logic are only connected to the input 1 which must be bridged to input 2 The redundant channel in this case...

Page 199: ...ple drive connection ensure that the output driver has sufficient current driving capability 1 3 4 3 1 2 3 Safety PLC plus plus output Allows safety functions up to SIL 3 PL e cat 3 For example Safety...

Page 200: ...for connecting a brake when Node Safety is used use the safety brake connector of the safety circuit SBC out instead of phase D of the drive circuit ensure to connect the brake GND signal to the Brake...

Page 201: ...gnation Function 1 Brake 2 Brake Note The safe brake is PWM based and can be configured with the regular brake object Synapticon Documentation 2021 Synapticon GmbH Daimlerstra e 26 D 71101 Sch naich D...

Page 202: ...ST ZER 02V S SZE 002T P0 3 0 08 0 21 mm 28 24 AWG Safe digital I O port JST GHR 06V S SSHL 002T P0 2 0 05 0 13mm AWG 30 26 Please observe the maximum allowed cable lengths Connection Maximum wire leng...

Page 203: ...e activated if a brake is connected it will be engaged To prevent damaging the brake a Safe Stop Category 1 SS1 is recommended 1 3 4 4 1 Timing diagrams 1 3 4 4 1 1 Timing diagram for STO function wit...

Page 204: ...1 3 4 4 1 2 Timing diagram for STO function with SBC function Synapticon Documentation 2021 Synapticon GmbH Daimlerstra e 26 D 71101 Sch naich Documentation v 4 19 0 Built 2022 02 01 204 1031...

Page 205: ...Synapticon Documentation 2021 Synapticon GmbH Daimlerstra e 26 D 71101 Sch naich Documentation v 4 19 0 Built 2022 02 01 205 1031...

Page 206: ...ted the servo drive will enter Fault state and indicate a fault SfeDilvd in the Error Report object During the activation of the STO SBC function the servo drive verifies that the two channels of the...

Page 207: ...Subindex 1 Bit 1 STO status is the first bit of byte 2 Bit 2 SBC status is the first bit of byte STO SBC status 0 is not active 1 is active 0x2611 Safety Digital Input Subindex 1 Input 1 2 Input 2 Inp...

Page 208: ...al changes need to be carried out on the system e g modifying the motor cabling the servo drive shall be completely isolated from mains supply with a mechanical switch Synapticon Documentation 2021 Sy...

Page 209: ...3 4 5 2 Stop category 0 STO The STO and SBC functions can be used for implementing the category 0 emergency stop function according to IEC 60204 1 2016 The Emergency stop function can be realized Wit...

Page 210: ...he signal to the Master PLC IPC Digital Input When the Digital Input is logical 0 the Master PLC IPC shall request quick stop via EtherCAT Controlword 0x6040 K3 K4 are triggered after a configurable t...

Page 211: ...stop viaEtherCAT Controlword 0x6040 Delay time in Safety relay Configure the time according to your application The delay time should be longer than the maximum deceleration time of the application R...

Page 212: ...hat the PFD PFH of the safety function is sufficiently low for the desired safety level You can find the values for SOMANET Node Safety here Commissioning Test and validate the safety functions before...

Page 213: ...ted and stored who what when 2 Define maintenance routines according to the need see chapter maintenance 1 3 4 6 2 Maintenance IEC 61800 5 2 2017 requires to have a maintenance test for STO SBC functi...

Page 214: ...pdate Update safety specs and wiring diagrams Add supported motors 2019 12 17 2 4 5 5 Update Update safety specs 2019 12 19 2 4 5 6 Update Add Common Cause Failure 2020 01 09 3 0 0 Update Add Example...

Page 215: ...g with electronic devices always consider these handling instructions SOMANET Braking Chopper 48V 500W Sin Cos Encoder Cable Adapter Industrial I O Cable Adapter ABI BiSS Encoder Cable Adapter Synapti...

Page 216: ...ling is provided When the motor is used for actively decelerating a load electrical power will be regenerated If the drives are supplied by a standard power supply with no recuperation function such r...

Page 217: ...n the DC bus may increase up to 5 Volts above the threshold voltage as long as the regenerated power is below 430 W for a short period of time Please consider this when designing your system The Braki...

Page 218: ...o the GND plane in the PCB the isolation will break when a conductive Spacer is used between the mounting holes on the PCB and chassis This can violate an existing earthing system and if a SELV power...

Page 219: ...X X 57 V Either OFF or ON 1 4 1 4 Connecting the Board to DC BUS 1 4 1 4 1 Suitable cables 1 1857 BK005 black and 1857 RD005 red from Alpha Wire Stranded 18 AWG 7 26 2 781801 BK005 black and 781801 R...

Page 220: ...uick stop strategies etc There is no universal rule of thumb indicating how many SOMANET Chopper 500 boards are required for a certain number of motors Developers should compute the regenerative power...

Page 221: ...r deactivates itself due to thermal protection or it is just not able to drain the amount of current that it would need to drain in order to keep the DC bus voltage constant In either of these two cas...

Page 222: ...1 4 1 8 Dimensions DOWNLOAD STEP MODEL Synapticon Documentation 2021 Synapticon GmbH Daimlerstra e 26 D 71101 Sch naich Documentation v 4 19 0 Built 2022 02 01 222 1031...

Page 223: ...used to convert Sin Cos encoder signals to BiSS Protocol This feature can be used by any board that supports BiSS for exampleSOMANET Node rev D 4 E 1 or SOMANET Circulo 1 4 2 2 Block Diagram Synaptic...

Page 224: ...1 5 V Output max 100 mA 2 SIN Input 3 COS Input 4 ZERO Input If used with SOMANET Node this 5 V supply that can provide up to 100 mA for external use Synapticon Documentation 2021 Synapticon GmbH Daim...

Page 225: ...Input 2 COS Input 3 SIN Input 4 GND 5 V return 1 4 2 3 3 Interface Connector The interface connector comes with a cable which will be connected to the encoder port that features BiSS For connecting pl...

Page 226: ...turn 4 MA Input 5 SLO Output 6 SLO Output 1 4 2 4 Mounting remarks The PCB can be shrinked to a shrink tube with a diameter of 20 mm Synapticon Documentation 2021 Synapticon GmbH Daimlerstra e 26 D 71...

Page 227: ...a cable There is the possibility to place a CAP and a resistor between PE and GND In Standard version this is not placed If not needed the strain reliever part can be broken off then the module is sho...

Page 228: ...ndard industrial isolated 24 V I Os It converts 4 GPIOs to two digital inputs and outputs The main purpose of the adapter is to enable connection of 24 V I O industrial devices to SOMANET servo drives...

Page 229: ...m 1 x 18mm x 12mm Operating temperature 25 60 C Storage temperature 40 85 C Digital Inputs 24V Number of inputs 2 0 input signal voltage 3 5 V Type 1 3 according to EN 61131 2 1 input signal voltage 1...

Page 230: ...r cross section AWG min 30 Conductor cross section AWG max 26 Mating part for Housing GHR 08V S Crimping Contact SSHL 002T P0 2 J2 and J3 Connectors Manufacturer Phoenix Contact Part number 1771059 Sy...

Page 231: ...s well as ferrules Note The PCB can be shrinked to a shrink tube with a diameter of 20 mm 1 4 3 5 Strain relief The board will be delivered with a strain relief A cable tie can be used as a strain rel...

Page 232: ...apter Due to its small size the adapter isn t equipped with a specific hole for screwing it to a structure If it has been fitted into a shrink tube it can be treated like a cable It s also possible to...

Page 233: ...convert signals of high resolution differential ABI encoders to BiSS Protocol This adapter can be used by any board that supports BiSS for example SOMANET Node or SOMANET Circulo 1 4 4 2 Block Diagra...

Page 234: ...ent 1 5 V Output max 100 mA 2 A Input 3 B Input 4 I Input If used with SOMANET Node this 5 V supply that can provide up to 100 mA for external use Synapticon Documentation 2021 Synapticon GmbH Daimler...

Page 235: ...Input 2 B Input 3 A Input 4 0V 5 V return 1 4 4 3 3 Interface Connector The interface connector comes with a cable which will be connected to the encoder port that features BiSS For connecting please...

Page 236: ...turn 4 MA Input 5 SLO Output 6 SLO Output 1 4 4 4 Mounting remarks The PCB can be shrinked to a shrink tube with a diameter of 20 mm Synapticon Documentation 2021 Synapticon GmbH Daimlerstra e 26 D 71...

Page 237: ...e possibility to place a CAP and a resistor between PE and GND In Standard version this is not placed If not needed the strain reliever part can be broken off then the module is shorter 1 4 4 6 Solder...

Page 238: ...ngs 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 func...

Page 239: ...gnals Safety functions STO SBC Specifications of the safety functions Wiring the safety inputs Using the safety functions Commissioning and maintenance SOMANET Node D 3 D 4 Overview Node D 3 4 Technic...

Page 240: ...re diagrams Installation guide Wiring instructions Connector pinouts Grounding and connecting a brake Mounting instructions LED signals Synapticon Documentation 2021 Synapticon GmbH Daimlerstra e 26 D...

Page 241: ...y designed for collaborative robot cobot joints and smart actuators Note This is the documentation for Sample A 2 These samples are no longer sold Pleaserefer to our production version Attention When...

Page 242: ...imensions 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 function...

Page 243: ...otors BLDC PMSM Integrated safety functions STO SBC according to SIL3 Pl e Integrated Encoder 1 yes optional 20bit absolute multi turn with battery Integrated Encoder 2 yes optional 20bit absolute Sup...

Page 244: ...grated brake Yes optional phase DC MOSFET core 1 5 1 1 3 Optional Integrated Encoders SOMANET Circulo is available in different versions With one additional encoder ring in two positions which is moun...

Page 245: ...f Hall sensors for 2 magnetic tracks Interface BiSS Encoder resolution 19 bit 20 bit Absolute position On both encoders Multiturn resolution 18 bit battery based Maximum speed 12000 RPM 6000 RPM Synap...

Page 246: ...curacy and repeatability after encoder calibration 1 5 1 1 3 1 1 Functions Encoder 1 inner Mounted on Configuration 1 joint Configuration 2 motor Functions Configuration 1 position Configuration 2 pos...

Page 247: ...ing magnetic field frequency max 7 kHz External magnetic field max 20 mT 1 5 1 1 4 Optional Integrated Brake Brake specifications Type Solenoid latch Detailed specifications TBD Synapticon Documentati...

Page 248: ...d to external magnetic fields Wiring instructions Power supply and motor brake Encoders and IO Temperature sensor Mating parts and encoder battery Dimensions and mechanical mounting Mounting encoder r...

Page 249: ...Pinouts and details for each connector Power supply and motor brake Encoders and IO Temperature sensor Mating parts and encoder battery Synapticon Documentation 2021 Synapticon GmbH Daimlerstra e 26 D...

Page 250: ...2 1 2 1 Power Terminal 1 5 1 2 1 2 2 Motor phases Important The motor and power cables must be twisted for EMC reasons Synapticon Documentation 2021 Synapticon GmbH Daimlerstra e 26 D 71101 Sch naich...

Page 251: ...ted heat Note Use a protected extra low voltage PELV power supply 1 5 1 2 1 2 2 1 Warning about using contactors behind the power supply Attention Our servo drives are designed for voltages between 24...

Page 252: ...e If your system has an attached brake please connect the brake cables to the brake connector These two threads should be twisted together or at least be paired to have a minimum area between them Not...

Page 253: ...Important Please make sure the servo drive is properly grounded Synapticon Documentation 2021 Synapticon GmbH Daimlerstra e 26 D 71101 Sch naich Documentation v 4 19 0 Built 2022 02 01 253 1031...

Page 254: ...Analog Input Note Details about measuring Analog signals can be found in our system integration guideline Connecting and configuring analog inputs Synapticon Documentation 2021 Synapticon GmbH Daimler...

Page 255: ...to ground and keeps the current below 400mA in a continuous short This is a 10 V supply that can provide up to 25 mA for external use The supply is protected against short to ground and keeps the curr...

Page 256: ...fferential ALL Only 2 out of the 3 Encoders can be used at the same time Pin ABI Differential ABI Single Ended BiSS Differential SSI Differential Half Duplex A Format Differential HALL 1 MA Clock SD A...

Page 257: ...3 3 V or 5 V MOSI MOSI 6 Digital output 4 Configurable as 3 3 V or 5 V SS SS 7 5 V 5 V 5 V 5 V 5 V 5 V 8 Digital IO 5 Configurable as 3 3 V or 5 V 9 Digital IO 6 Configurable as 3 3 V or 5 V 10 Digit...

Page 258: ...V or 5 V This configuration is done in object 0x2214 GPIO global options Note Each Digital IO needs to be configured as a Digital Input or Output via object 0x2210 GPIO The object can also be used to...

Page 259: ...Attention When not using the STO SBC feature the function must be bypassed by bridging the jumpers 1 5 1 2 1 3 6 Encoder Battery for multi turn Pin Signal Synapticon Documentation 2021 Synapticon GmbH...

Page 260: ...ble battery please checkthese notes 1 5 1 2 1 3 7 EtherCAT In Out Pin Signal 1 RX 2 RX 3 Shield PE 4 TX 5 TX Synapticon Documentation 2021 Synapticon GmbH Daimlerstra e 26 D 71101 Sch naich Documentat...

Page 261: ...istors in the servo drive need to be activated This is done internally with a multiplexer The desired value can be selected via software through object 0x2038 subindex 3 Details are described in Analo...

Page 262: ...ales America Inc GHR 06V S SSHL 002T P0 2 1 28 AWG Temperature Sensor JST Sales America Inc GHR 03V S SSHL 002T P0 2 1 28 AWG Battery Connector JST Sales America Inc GHR 02V S SSHL 002T P0 2 1 28 AWG...

Page 263: ...2 500588000 28 32 AWG Brake Connector JST Sales America Inc ZER 02V S SSHL 002T P0 2 3 26 AWG STO SBC Jumper Harwin Inc M50 2020005 N A N A 24V 48V Supply TE Connectivity 3 520408 2 14 16 AWG Motor Ph...

Page 264: ...4 5 mm diameter Nominal capacities up to 1 2 Ah are available 1 6 D A flat wafer cell comparable to a coin cell Diameter 32 9 mm height 10 2 mm Nominal capacities up to 1 7 Ah are available 1 10 D A f...

Page 265: ...1 Please ensure sufficient contact to heat conducting materials and use thermal paste if necessary Attention Servo drives should not be mounted in direct sunlight 1 5 1 2 2 1 Dimensions Circulo 7 Syna...

Page 266: ...Synapticon Documentation 2021 Synapticon GmbH Daimlerstra e 26 D 71101 Sch naich Documentation v 4 19 0 Built 2022 02 01 266 1031...

Page 267: ...Circulo 9 Synapticon Documentation 2021 Synapticon GmbH Daimlerstra e 26 D 71101 Sch naich Documentation v 4 19 0 Built 2022 02 01 267 1031...

Page 268: ...1 5 1 2 2 2 Drilling patterns for mounting Circulo 7 Synapticon Documentation 2021 Synapticon GmbH Daimlerstra e 26 D 71101 Sch naich Documentation v 4 19 0 Built 2022 02 01 268 1031...

Page 269: ...Synapticon Documentation 2021 Synapticon GmbH Daimlerstra e 26 D 71101 Sch naich Documentation v 4 19 0 Built 2022 02 01 269 1031...

Page 270: ...Circulo 9 Synapticon Documentation 2021 Synapticon GmbH Daimlerstra e 26 D 71101 Sch naich Documentation v 4 19 0 Built 2022 02 01 270 1031...

Page 271: ...d properly to the heat conducting surface to facilitate the heat transfer That s it The next step is commissioning and tuning your drive Commissioning and tuning with OBLAC Drives 1 5 1 2 2 3 1 Downlo...

Page 272: ...0 4 mm 0 1 Mounting the chip closer than 0 3 mm will result in noise distortion that can not be removed by analogue calibration or by a filter Mounting the chip further than 0 5 mm will result in a d...

Page 273: ...Circulo 7 Synapticon Documentation 2021 Synapticon GmbH Daimlerstra e 26 D 71101 Sch naich Documentation v 4 19 0 Built 2022 02 01 273 1031...

Page 274: ...Circulo 9 Synapticon Documentation 2021 Synapticon GmbH Daimlerstra e 26 D 71101 Sch naich Documentation v 4 19 0 Built 2022 02 01 274 1031...

Page 275: ...sed more than specified values the chip might fail sensing the magnetic field and throw an error 1 5 1 2 3 2 2 Tangential displacement t This displacement is along the direction of disc rotation It is...

Page 276: ...ible The best way to cope with it is to perform a calibration with a high accuracy reference encoder The built in auto calibration procedure usually can t fully remove this error If this error is not...

Page 277: ...A precise encoder allows to achieve faster reaction time sharper position and velocity loops tuning better tracking of the dynamic trajectories In this section the main encoder error types will be co...

Page 278: ...of this frequency indicates the origin of the error 1 x RPS Eccentricity of the magnetic ring axis 2 x RPS Ovality of the magnetic ring 3 8 x RPS mounting of the magnetic ring for example amount of th...

Page 279: ...occuring errors are also reflected in the Error Report Object For your reference the position of the LED with the heatsink removed is given in the picture below 1 5 1 3 1 1 Legend Symbol Explanation O...

Page 280: ...ed by the firmware to indicate internal status and errors It provides an overview of the firmware state at a glance to quickly see whether a drive is operating nominally 1 5 1 3 2 1 Firmware CiA 402 S...

Page 281: ...the LED fading in rainbow colors indicating that the bootloader is active 1 5 1 3 3 Drive LED The four LEDs on the Drive module show Hardware Errors LED 1 Red LED 2 Red LED 3 Red LED 4 Green Explanati...

Page 282: ...or EtherCAT conformity LED 1 RUN LED 2 ACT 0 LED 3 ACT 1 LINK is constantly showing a green light if there is a cable connected to either OUT or IN ACT is blinking when there are transmissions on eith...

Page 283: ...o the motor and to a brake when STO SBC command has been given e g from an emergency stop device When the command has been released e g manually resetting the emergency stop device the currents are al...

Page 284: ...g TBD Hardware Fault Tolerance HFT 1 Reaction time 20 ms Category cat 3 Mean Time to Failure MTTFd TBD Diagnostic coverage DCavg TBD HW type Type A Max installation altitude 2000 m Safe digital inputs...

Page 285: ...tput STO SBC diagnostic output Galvanic isolation 2 kV Isolation voltage Max current 100 mA Max continuous voltage across the output 27 V Max peak voltage across the output 35 V Reverse voltage protec...

Page 286: ...1 5 1 4 1 3 Block diagram Simplified block diagram of the safety logic Synapticon Documentation 2021 Synapticon GmbH Daimlerstra e 26 D 71101 Sch naich Documentation v 4 19 0 Built 2022 02 01 286 1031...

Page 287: ...SBC 2 permanently connected fixed and protected against external damage e g by cable ducting armouring OR separate multicore cables OR within an electrical enclosure OR individually shielded with eart...

Page 288: ...fety functions up to SIL 1 PL c cat 1 1 5 1 4 2 1 3 Manual switch multiple drives Allows safety functions up to SIL 3 PL e cat 3 Synapticon Documentation 2021 Synapticon GmbH Daimlerstra e 26 D 71101...

Page 289: ...Minus output drive Allows safety functions up to SIL 3 PL e cat 3 For example Safety PLC digital output Synapticon Documentation 2021 Synapticon GmbH Daimlerstra e 26 D 71101 Sch naich Documentation v...

Page 290: ...nctions up to SIL 3 PL e cat 3 Attention In case of multiple drive connection ensure that the output driver has sufficient current driving capability Synapticon Documentation 2021 Synapticon GmbH Daim...

Page 291: ...ety PLC output or safety sensors e g Safety light curtain safety scanner etc 1 5 1 4 2 1 7 Safety PLC PP Plus Plus output multiple drives Allows safety functions up to SIL 3 PL e cat 3 Synapticon Docu...

Page 292: ...ety diagnostic purposes Feedback to emergency stop relay See Use cases Feedback to safety PLC Maintenance test See section Maintenance The STO SBC feedback can be used as an indication of safe state o...

Page 293: ...ory for reaching SIL 3 or PL e safety levels 1 5 1 4 2 2 1 High side driver 1 5 1 4 2 2 2 Low side driver Synapticon Documentation 2021 Synapticon GmbH Daimlerstra e 26 D 71101 Sch naich Documentation...

Page 294: ...a safe brake ensure to connect the safe brake GND to Brake instead of a general GND Now you are ready to use the feature Safety functions Synapticon Documentation 2021 Synapticon GmbH Daimlerstra e 26...

Page 295: ...functions 1 5 1 4 3 1 Timing diagrams 1 5 1 4 3 1 1 Timing diagram for STO function without SBC Synapticon Documentation 2021 Synapticon GmbH Daimlerstra e 26 D 71101 Sch naich Documentation v 4 19 0...

Page 296: ...1 5 1 4 3 1 2 Timing diagram for STO function with SBC function Synapticon Documentation 2021 Synapticon GmbH Daimlerstra e 26 D 71101 Sch naich Documentation v 4 19 0 Built 2022 02 01 296 1031...

Page 297: ...cted the servo drive will stop the motor and indicate a fault SfeDilvd in the Error Report object During the activation of the STO SBC function the servo drive verifies that the two channels of the mo...

Page 298: ...e running the motor may damage the brake due to mechanical stress During normal operation it is recommended to activate STO SBC after the motor has come to a halt e g by introducing a delay with an ex...

Page 299: ...g principle of the safety functions All cases above require correct behaviour from the controlling PLC can be a non safety PLC After resetting the emergency stop function a separate and deliberate act...

Page 300: ...nce routines according to the need see chapter maintenance 1 5 1 4 4 2 Maintenance IEC 61800 5 2 2017 requires to have a maintenance test for STO SBC function The frequency of testing depends on the r...

Page 301: ...y designed for collaborative robot cobot joints and smart actuators Note This is the documentation for Sample B 1 These samples are no longer sold Pleaserefer to our production version Attention When...

Page 302: ...Technical specifications Synapticon Documentation 2021 Synapticon GmbH Daimlerstra e 26 D 71101 Sch naich Documentation v 4 19 0 Built 2022 02 01 302 1031...

Page 303: ...r accuracy Encoder calibration LED signals Safety functions STO SBC Safety specifications Safety connectors Wiring the safety inputs Using the safety functions Examples for realising safety functions...

Page 304: ...ent can be applied as all of the following criteria are fulfilled 1 Duration of one peak doesn t exceed 10 seconds 2 Mounting temperature and ambient temperature within operating range 3 Over any peri...

Page 305: ...mensions see also dimension drawings Inner diameter 20 mm Outer diameter 72 2 mm Height 21 3 mm Inner diameter 40 mm Outer diameter 92 2 mm Height 22 3 mm Weight without encoder rings 92 g 133 g Opera...

Page 306: ...nded Click here for details about temperature sensors 1 5 2 1 3 Optional Integrated Encoders SOMANET Circulo is available in different versions With one additional encoder ring in two positions which...

Page 307: ...the wiring section Circulo 7 Encoder Specifications Encoder Position 1 Encoder Position 2 Operating principle Off axis magnetic field scanning Scanning principle 2 arrays of Hall sensors for 2 magneti...

Page 308: ...n 18 bit battery based Maximum speed 6000 RPM 1 5 2 1 3 1 Accuracy and repeatability of the integrated encoders Circulo 7 Accuracy repeatability Encoder Position 1 Encoder Position 2 Accuracy 90 0 025...

Page 309: ...2 1 3 1 1 Functions Encoder Position 1 Mounted on Configuration 1 joint Configuration 2 motor Functions Configuration 1 position Configuration 2 position velocity commutation Encoder Position 2 Mounte...

Page 310: ...ion Option MPN Product Catalog Name SOMANET Circulo 7 Standard CR7 48 24 ECNN SOMANET Circulo 7 CR7 48 24 ECNN Single Encoder Position 1 CR7 48 24 ECAN SOMANET Circulo 7 CR7 48 24 ECAN Single Encoder...

Page 311: ...N SOMANET Circulo 9 CR9 48 60 ECNN this name will appear in your order confirmation and invoice Synapticon Documentation 2021 Synapticon GmbH Daimlerstra e 26 D 71101 Sch naich Documentation v 4 19 0...

Page 312: ...s and IO Temperature sensor EtherCAT STO Cable Mating parts Dimensions and mechanical mounting Mounting encoder rings Mounting a bearing Encoder accuracy Encoder calibration After you have successfull...

Page 313: ...5 2 2 1 Wiring instructions Overview of connectors Circulo 7 Circulo 9 Synapticon Documentation 2021 Synapticon GmbH Daimlerstra e 26 D 71101 Sch naich Documentation v 4 19 0 Built 2022 02 01 313 103...

Page 314: ...and brake Encoders and IO Temperature sensor EtherCAT STO Cable Mating parts Synapticon Documentation 2021 Synapticon GmbH Daimlerstra e 26 D 71101 Sch naich Documentation v 4 19 0 Built 2022 02 01 31...

Page 315: ...2 2 1 1 Power and brake 1 5 2 2 1 1 1 Supply and phases Circulo 7 Circulo 9 Synapticon Documentation 2021 Synapticon GmbH Daimlerstra e 26 D 71101 Sch naich Documentation v 4 19 0 Built 2022 02 01 315...

Page 316: ...heat conducting structure The servo drives power stages and control algorithms were optimized for efficiency at high power output and actually make them one of the most efficient servo drives availab...

Page 317: ...to complete failure of your servo drive If contactors behind the power supply are used it s necessary toinclude an uni directional TVS diode type 1 5KE62A E3 54 between Main Power Supply and Ground of...

Page 318: ...better EMI shielding around the electronic boards it is necessary to electrically connect the conductive surfaces marked blue in the following picture to the chassis of the motor or the robot Importa...

Page 319: ...tor These two threads should be twisted together or at least be paired to have a minimum area between them Note This brake integrates Safe Brake Control functionality SBC Circulo 7 Circulo 9 Synaptico...

Page 320: ...Synapticon Documentation 2021 Synapticon GmbH Daimlerstra e 26 D 71101 Sch naich Documentation v 4 19 0 Built 2022 02 01 320 1031...

Page 321: ...2 2 1 2 Encoders and IO 1 5 2 2 1 2 1 Encoder overview Circulo 7 Circulo 9 Synapticon Documentation 2021 Synapticon GmbH Daimlerstra e 26 D 71101 Sch naich Documentation v 4 19 0 Built 2022 02 01 321...

Page 322: ...Analog signals can be found in our system integration guideline Connecting and configuring analog inputs Circulo 7 Circulo 9 Synapticon Documentation 2021 Synapticon GmbH Daimlerstra e 26 D 71101 Sch...

Page 323: ...ply is protected against short to ground and keeps the current below 400mA in a continuous short V 5 V Common mode voltage V 1 5V The supply is protected against short to ground and keeps the current...

Page 324: ...1 5 2 2 1 2 2 1 2 Single ended 1 5 2 2 1 2 3 External Encoder Synapticon Documentation 2021 Synapticon GmbH Daimlerstra e 26 D 71101 Sch naich Documentation v 4 19 0 Built 2022 02 01 324 1031...

Page 325: ...ntegrated encoder 1 can not be used External encoder 2 can be used with ABI or HALL only when the integrated encoder 2 is used Please refer to the following image for details 1 5 2 2 1 2 3 1 External...

Page 326: ...ed encoder 1 is used with Multi Turn For selecting a suitable battery please check these notes Attention If the integrated encoder 1 is used the external encoder 1 can not be used Synapticon Documenta...

Page 327: ...l Encoder 1 External Encoder 1 Pin Config 1 Config 2 Config 3 1 5 V 2 MA Clock 3 MA Clock 4 Ground 5 SLO Data 6 SLO Data 7 V_BAT 1 5 2 2 1 2 3 2 External Encoder 2 Circulo 7 Synapticon Documentation 2...

Page 328: ...L Single Ended 1 5 V 2 MA Clock SD A 3 MA Clock SD B 4 Ground 5 A A SLO Data H3 C 6 A SLO Data 7 B B H2 B 8 B 9 I I H1 A 10 I Fast ABI is supported from firmware 5 0 on Synapticon Documentation 2021 S...

Page 329: ...e internal encoder 2 at the same time Attention Simultaneously the integrated encoder 2 and the external encoder 2 can only be used with HALL or ABI Single Ended or Differential but not Fast ABI 1 5 2...

Page 330: ...Slow Bi Directional 9 Digital I O 6 Slow Bi Directional 10 Ground 11 Digital Input 7 Slow 24 V This is a 3 3 V supply that can provide up to 250 mA for external use The supply is protected against sho...

Page 331: ...O needs to be configured as a Digital Input or Output viaobject 0x2210 GPIO The object can also be used to activate a pull down resistor Changes may require to powercycle the servo drive 1 5 2 2 1 2 5...

Page 332: ...culo 7 Circulo 9 Pin 1 STO SBC1 2 STO SBC2 3 Safety Ground 4 RX_N 5 RX_P Synapticon Documentation 2021 Synapticon GmbH Daimlerstra e 26 D 71101 Sch naich Documentation v 4 19 0 Built 2022 02 01 332 10...

Page 333: ...not using the STO SBC feature please attach a 24 V supply to Pin 1 and 2 and Ground to Pin 3 It s possible to daisy chain these signals to other servo drives Circulo 7 Circulo 9 Synapticon Documentat...

Page 334: ...Wiring diagrams for the safety digital inputs Synapticon Documentation 2021 Synapticon GmbH Daimlerstra e 26 D 71101 Sch naich Documentation v 4 19 0 Built 2022 02 01 334 1031...

Page 335: ...In case you want to use other sensors such as NTC please contact support synapticon com Circulo 7 Circulo 9 Depending on the type of temperature sensor different resistors in the servo drive need to...

Page 336: ...Details are described in Analog Input Scaling Synapticon Documentation 2021 Synapticon GmbH Daimlerstra e 26 D 71101 Sch naich Documentation v 4 19 0 Built 2022 02 01 336 1031...

Page 337: ...als A standard RJ45 connector for the Ethernet communication with the master A three strand wire that needs to be connected to your safety output STO SBC In 1 STO SBC In 2 and Safety Ground A Drive to...

Page 338: ...on the drive side of the Y Splitter cable and on both sides of the Drive to Drive cable Pin Wire Function 1 STO SBC1 2 STO SBC2 3 Safety Ground 4 RX_N 5 RX_P 6 TX_N 7 TX_P 8 PE Synapticon Documentati...

Page 339: ...ster side 1 5 2 2 1 4 2 3 EtherCAT Connection Note The Pins in the table below are the standard pins of a RJ45 while the red numbers in the image indicate the reference pins of the hybrid connector Pi...

Page 340: ...wires must be secured protected with a shrink tube that is lined with adhesive This prevents the shrink tube from sliding off All the wires should be of the same length or as much as possible of the...

Page 341: ...details Connector Manufacturer Connector Part Number Cable Thickness Cable Flexibility JST GHR 08V S As thin as possible while conforming to specs As thin as possible while conforming to specs Synapti...

Page 342: ...air 7 TX_P 28 8 PE 28 shield According to EtherCAT standards 1 5 2 2 1 4 3 2 3 Connectorization Both sides must be provided with this connector GHR 08V S from manufacturer JST 1 5 2 2 1 4 3 3 Y Splitt...

Page 343: ...lity STO Cable JST GHR 08V S As thin as possible while conforming to specs As thin as possible while conforming to specs EtherCAT Cable any RJ45 According to EtherCAT standards Synapticon Documentatio...

Page 344: ...e 2 TX_N 2 6 28 orange 2 Twisted pair 3 TX_P 1 7 28 orange white 2 PE shield 8 28 shield 1 2 3 Exemplary used by Synapticon According to TIA EIA 568B According to EtherCAT standards 1 5 2 2 1 4 3 3 3...

Page 345: ...m voltage of 100V wire to wire and wire to shield 1 5 2 2 1 4 3 3 5 Cable Thickness and Flexibility The cable must be as thin and as flexible as possible Synapticon Documentation 2021 Synapticon GmbH...

Page 346: ...0 2 1 28 AWG Temperature Sensor JST Sales America GHR 02V S SSHL 002T P0 2 1 28 AWG EtherCAT STO SBC In Out JST Sales America GHR 08V S Customized cable 28 32 AWG Brake Connector JST Sales America ZER...

Page 347: ...AWG 24V 48V Supply TE Connectivity 4 520448 2 3 4 520447 2 4 10 12 AWG 24V 48V Supply piggyback 6 Molex 0190130033 3 10 12 AWG Motor Phases Molex 0190070040 3 0190070041 4 10 12 AWG 1 2 3 4 5 6 Crimpe...

Page 348: ...1 Please ensure sufficient contact to heat conducting materials and use thermal paste if necessary Attention Servo drives should not be mounted in direct sunlight 1 5 2 2 2 1 Dimensions Circulo 7 Syna...

Page 349: ...Synapticon Documentation 2021 Synapticon GmbH Daimlerstra e 26 D 71101 Sch naich Documentation v 4 19 0 Built 2022 02 01 349 1031...

Page 350: ...Circulo 9 Synapticon Documentation 2021 Synapticon GmbH Daimlerstra e 26 D 71101 Sch naich Documentation v 4 19 0 Built 2022 02 01 350 1031...

Page 351: ...1 5 2 2 2 2 Drilling patterns for mounting Circulo 7 Synapticon Documentation 2021 Synapticon GmbH Daimlerstra e 26 D 71101 Sch naich Documentation v 4 19 0 Built 2022 02 01 351 1031...

Page 352: ...Synapticon Documentation 2021 Synapticon GmbH Daimlerstra e 26 D 71101 Sch naich Documentation v 4 19 0 Built 2022 02 01 352 1031...

Page 353: ...Circulo 9 Synapticon Documentation 2021 Synapticon GmbH Daimlerstra e 26 D 71101 Sch naich Documentation v 4 19 0 Built 2022 02 01 353 1031...

Page 354: ...ve is screwed properly to the heat conducting surface to facilitate the heat transfer That s it The next step is commissioning and tuning your drive Commissioning and tuning with OBLAC Drives 1 5 2 2...

Page 355: ...on control performance For optimal performance please mount the encoder at a distance of 0 5 mm 0 1 mm Mounting the chip closer than 0 4 mm will result in noise distortion that can not be removed by a...

Page 356: ...eded the maximum values in the table below Mounting tolerances can be used Attention Before they can be used the encodersneed to be calibrated Synapticon Documentation 2021 Synapticon GmbH Daimlerstra...

Page 357: ...n specified values the chip might fail sensing the magnetic field and throw an error 1 5 2 2 3 2 2 Tangential displacement t This displacement is along the direction of the disc rotation It is typical...

Page 358: ...e battery for Multi Turn must be placed separately there is no dedicated space for it in Circulo The pins for the battery are incorporated into the connector of Encoder 1 1 5 2 2 3 3 1 Suitable batter...

Page 359: ...inal capacities up to 1 0 Ah are available 2450 A flat wafer cell comparable to a coin cell Diameter 24 5 mm height 5 8 mm Nominal capacities up to 0 55 Ah are available ER22G75 BEL Wafer A flat wafer...

Page 360: ...bearing is required it can be fitted into the dowel holes and tightened with screws Circulo 7 Circulo 9 Synapticon Documentation 2021 Synapticon GmbH Daimlerstra e 26 D 71101 Sch naich Documentation...

Page 361: ...Synapticon Documentation 2021 Synapticon GmbH Daimlerstra e 26 D 71101 Sch naich Documentation v 4 19 0 Built 2022 02 01 361 1031...

Page 362: ...A precise encoder allows to achieve faster reaction time sharper position and velocity loops tuning better tracking of the dynamic trajectories In this section the main encoder error types will be co...

Page 363: ...of this frequency indicates the origin of the error 1 x RPS Eccentricity of the magnetic ring axis 2 x RPS Ovality of the magnetic ring 3 8 x RPS mounting of the magnetic ring for example amount of th...

Page 364: ...e the Encoder calibration can only be performed in versions 20 2 6 and higher Note A special firmware is required for performing the calibration routine Make sure you always use the latest release of...

Page 365: ...eature estimates the distance between the encoder chip and the magnetic target at the current position The provided values should be used as an additional information source not as primary mounting in...

Page 366: ...track A magnetic ring is too close to the encoder chip Check the mechanical assembly Signal error poor level master track A magnetic ring is too far from the encoder chip Check the mechanical assembl...

Page 367: ...nning some slow motion profile 3 Use the CHECK ENCODER SYSTEM button to verify the current state of the encoder system The calibration requires mechanical rotation of the motor with an attached encode...

Page 368: ...t Perform Velocity Tuning or Position Tuning depending on the application Attention The calibration procedure must be repeated when the mechanical position of the magnetic ring has changed This can al...

Page 369: ...nstantly luminous Single flashes 1 pulse per second Slow blinking 3 pulses per second Fast blinking 10 pulses per second Two colored behavior One part of the LED is constantly luminous the other is bl...

Page 370: ...overview of the firmware state at a glance to quickly see whether a drive is operating nominally 1 5 2 3 2 1 Firmware CiA 402 State Not Ready to Switch On Switch on Disabled Ready to Switch On Switche...

Page 371: ...1 5 2 3 3 EtherCAT LED Signals on the EtherCAT LED are required for EtherCAT conformity LED 1 Port 1 In ACT LED 2 Port 2 Out ACT LED 3 RUN RUN is constantly showing a green light if there is a cable...

Page 372: ...and has been given e g from an emergency stop device When the command has been released e g manually resetting the emergency stop device the currents are allowed to be carried to the motor and to the...

Page 373: ...fe Failure Fraction SFF TBD Probability of dangerous failure per hour PFH TBD Probability of dangerous failure on demand PFD TBD Common Cause Failure CCF TBD Hardware Fault Tolerance HFT 1 Reaction ti...

Page 374: ...or activating STO SBC function Digital input type according to IEC61131 2 2007 Type 1 Voltage range 0 60 VDC Max transient input voltage 80 VDC Input voltage logic 1 15 60 V Input voltage logic 0 0 5...

Page 375: ...is PWM controlled brake is configured by the same object as the regular brake Synapticon Documentation 2021 Synapticon GmbH Daimlerstra e 26 D 71101 Sch naich Documentation v 4 19 0 Built 2022 02 01 3...

Page 376: ...into the EtherCAT connector Please refer to the EtherCAT pinout table for details Mating parts can be found here under EtherCAT STO SBC Synapticon Documentation 2021 Synapticon GmbH Daimlerstra e 26...

Page 377: ...ternal damage e g by cable ducting armouring OR separate multicore cables OR within an electrical enclosure OR individually shielded with earth connection 1 5 2 4 3 1 Cabling lenghts Please observe th...

Page 378: ...up to SIL 3 PL e cat 3 Note Safety GND functions as a secondary line when a PLC with Plus Minus output is used Attention In case of multiple drive connection ensure that the output driver has sufficie...

Page 379: ...t driver has sufficient current driving capability 1 5 2 4 3 3 Connection diagram for the brake Attention When using a safe brake ensure to connect the safe brake GND to Brake instead of a general GND...

Page 380: ...Safety functions Synapticon Documentation 2021 Synapticon GmbH Daimlerstra e 26 D 71101 Sch naich Documentation v 4 19 0 Built 2022 02 01 380 1031...

Page 381: ...functions 1 5 2 4 4 1 Timing diagrams 1 5 2 4 4 1 1 Timing diagram for STO function without SBC Synapticon Documentation 2021 Synapticon GmbH Daimlerstra e 26 D 71101 Sch naich Documentation v 4 19 0...

Page 382: ...1 5 2 4 4 1 2 Timing diagram for STO function with SBC function Synapticon Documentation 2021 Synapticon GmbH Daimlerstra e 26 D 71101 Sch naich Documentation v 4 19 0 Built 2022 02 01 382 1031...

Page 383: ...cted the servo drive will stop the motor and indicate a fault SfeDilvd in the Error Report object During the activation of the STO SBC function the servo drive verifies that the two channels of the mo...

Page 384: ...e running the motor may damage the brake due to mechanical stress During normal operation it is recommended to activate STO SBC after the motor has come to a halt e g by introducing a delay with an ex...

Page 385: ...k and hazard analysis is required for each application to find necessary safety functionalities and the requirements for the safety functions Emergency stop Stop category 1 emergency stop Safe stop 1...

Page 386: ...LC emergency stop switch Please read the section about theworking principle of the Safety circuit All cases above require correct behaviour from the controlling PLC After releasing the emergency stop...

Page 387: ...mediately the signal to the Master PLC IPC Digital Input When the Digital Input is logical 0 the Master PLC IPC shall request quick stop via EtherCAT Controlword 0x6040 K3 K4 are triggered after a con...

Page 388: ...ck stop viaEtherCAT Controlword 0x6040 Delay time in Safety relay Configure the time according to your application The delay time should be longer than the maximum deceleration time of the application...

Page 389: ...erify that the PFD PFHd is sufficiently low for the desired safety level You can find the values for SOMANET Circulo here Commissioning Test and validate the safety functions before taking the system...

Page 390: ...O 14118 A lockable safety switch for activating the STO SBC function is required The function Prevention of unexpected start up can be used for system maintenance activities e g Repairing cleaning act...

Page 391: ...nd stored who what when 2 Define maintenance routines according to the need see chapter maintenance 1 5 2 4 6 2 Maintenance IEC 61800 5 2 2017 requires to have a maintenance test for STO SBC function...

Page 392: ...tion Version Reason Details Date released 4 3 3 Initial release Circulo B1 Safety Original Safety Documentation 2020 12 09 Synapticon Documentation 2021 Synapticon GmbH Daimlerstra e 26 D 71101 Sch na...

Page 393: ...instructions Technical specifications Hardware diagrams Installation guide Wiring instructions Connector pinouts Grounding and connecting a brake Mounting instructions LED signals Synapticon Documenta...

Page 394: ...tput 0 48 V PWM Phase D 1 5 3 1 2 General specifications General specifications Supported Communication Standard EtherCAT Number of Phases 4 Supported Motors 1 x 3 phase BLDC Motor and 1 active brake...

Page 395: ...e DC BUS current Phase Voltage Phase current two phases measured one computed Temperature 1 2 3 4 5 Currently not supported by our standard software Can be developed upon request please contact sales...

Page 396: ...lar nature of SOMANET Node the hardware diagrams of each module are listed separately 1 5 3 2 1 EtherCAT module Synapticon Documentation 2021 Synapticon GmbH Daimlerstra e 26 D 71101 Sch naich Documen...

Page 397: ...1 5 3 2 2 Processor module Synapticon Documentation 2021 Synapticon GmbH Daimlerstra e 26 D 71101 Sch naich Documentation v 4 19 0 Built 2022 02 01 397 1031...

Page 398: ...1 5 3 2 3 Drive module Synapticon Documentation 2021 Synapticon GmbH Daimlerstra e 26 D 71101 Sch naich Documentation v 4 19 0 Built 2022 02 01 398 1031...

Page 399: ...be exposed to external magnetic fields see our mounting instructions for details Wiring instructions Connector pinouts Grounding and connecting a brake Mounting instructions LED signals After you hav...

Page 400: ...ection Always ensure that the power cables are connected correctly otherwise the Drive may be damaged beyond repair 1 5 3 3 2 1 Warning about using contactors behind the power supply Attention Our ser...

Page 401: ...uni directional TVS diode on each drive because of the inductances of the wiring Now proceed to connecting your motor and encoders Connector Pinouts Synapticon Documentation 2021 Synapticon GmbH Daiml...

Page 402: ...taching cables please check these guidelines Wiring instructions 1 5 3 3 3 1 Power Terminal Terminal Synapticon Documentation 2021 Synapticon GmbH Daimlerstra e 26 D 71101 Sch naich Documentation v 4...

Page 403: ...can be found here not connected by default Upon request only please contact sales synapticon com Grounding and attaching power and brake cables 1 5 3 3 3 2 Encoder Port 1 Pin ABI ABZ RS422 ABI ABZ TTL...

Page 404: ...e versions of this drive please use connector 2 instead for current development This is a 5 V supply that can provide up to 250 mA for external use The supply is protected against short to ground and...

Page 405: ...otected against short to ground and keeps the current below 400 mA in a continuous short 1 5 3 3 3 4 Encoder Port 3 Digital IO Pin GPIO REM 14 16MT BiSS LVTTL SSI LVTTL 1 3 3 V 3 3 V 3 3 V 3 3 V 2 Dig...

Page 406: ...se The supply is protected against short to ground and keeps the current below 400mA in a continuous short Note Each Digital IO needs to be configured as a Digital Input or Output via object 0x2210 GP...

Page 407: ...ed to Ground when the Analog Input is set to Single Ended Mode It is recommended to use a separate ground cable for each single ended analog signal cable and twist or tie them together This is a 5 V s...

Page 408: ...ive line Pin 1 is on left 1 5 3 3 3 6 2 EtherCAT OUT Port Pin Name Function 1 TX Differential transmit pair positive line 2 TX Differential transmit pair negative line 3 Shield 4 RX Differential recei...

Page 409: ...Digital IO JST Sales America Inc SM08B GHS TB GHR 08V S SSHL 002T P0 2 26 30 AWG Power Terminal Block Phoenix Contact 1935831 N A 5859 WH005 Alpha Wire EtherCAT IN OUT Molex 53261 0571 510210500 50058...

Page 410: ...em has an attached brake please connect the brake cables to Phase D and Ground These two threads should be twisted together or at least be paired to have a minimum area between them By default Logic S...

Page 411: ...or it can be connected together with the Ground of the 48V supply to the pin 5 of the Main Supply connector if they fit in there For mounting please refer to our mounting instructions Mounting instruc...

Page 412: ...installed on a sufficiantly dimensioned heat conducting surface made of a suitable material such as aluminum Ensure that the servo drive is screwed properly to the heat conducting surface to facilita...

Page 413: ...n It has become evident that the motor s magnetic field has an impact on the drive s performance These are the preferred arrangements 1 At any position but shielded with a Faraday s cage 2 Behind the...

Page 414: ...step is commissioning and tuning your drive Commissioning and tuning with OBLAC Drives Synapticon Documentation 2021 Synapticon GmbH Daimlerstra e 26 D 71101 Sch naich Documentation v 4 19 0 Built 20...

Page 415: ...dicate errors 1 5 3 4 1 1 Legend Symbol Explanation Off Constantly luminous Single flashes 1 pulse per second Slow blinking 3 pulses per second Fast blinking 10 pulses per second Synapticon Documentat...

Page 416: ...to indicate internal status and errors It provides an overview of the firmware state at a glance to quickly see whether a drive is operating nominally 1 5 3 4 2 1 Firmware CiA 402 State Not Ready to...

Page 417: ...are shown when the Bootloader is active Bootloader State No Fault firmware exists Fault no firmware exists Synapticon Documentation 2021 Synapticon GmbH Daimlerstra e 26 D 71101 Sch naich Documentatio...

Page 418: ...structions Technical specifications Hardware diagrams Installation guide Wiring instructions Connector pinouts Grounding and connecting a brake Mounting instructions LED signals Synapticon Documentati...

Page 419: ...12 48 V DC Maximum Supply Voltage 60 V DC Minimum Supply Voltage 8 V DC Maximum Input Current DC 24A DC Maximum Phase Current RMS 33 A RMS Efficiency at Maximum Power 98 Brake control power output 0...

Page 420: ...e functions Integrated Shunt Circuitry Dimensions 70 x 40 x 22 mm Weight 80 g Operating temperature 0 to 50 C Max installation altitude 2000 m Storage Temperature 35 to 85 C Humidity 5 85 rH Sensors o...

Page 421: ...software Can be developed upon request please contact sales synapticon com External shunt resistor is needed Synapticon Documentation 2021 Synapticon GmbH Daimlerstra e 26 D 71101 Sch naich Documenta...

Page 422: ...lar nature of SOMANET Node the hardware diagrams of each module are listed separately 1 5 4 2 1 EtherCAT module Synapticon Documentation 2021 Synapticon GmbH Daimlerstra e 26 D 71101 Sch naich Documen...

Page 423: ...1 5 4 2 2 Processor module Synapticon Documentation 2021 Synapticon GmbH Daimlerstra e 26 D 71101 Sch naich Documentation v 4 19 0 Built 2022 02 01 423 1031...

Page 424: ...1 5 4 2 3 Drive module Synapticon Documentation 2021 Synapticon GmbH Daimlerstra e 26 D 71101 Sch naich Documentation v 4 19 0 Built 2022 02 01 424 1031...

Page 425: ...vo drive must not be exposed to external magnetic fields see our mounting instructions for details Wiring instructions Connector pinouts Grounding and connecting a brake Mounting instructions After yo...

Page 426: ...ection Always ensure that the power cables are connected correctly otherwise the Drive may be damaged beyond repair 1 5 4 3 1 1 Warning about using contactors behind the power supply Attention Our ser...

Page 427: ...uni directional TVS diode on each drive because of the inductances of the wiring Now proceed to connecting your motor and encoders Connector Pinouts Synapticon Documentation 2021 Synapticon GmbH Daiml...

Page 428: ...e attaching cables please check these guidelines Wiring instructions 1 5 4 3 2 1 EtherCAT IN OUT Synapticon Documentation 2021 Synapticon GmbH Daimlerstra e 26 D 71101 Sch naich Documentation v 4 19 0...

Page 429: ...ower Supply 24 48 V 3 Phase A 4 Phase B 5 Phase C 6 Phase D 7 Shunt Res 8 Shunt Res Grounding and attaching power and brake cables Synapticon Documentation 2021 Synapticon GmbH Daimlerstra e 26 D 7110...

Page 430: ...und 4 5 W C A A 6 A 7 V B B B 8 B 9 U A I I 10 I To use ABI ABZ with TTL please ensure that your Encoder is capable to sink 5 mA to GND when the output of the encoder is 0 Synapticon Documentation 202...

Page 431: ...our Encoder is capable to sink 5 mA to GND when the output of the encoder is 0 Attention Our upcoming version Drive 400 1000 2000 E1 will support Half Duplex A Format communication on this connector i...

Page 432: ...MA Clock 4 Ground Ground Ground Ground 5 Digital IO 3 MISO 6 Digital IO 4 MOSI 7 5 V 5 V 5 V 5 V 8 9 Digital IO 5 10 Digital IO 6 11 12 All Digital IOs are 3 3 V LVTTL CMOS logic and can be used for d...

Page 433: ...setting 1 2 Analog Input 4 Single ended 0 5 V 3 Analog Input 3 Single ended 0 5 V 4 Ground 5 Analog Input 2 Single ended 0 5 V 6 Analog Input 1 Single ended 0 5 V 7 5 V 8 10 V All Analog Inputs can b...

Page 434: ...Differential transmit output 2 TX O Differential transmit output 3 GND P Ground 4 RX I Differential receive input 5 RX I Differential receive input Pin 1 is on left Synapticon Documentation 2021 Syna...

Page 435: ...ivity 1 338068 0 1 215083 0 N A Flat Cable 28 AWG P1 27 Port 3 Digital IO JST Sales America Inc SM12B GHS TB GHR 12V S SSHL 002T P0 2 26 30 AWG Power Terminal Block Phoenix Contact 1935831 N A 5859 WH...

Page 436: ...Synapticon Documentation 2021 Synapticon GmbH Daimlerstra e 26 D 71101 Sch naich Documentation v 4 19 0 Built 2022 02 01 436 1031...

Page 437: ...n attached brake please connect the brake cables to Phase D and Ground These two threads should be twisted together or at least be paired to have a minimum area between them For mounting please refer...

Page 438: ...nsioned heat conducting surface made of a suitable material such as aluminum Ensure that the servo drive is screwed properly to the heat conducting surface to facilitate the heat transfer 1 5 4 3 4 2...

Page 439: ...motor s magnetic field has an impact on the drive s performance These are the preferred arrangements 1 At any position but shielded with a Faraday s cage 2 Behind the motor 3 Beside the motor but shi...

Page 440: ...dicate errors 1 5 4 4 1 1 Legend Symbol Explanation Off Constantly luminous Single flashes 1 pulse per second Slow blinking 3 pulses per second Fast blinking 10 pulses per second Synapticon Documentat...

Page 441: ...to indicate internal status and errors It provides an overview of the firmware state at a glance to quickly see whether a drive is operating nominally 1 5 4 4 2 1 Firmware CiA 402 State Not Ready to...

Page 442: ...are shown when the Bootloader is active Bootloader State No Fault firmware exists Fault no firmware exists Synapticon Documentation 2021 Synapticon GmbH Daimlerstra e 26 D 71101 Sch naich Documentatio...

Page 443: ...ates gain values for the cascaded position controller Velocity auto tuning Automatically generates gain values for the velocity controller Manual tuning Description of steps required for manually tuni...

Page 444: ...achine that comes preinstalled with Linux OS and runs OBLAC Drives OBLAC Drives Virtual Machine comes preinstalled with OBLAC Drives It can be run on Windows Linux and macOS Synapticon Documentation 2...

Page 445: ...sing OBLAC Drives Box please refer to ourOBLAC Drives virtual machine installation guide OBLAC Drives Box OBLAC Drives Box 2 Synapticon Documentation 2021 Synapticon GmbH Daimlerstra e 26 D 71101 Sch...

Page 446: ...nux OS and runs OBLAC Drives and the related services It supports access over WiFi or local area network 2 1 1 1 Connectors OBLAC Drives Box Synapticon Documentation 2021 Synapticon GmbH Daimlerstra e...

Page 447: ...ower connector the box will automatically boot OBLAC Drives Box Note The power supply has an output rating of 12 V 3000 mA DC Synapticon Documentation 2021 Synapticon GmbH Daimlerstra e 26 D 71101 Sch...

Page 448: ...that the LAN ports are used correctly The servo drives have to be connected to the EtherCAT LAN port If the ports are mixed up no communication to the drives and no connection to the box via LAN is po...

Page 449: ...ection are possible In each case the drives have to be connected to the EtherCAT port of the box Some important device specific information is written on the sticker placed on the box Synapticon Docum...

Page 450: ...ely you can enter the URL given on the label of the box The OBLAC drives dashboard will appear You can now operate connected drives with OBLAC drives To be able to do any updates a connection to the i...

Page 451: ...DHCP is configured and a DHCP server is required to give the box an IP address Attention In some companies unknown devices will not get an IP address from the server out of security reasons In this c...

Page 452: ...Switch and connection to a network with DHCP server If the box and the PC are connected to a LAN that includes a DHCP server regularly by connecting to a switch the box and the PC port will get an IP...

Page 453: ...and the LAN port of the OBLAC box But in addition ICS Internet Connection Sharing has to be enabled on the PC Go to Windows Settings Network Internet Right click on the Ethernet Port you are connecte...

Page 454: ...label on your box The first time after activating the ICS it might take up to one minute till the bridging is done and you can connect to OBLAC drives The ICS is not working if the IP address is manu...

Page 455: ...tps bundles synapticon com There are two types of OBLAC Bundles 1 Release bundle This bundle includes an OBLAC Drives release e g v21 0 0 and all of its supported firmwares Install it using the Bundle...

Page 456: ...on the sticker Please check in your browser that the Drive is connected 2 1 1 5 Update OBLAC Drives Before using OBLAC Drives you need to install the latest version of OBLAC Drives with ourOBLAC Driv...

Page 457: ...running OBLAC Drives Virtual Machine Note OBLAC Drives is an application that runs in a Web Browser We recommend the latest version of Google Chrome 2 1 2 2 Getting started 1 Download the OBLAC Drive...

Page 458: ...ick Retry and it will run You may also check Do not show this message again 5 Go to Virtual Machine Settings and check if two network adapters are available one set to NAT and one set to Bridged Autom...

Page 459: ...e in VMware Fusion Note If you get a warning that the import failed just click Retry and it will run You may also check Do not show this message again 4 Edit the Virtual Machine Settings and set the f...

Page 460: ...2 Check the Enable hypervisor application option The network adapters should be set to Private to my Mac Synapticon Documentation 2021 Synapticon GmbH Daimlerstra e 26 D 71101 Sch naich Documentation...

Page 461: ...re Player Note If you get a warning that the import failed just click Retry and it will run You may also check Do not show this message again 5 Go to Virtual Machine Settings and check if two network...

Page 462: ...cted to The network adapter has to be an Ethernet connection so it likely starts with eth Save changes 7 Power up and connect the slaves To connect your host PC with the servo drive simply plug the Et...

Page 463: ...ware Player Run sudo gedit etc vmware config Add prefvmx minVmMemPct 100 at the end of the file and save Restart the VMware Player 2 1 2 3 Connecting to OBLAC Drives Once your virtual machine is power...

Page 464: ...le to the servo drive For tuning you may connect several servo drives via EtherCAT and tune one by one Synapticon Documentation 2021 Synapticon GmbH Daimlerstra e 26 D 71101 Sch naich Documentation v...

Page 465: ...Please check in you browser that the Drive is connected Synapticon Documentation 2021 Synapticon GmbH Daimlerstra e 26 D 71101 Sch naich Documentation v 4 19 0 Built 2022 02 01 465 1031...

Page 466: ...n your SOMANET servo drive Set up your drive system How to set the parameters for your motor and sensors correctly 2 1 2 4 Troubleshooting 1 Always give OBLAC Drives up to a minute to detect the avail...

Page 467: ...e please try switching the order of the network adapters in the VMware setting for that virtual machine 1 Bridged Automatic 2 NAT There are more issues listed in our Troubleshooting Guide Synapticon D...

Page 468: ...OBLAC Drives you will be forwarded to the OBLAC Update Service and see a list of all current releases Use this list also to select between different versions of OBLAC Drives Note Please ensure that t...

Page 469: ...is change will be lost after power cycling the device unless it is saved to the device manually 2 2 2 2 Update Firmware When this button is clicked a box appears listing the most recent firmwares avai...

Page 470: ...onfiguration file from your computer and load it onto drive effectively replacing the current parameter values with the ones in the file 2 2 2 6 Save Configuration File Download your configuration if...

Page 471: ...d any keyword typed in will reveal the parameter that matches best The search input can search parameters by name index in format 0x1000 specialized editors prefixed with for example filtering You can...

Page 472: ...e latest version of the firmware at the top of the list Once you clicked on the Update button please wait until a notification pops up telling you that the installation is done Note Please make sure t...

Page 473: ...and selectInstall Firmware Click on the Launch Setup Wizard link to open the setup wizard It will first ask you to give a name to your drive Synapticon Documentation 2021 Synapticon GmbH Daimlerstra...

Page 474: ...to determine if you have an attached brake If you have a brake insert the parameters Synapticon Documentation 2021 Synapticon GmbH Daimlerstra e 26 D 71101 Sch naich Documentation v 4 19 0 Built 2022...

Page 475: ...perform the behavior for shaking free as described in the brake release feature So if you have a pin style brake please ensure that no heavy load is attached to the motor After clicking on Next you wi...

Page 476: ...coder click onto details and set the parameters as you wish If you want to use this encoder as a motion control sensor you will be able to test if it is properly configured in the testing area Synapti...

Page 477: ...ich should yield good results Note When using a power supply that can t provide the rated motor phase currents set the slider to a lower value This may be indicated by the error Undervoltage Synaptico...

Page 478: ...st the basic functionality of your new SOMANET drive setup Now you should tune the controller gains for precise motion NEXT STEP Motion control tuning Synapticon Documentation 2021 Synapticon GmbH Dai...

Page 479: ...of steps required for manually tuning the controller gains Manual Tuning of the current controller The generated torque is directly proportional to the current Manual Tuning of the velocity control l...

Page 480: ...4 Save the values to the drives Synapticon Documentation 2021 Synapticon GmbH Daimlerstra e 26 D 71101 Sch naich Documentation v 4 19 0 Built 2022 02 01 480 1031...

Page 481: ...to tuning is performed in two steps System identification Identifying the physical properties of the object to build a mathematical model of the target system Depending on the application either posit...

Page 482: ...For details see PID Controllers Theory Design and Tuning 2 4 2 3 Goal of Velocity Auto tuning The Velocity Auto tuning process calculates the gains for the velocity controller automatically Synaptico...

Page 483: ...ce versa Note Using a Chopper Board is strongly recommended to prevent hardware damage 2 4 2 4 2 Limitations 1 The procedure should be used carefully if the system has strict mechanical limitations To...

Page 484: ...allow users to change the frequency response test signal Torque excitation signal amplitude specifies a max percentage of the rated torque applied during the identification Torque amplitude increases...

Page 485: ...al from 2 Hz to the specified value How to use this slider It is recommended to use the default value Adjust the slider if a known resonance should be included into the model Low values will result in...

Page 486: ...g Tune the velocity loop with Velocity Auto Tuning for Cyclic Synchronous Velocity mode 2 4 2 4 4 F A Q Can I define other velocity torque units in the custom firmware The system identification is pos...

Page 487: ...the torque controller works correctly Lower the torque excitation signal amplitude Synapticon Documentation 2021 Synapticon GmbH Daimlerstra e 26 D 71101 Sch naich Documentation v 4 19 0 Built 2022 02...

Page 488: ...d properly and calibrated 2 4 2 5 2 Limitations 1 The procedure uses a linear mathematical model of the system If there are strong nonlinearities there will be a difference between the actual and the...

Page 489: ...ins calculation has an optimization loop inside and may take a few seconds 3 After the initial tuning is done it is possible to tune the control loop more precisely by changing the gains while executi...

Page 490: ...e in ms needed to settle the step response within 2 of the reference value The auto tuning procedure will try to find gains to ensure the specified settling time given the identified model Synapticon...

Page 491: ...y influences overshoot and rise time Practically the damping ratio effect depends on the controller type Values 1 can be used for removing overshoot but at cost of slower settling time it may also lea...

Page 492: ...be used to achieve a sharper response and a better bandwidth at a cost of overshoot Damping ratio is minimal Synapticon Documentation 2021 Synapticon GmbH Daimlerstra e 26 D 71101 Sch naich Documentat...

Page 493: ...e velocity signal used in system identification might have multiple zeros that may result in incorrect model Do I have to repeat system identification and tuning after I attached a load to the system...

Page 494: ...r and its cutoff frequency It is recommended to perform a system identification and tuning after filters were configured Be careful filters severely reduce stability due to phase delay Synapticon Docu...

Page 495: ...s The procedure uses a linear mathematical model of the system If there are strong nonlinearities there will be a difference between the actual and the requested performance Max bandwidth of 100 Hz is...

Page 496: ...andwidth also called 3 dB bandwidth is a characteristic of a control loop that characterizes sharpness of the control loop It is a frequency the system may follow while keeping 71 of the amplitude Exa...

Page 497: ...velocity control loop 10 Hz sine wave tracking with a requested bandwidth of 80 Hz Synapticon Documentation 2021 Synapticon GmbH Daimlerstra e 26 D 71101 Sch naich Documentation v 4 19 0 Built 2022 0...

Page 498: ...tuning after I attached a load to the system It is better to repeat both procedures If it is not possible to repeat the system identification auto tuning still can be used But the resulting settling t...

Page 499: ...l system However all controller gains can also be adjusted manually Manual Tuning of the current controller Manual Tuning of the velocity control loop Manual Tuning of the position control loop Synapt...

Page 500: ...r wants to improve the tuning of current loop controllers the following steps are suggested Set Ki 0 and Kp 2 500 Enable the controller in CST mode and evaluate the torque or current controller step r...

Page 501: ...t in the system This vibration means that the system is close to its instability margine At this point reduce the kp by 30 Synapticon Documentation 2021 Synapticon GmbH Daimlerstra e 26 D 71101 Sch na...

Page 502: ...how to carry out this iterative process As a general rule of thumb on which parameter to change next the following is helpful If the behavior of the system at low frequencies shall be improved the In...

Page 503: ...elocity loop is used the gain for the position integrator should be set to 0 This configuration is refered to as P PI These initial parameters can be used as a starting point for cascaded position con...

Page 504: ...o enter a reference torque Important Applying a constant torque means that the motor shaft will start moving and not stop before you manually set it back to a lower value If anything is attached to yo...

Page 505: ...ler that can be configured and adapted to your surrounding mechanical system automatically Enter a target position in the units of encoder increments ticks and see how the motor moves there Depending...

Page 506: ...the overshoot response times or bandwidth of your entire control loop suit your application If you encounter any problems make sure they are sorted out before you continue Reviewing the above mention...

Page 507: ...ist of releases click INSTALL on the release of your choice 3 After installation click OPEN to return to OBLAC Drives Note When you have downgraded to a version older than 19 0 0 you wont find the Lin...

Page 508: ...d by strictly following the instructions 2 7 1 Virtualization not activated If your computer does not have the virtualization technology activated OBLAC Drives will most likely not work correctly To f...

Page 509: ...achine To fix this issue follow the commands given here 2 7 3 Runtime Issues One of the most common issues appears directly after installing OLAC Drives The browser will be opened and the following sc...

Page 510: ...is occupying the Ethernet port If possible stop or uninstall this software or try it with a fresh PC Not all network adapters are able to perform the real time requirements for OBLAC drives In our exp...

Page 511: ...different more powerful PC Note If you couldn t find a solution to your problem please contact us atsupport synapticon com Synapticon Documentation 2021 Synapticon GmbH Daimlerstra e 26 D 71101 Sch n...

Page 512: ...tal 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...

Page 513: ...erload protection i2t Velocity feed forward Torque offset Velocity offset Filtering Command smoothing and Interpolation Control supervision Distributed clocks DC clocks OS Command Object dictionary Al...

Page 514: ...y 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 Po...

Page 515: ...ring Command smoothing and Interpolation Control supervision Distributed clocks DC clocks Object dictionary All objects Communication area Manufacturer specific area Profile specific area Process Data...

Page 516: ...own 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 ope...

Page 517: ...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...

Page 518: ...nded 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 forw...

Page 519: ...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 ar...

Page 520: ...rol Power limit Limits the mechanical output power of the motor Encoders and I O Description of analog and digial inputs and outputs and encoder configuration Analog In How to set up analog encoders d...

Page 521: ...drive sends a target torque to the motor Homing modes Quick stop Stops the motor quickly in a controlled way Diagnostics opmode Used for triggering diagnostic OS commands Switching the modes Describes...

Page 522: ...800 7 201 All objects A list of the entire Object Dictionary Communication area Objects needed for communication Manufacturer specific area Complementary objects for enhanced performance and additiona...

Page 523: ...is possible via File over EtherCAT FoE Multiple concurrent encoders for example BiSS C SSI Incremental Digital Halls are supported An object dictionary according to CiA 402 is available complemented...

Page 524: ...rs Encoders configuration for all ports BiSS C Hall ABI QEI ABZ Encoder SSI A Format Access to Analog Inputs and Digital IO Digital I Os can be configured to timestamp inputs and outputs on rising edg...

Page 525: ...If you are using TwinCAT as your controller you will need to import the SOMANET CiA 402 ESI EtherCAT Slave Information XML file to your project SOMANET CIA 402 ESI 3 1 2 1 Drive State Machine CiA 402...

Page 526: ...essed by the master e g PLC Motion Controller at any desired frequency For more information about PDO refer to ETG1000 5 and ETG1000 6 3 1 2 3 PDO Configuration SOMANET supports EtherCAT PDO Configura...

Page 527: ...e configured to enable correct operation of the drive system Motor and Gear settings Generic brake output voltage Brake release User defined velocity units Commutation Offset Detection Power limit Syn...

Page 528: ...ture This number can be found in the motor s datasheet Attention If the number given in the datasheet is not designated as Pole pairs but Poles it must be converted Number of pole pairs Number of pole...

Page 529: ...n equals to Phase resistance Phase resistance equivalent star configuration motor datasheet 3 1 3 1 1 3 2 Phase to phase resistance of delta winding motors If the value for phase to phase resistance a...

Page 530: ...f the parameters phase resistance or phase inductance will affect the quality of the current loop controllers narrower bandwidth less stability margins Note Internal algorithms prevent degradation of...

Page 531: ...r switching frequencies 3 1 3 1 3 Gear Ratio A gear ratio between motor and driving shafts can be configured This ratio defines the relationship between the motor shaft and driving output shaft The po...

Page 532: ...tude of generated torque at the rated motor phase currents 0x6080 Max motor speed The maximum possible speed of the Motor according to the data sheet 0x2010 Torque controller Values Damping Ration and...

Page 533: ...r SOMANET Circulo is used but not controlled safely 3 1 3 2 2 Usage Connect the device to the dedicated brake output of the drive and to Ground GND Set object Brake options Release strategy subitem 0x...

Page 534: ...feature only in low precision applications e g load dependant speed of a fan 3 1 3 2 3 1 Parameters 0x2004 Brake Release Release strategy can be used to activate the voltage on the brake output Brake...

Page 535: ...designated as Brake pull time After this time period the second voltage level Brake hold voltage will be applied to the brake terminals permanently The brake hold voltage can be set to a lower value...

Page 536: ...in type brake the motor must move slightly so that the pin can slide out This is mainly required with hanging loads e g robot arm where gravity is producing a torque pressing the wheel notch against t...

Page 537: ...After the release delay the brake voltage is driven to Brake hold voltage and Op Mode display is set to Op Mode The controller is then enabled To use the pin brake mode please select the correct Rele...

Page 538: ...nter the value 2 for 64 kHz 3 1 3 3 1 3 Custom brake modes It is also possible to implement custom brake modes For information please refer toGeneric brake output voltage 3 1 3 3 1 4 Parameters 0x2004...

Page 539: ...anged all related objects and subitems also use the chosen unit and must be scaled accordingly Unexpected behavior and accidents can occur if the chosen unit is not taken into account For more informa...

Page 540: ...according to the new precision see section below for details Click on save to device to keep the configuration 3 1 3 4 3 Objects affected 0x606B Velocity demand value 0x606C Velocity actual value 0x6...

Page 541: ...0A9 SI unit velocity through SDO The terminal of OBLAC Drives can be used for this operation with the following code line ethercat download p0 0x60A9 4256450304 2 OBLAC Drives will automatically scale...

Page 542: ...ward velocity as input to the velocity controller 0x60FA Control effort Provides a measure of the control effort the output of the position control loop 0x60FF Target velocity Sets the target velocity...

Page 543: ...the motor electrical angle rotor magnetic field angle and the motor position sensor feedback 1 The motor phase configuration NORMAL or INVERTED 0x2003 5 Normally both rotor angle and sensor angle sho...

Page 544: ...easing decreasing simultaneously Fig 2 Rotor angle and position sensor angle are not increasing decreasing in the same direction Inverted motor phases Synapticon Documentation 2021 Synapticon GmbH Dai...

Page 545: ...he brake should be configured correctly and work properly during the routine so that it doesn t block the system The power supply used should be able to provide the voltage current required by the rou...

Page 546: ...has the following characteristics It needs no tuning It is able to hold the load The offset can be precisely measured It will rotate the rotor up to 100 of a pole pair range 3 1 3 5 4 2 Method 1 Atte...

Page 547: ...e procedure of offset detection method 2 It can take up to 250 milliseconds The precision of method 2 is not as high as methods 0 or 1 Note This method can cause audible noise when it s executed 3 1 3...

Page 548: ...ion Note that the method has less detection accuracy thus the commutation efficiency can be less In this case it s recommended to redo Offset Detection when the setup is allowed to move 3 1 3 5 4 4 2...

Page 549: ...art automatically Trigger the following OS commands to carry out offset detection Command 6 Open phase detection Command 8 Phase resistance measurement Command 9 Phase inductance measurement Command 7...

Page 550: ...ails for your motor specification 0x2009 Commutation offset Subitem 0x2009 1 shows the state of the commutation offset Subitem 0x2009 2 defines the amount of torque that is applied during the offset d...

Page 551: ...0x6040 Controlword Sets the status of the drive Synapticon Documentation 2021 Synapticon GmbH Daimlerstra e 26 D 71101 Sch naich Documentation v 4 19 0 Built 2022 02 01 551 1031...

Page 552: ...e real generated mechanical torque of the motor It calculates the rotational speed of the motor with values from the position sensor at the motor shaft DC DC 3 1 3 6 2 Requirements This feature works...

Page 553: ...peak output power As a result this object will only be effective if its value is less than 110 of Drive s maximum peak output power 3 1 3 6 4 Parameters 0x200B Max power Sets the limit in Watt 0x203F...

Page 554: ...ed by differential or single ended connections Analog Input Scaling Allows to do a nonlinear conversion of an analog voltage using a 5th order polynomial function Digital I O Digital I Os can be confi...

Page 555: ...1 1 Using single ended sensors on differential inputs A single ended encoder can be attached to the differential ports if the voltage range fits only to the differential inputs The signal must be con...

Page 556: ...ors that output a resistance as measurement value Use case Temperature sensor Applications include converting the output of a temperature sensor directly into degrees Celsius Fahrenheit or any other u...

Page 557: ...g Input 3 4 Analog Input 4 0 Internal ADC if supported for example SOMANET Circulo 7 9 The unscaled raw analog input values are filtered through a first order low pass filter before they are scaled Th...

Page 558: ...t can also be tweaked to further fine tune the unscaled analog input before feeding it to the scaling algorithm cc p th in 3 1 4 2 2 3 Thresholds Upper and lower level thresholds can be configured in...

Page 559: ...Constant a1 of the polynomial 1st order coefficient 0x2038 6 Constant a2 Constant a2 of the polynomial 2nd order coefficient 0x2038 7 Constant a3 Constant a3 of the polynomial 3rd order coefficient 0x...

Page 560: ...lt 1 Input without pull down 2 Input active high a pull down resistor will be activated 3 Output 3 1 4 3 2 Using Digital I Os for input actions or output events It s possible to use the Digital Inputs...

Page 561: ...d for Homing Edge Triggered Latch for Error NegLmAct 9 IN Negative Limit Switch Active Low Level Triggered for Homing Edge Triggered Latch for Error NegLmAct 10 IN Interlock Disable Operation Active L...

Page 562: ...Mimics Warning w Bit of Statusword 3 1 4 4 2 Usage You can access the features in OBLAC Drives Enter Feedback IO Digital IO Synapticon Documentation 2021 Synapticon GmbH Daimlerstra e 26 D 71101 Sch n...

Page 563: ...pt for General Purpose Input and General Purpose Output 3 1 4 4 2 1 1 Description of features 3 1 4 4 2 2 General purpose In and Output GPIO General Purpose Input 2 The high and low logic voltage leve...

Page 564: ...Act 6 Active and inactive state of the Positive limit switch will be reflected as 1 and 0 respectively at the selected digital input Positive Limit Switch Active Low Level Triggered for Homing Edge Tr...

Page 565: ...will be executed Driving out of the limit switch is only possible in the opposite direction the concrete behavior is mode dependant Modes CSP PP PV CSV CST and PT If a target is commanded which would...

Page 566: ...selected digital input is low This will cause the drive to transition into Operation disable state Interlock will remain active as long as the configured GPIO remains low and transitioning into OP Ena...

Page 567: ...2211 GPIO output events is the Timestamp at which the GPIO should trigger The unit is in 10 ns The value in 0x2211 1 can be used for setting this timestamp But the unit must be converted to 10 of ns N...

Page 568: ...iate within 0 34 s If another encoder type is selected the response will be slower within 62 5 s Object 0x2213 allows further configuration of this output event by setting the following parameters Pul...

Page 569: ...bit is high the selected digital output will be high Mimics Warning w Bit of Statusword 25 The value of the selected Digital Output mimics bit 7 of the Statusword w When the w bit is high the selecte...

Page 570: ...on For correct function it is necessary to provide the resolution of the encoder this value is given in Inc Revolution please refer to your encoder s data sheet Important Please keep in mind that manu...

Page 571: ...0x2111 Encoder 1 feedback Provides the position or velocity value read at Encoder 1 0x2112 Encoder 2 configuration Configuration object for Encoder 2 0x2113 Encoder 2 feedback Provides the position or...

Page 572: ...ervo drive s documentation The ABI commutation offset has to be found before this feature starts working 3 1 4 6 3 Usage To configure the HALL ABI feature the incremental encoder needs to be configure...

Page 573: ...rror Detection Cable errors can lead to problems if only one Hall sensor is disconnected or damaged or if the phase signals are reversed the problem will not be detected Running the motor with Hall se...

Page 574: ...ors and the Hall sensors are not sampled again As soon as the incremental encoder passes the index the service realigns the electrical angle to the formerly saved precise value Synapticon Documentatio...

Page 575: ...nfigured Pulses are counted at pin 7 Encoder connector 2 has an SSI encoder configured Pulses are counted at pin 7 and 8 SOMANET Circulo 7 and 9 rev B 1 Digital IO connector is not used for anything e...

Page 576: ...meters 0x2040 Input counter The value of the counter will be written to this object Synapticon Documentation 2021 Synapticon GmbH Daimlerstra e 26 D 71101 Sch naich Documentation v 4 19 0 Built 2022 0...

Page 577: ...value a warning is triggered in the Error Report Object When the measured temperature reaches the limit an error is triggered and the drive is stopped 3 1 5 2 Usage To set the value for user defined...

Page 578: ...as specified in CiA 402 Error Report Object Each occurring error is described in the Error Report Object Remedies for protection errors How to resolve issues with over current over voltage under volt...

Page 579: ...AGE 0x3331 FIELD_CIRCUIT_INTERRUPTED 0x4210 EXCESS_TEMPERATURE_DEVICE 0x4310 EXCESS_TEMPERATURE_DRIVE 0x5300 OPERATING_UNIT 0x6010 SOFTWARE_RESET_WATCHDOG 0x6320 PARAMETER_ERROR 0x7121 MOTOR_BLOCKED 0...

Page 580: ...on Explanation Error code from object 0x603F Remedy NoFault No fault Default value of the object which means no fault is to be reported This error code indicates that there s no error reported thus th...

Page 581: ...n User defined Over voltage Indicates that the DC bus voltage is measured exceeding the user defined threshold 0x2006 2 Protection Overvoltage setpoint 0x3210 As the threshold is user defined please f...

Page 582: ...not received on time by the hardware protection thus the drive is not working properly 0x5300 Please note down the information regarding the occurence of the error and reach Synapticon technical supp...

Page 583: ...ne signal of the dual channel input is read at a different interval than the other signal The signals must have the same state within 100 ms 0x5300 The cause of the fault usually directs to misuse of...

Page 584: ...tive value This fault indicate that the drive receives the warning bit being active 0x7303 0x7304 BisAcBit BiSS Acknowledge Bit not received The BiSS slave is not acknowledging the request to communic...

Page 585: ...ensor configuration causes an issue related to the BiSS frame This error is currently raised only if the BiSS frame size is higher than 64 bits 0x7303 0x7304 Please check the sensor configuration acco...

Page 586: ...his case the fault can sometimes be reset but would occur under certain circumstances Please check the signals received by the drive with an oscilloscope under operation for better investigation The c...

Page 587: ...the SSI frame Currently our drives can be configured to read a parity bit from compatible SSI encoders This error means the parity bit computed by the firmware is different than the one sent by the S...

Page 588: ...ow 0x7303 0x7304 R16FtCfg REM16 Filter Configuration error Filter configuration error 0x7303 0x7304 R16FtSOF REM16 Filter Speed Overflow error Filter speed overflow error 0x7303 0x7304 R16UnCmd REM16...

Page 589: ...nsult the encoder manufacturer for advices 2b Inconsistency in signal transfer Please check the signals received by the drive with an oscilloscope under operation for better investigation The cause ca...

Page 590: ...r manufacturer for advices 2 Inconsistency in signal transfer Please check the signals received by the drive with an oscilloscope under operation for better investigation The cause can be that the sig...

Page 591: ...imeout The A Format encoder didn t start communication after sending a request 0x7303 0x7304 Please check the wiring and make sure that the signals are transfered with good consistency Use a oscillosc...

Page 592: ...ion for better understanding the meaning of the Over Speed Alarm The usual case is that the rotation speed exceeds the speed limit of the encoder AftMemEr A Format MEMERR status The encoder is raising...

Page 593: ...eric Sensor Faults SnsrAngl Sensor Angle error 1 The electrical angle was not completeting a whole revolution during offset detection 2 The calculated commutation angle is out of bounds A singleturn r...

Page 594: ...digital IO settings making sure that the setting is supported by your hardware according to the documentation IvldGpio Invalid Gpio configuration The GPIO related configuration chosen is not available...

Page 595: ...Generic Setup Faults SwLimOut Software Limit Out Target position is outside of the 0x607D Software position limit defined by the user 0x5300 0x6320 Please check object 0x607D Software position limit a...

Page 596: ...se to 0x6079 DC link circuit voltage Pay attention that the actual voltage supplied to the drive would be slightly lower than the voltage output by the power supply because of attenuation Check the co...

Page 597: ...ion OpnFetBH Open high FET at phase B One of the power electronic switches of Drive is damaged not conducting The damaged FET is located in leg B of the inverter and it is the high side FET of this le...

Page 598: ...ested opmode is not supported Set a valid value in 0x6060 Modes of operation 0x6320 Please check our documentation for the available operation modes Please check 0x6060 Modes of operation and make sur...

Page 599: ...e error is expected Do Fault reset to clear the fault after the communication is reestablished Otherwise the occurrence of the error indicates that there exists unknown issues in the communication cha...

Page 600: ...is moves back into the valid range of motion 0x5300 Ensure that the homing switches remain active after the mechanics hit them Increasing the homing acceleration 0x609A may help prevent overshoot afte...

Page 601: ...too low 0x2015 2 Velocity feed forward Cutoff frequency is lower than the minimum limit 0x6320 Please check 0x2015 2 Velocity feed forward Cutoff frequency and make sure that the cutoff frequency is c...

Page 602: ...lead to equipment damage It can also result in irregular clock timing 0x4210 Disable the drive until the temperature is reduced or use external cooling to bring down the over all temperature TmpDrive...

Page 603: ...asurement Upper level threshold 0x2038 12 External scaled measurement Lower level threshold 0x7300 Please make sure that the upper and lower level threshold values are suitable for the sensor you have...

Page 604: ...e a problem in the commutation angle calculation Check the feedback value of the sensor and perform the offset detection again an inappropriate power supply is used a voltage too high or too low would...

Page 605: ...ird is different there may be a big voltage drop in the supply circuit due to factors such as cable resistance If the error occurs during motion the voltage output of the power supply drops when the m...

Page 606: ...log so that the latest 9kb of logging history can always be retrieved By concatenation of log_curr log and log_prev log between 9kb and 18 kb of logging history can be retrieved 3 1 7 2 Types Logs ar...

Page 607: ...characters the message is truncated and a character is placed in the 105th position The time initially starts at 00 00 00 000 and is thus the time since last boot Synapticon Documentation 2021 Synapt...

Page 608: ...target torque to the motor Homing modes Quick stop Diagnostics opmode Used for triggering diagnostic OS commands Switching the modes Describes how the modes can be selected Extended control functional...

Page 609: ...hing and Interpolation Successive setpoints can be smoothed so that low command resolution and jitter have a reduced effect on the control Control supervision Allows to supervise the work of the contr...

Page 610: ...nd Torque Control Loop Velocity Control Loop Position Control Loop Dual Loop Cascaded Postion Control Synapticon Documentation 2021 Synapticon GmbH Daimlerstra e 26 D 71101 Sch naich Documentation v 4...

Page 611: ...ent and Torque Control Loop 3 1 8 1 1 1 Torque control loop General View Detail View Synapticon Documentation 2021 Synapticon GmbH Daimlerstra e 26 D 71101 Sch naich Documentation v 4 19 0 Built 2022...

Page 612: ...rque control loop is executed at a frequency of 16 kHz as of firmware v4 2 0 3 1 8 1 1 1 2 Reference Torque Generation The reference torque can be updated in every execution step In cyclic synchronous...

Page 613: ...0x2010 10 Damping ratio subitem 0x2010 11 Settling time is entered in s the default value 1000 s Damping ratio is entered in per mill the default value is 2000 Example For a damping ratio of 0 7 the...

Page 614: ...2 Parameters 0x2010 Torque Controller Values Kp Ki and Kd for Torque Controller Synapticon Documentation 2021 Synapticon GmbH Daimlerstra e 26 D 71101 Sch naich Documentation v 4 19 0 Built 2022 02 01...

Page 615: ...3 1 8 1 2 Velocity Control Loop General View Detail View Synapticon Documentation 2021 Synapticon GmbH Daimlerstra e 26 D 71101 Sch naich Documentation v 4 19 0 Built 2022 02 01 615 1031...

Page 616: ...rol performance This dynamically changeable torque value will be added to the torque value generated by the velocity PI controller Although the cascaded position control loop also includes a velocity...

Page 617: ...Ki and Kd for Torque Controller 0x2011 Velocity Controller Values Kp Ki Kd and Controller Integral Limit for Velocity Controller Synapticon Documentation 2021 Synapticon GmbH Daimlerstra e 26 D 71101...

Page 618: ...ailable for position control Cascaded PID controller Simple PID controller 3 1 8 1 3 1 Cascaded PID Controller General View Detail View Synapticon Documentation 2021 Synapticon GmbH Daimlerstra e 26 D...

Page 619: ...ly none of the D gains should be used in the cascaded controller and the two I gains should be used only alternatively not together This means that the control structure is simplified to a combination...

Page 620: ...y 3 1 8 1 3 2 Simple PID Controller General View Detail View The cascaded PID controller is generally preferable over the simple PID controller It is activated by default and apart from academic purpo...

Page 621: ...8 1 3 2 1 Parameters 0x2010 Torque Controller Values Kp Ki and Kd for Torque Controller 0x2012 Position Controller Values Kp Ki and Kd for Simple PID Controller Only subitems 1 4 Synapticon Documenta...

Page 622: ...uracy when only the shaft is controlled A second encoder can be attached to the output shaft after the gear for an optimized position control General View Detail View Synapticon Documentation 2021 Syn...

Page 623: ...8 1 4 3 Parameters 0x6091 Gear Ratio Object for indicating the revolutions of motor and shaft 0x2010 Torque Controller Values Kp Ki and Kd for Torque Controller 0x2012 Position Controller Values Kp K...

Page 624: ...ous position control CSP In position control modes the master sends desired positions to the drive Profile modes In profile modes the trajectory is computed on the slave Profile position mode In profi...

Page 625: ...to the drive In cyclic synchronous modes reference values are sent and updated with each EtherCAT communication frame so a reference signal has to be sent with up to 4 kHz As an example to rotate the...

Page 626: ...emand value input torque capture torque control function with appropriate input and output signals limitation of torque demand The figure above shows the inputs and outputs of the torque control funct...

Page 627: ...t is set if the actual torque stays in the window of target torque torque window value for a duration of torque window time Target torque ignored This bit is set ifTarget torque 0x6071 is equal to Tor...

Page 628: ...wing sub functions demand value input velocity capture using position sensor velocity control function with appropriate input and output signals The behavior of the control function is influenced by c...

Page 629: ...12 11 10 9 8 7 0 N A Target velocity ignored Internal limit active Target reached N A basic Internal limit active Max motor speed 0x6080 limits Target Velocity 0x60FF and Velocity Offset 0x60B1 Target...

Page 630: ...1 Velocity Controller Values Kp Ki Kd and Controller Integral Limit for Velocity Controller 0x60FF Target velocity Use this object to directly select a Target velocity Synapticon Documentation 2021 Sy...

Page 631: ...d forward control Especially in a cascaded control structure where a position control is followed by a velocity or torque control the output of the position control loop is used as an input for furthe...

Page 632: ...ue 0x606B and Profile velocity 0x6081 Software position limit 0x607D limits Position demand value 0x6062 Target reached the bit is set to 1 if the actual position stays in the window of the target pos...

Page 633: ...and Velocity 0x607A Target position Use this object to directly select a Target position 0x60B1 Velocity offset Sets a feed forward velocity as input to the velocity controller 0x60B2 Torque offset S...

Page 634: ...ctory to a target point is generated on the drive Profile velocity mode In profile velocity mode the motor will rotate at a target velocity Profile torque mode In profile torque mode the drive sends a...

Page 635: ...depending on the configured speed starting acceleration and braking deceleration 3 1 8 2 2 1 1 Objects configuration The following objects need to be configured for the position profile Profile Veloci...

Page 636: ...it 0x607D as well as the Polarity 0x607E Note Target position is limited by the Objects Position range limit 0x607B Software position limit 0x607D The output of the trajectory generator is the positio...

Page 637: ...value 1 0001h must be entered in object Modes of operation 0x6060 The object Op mode display 0x6061 can be used to check if the op mode has been set correctly Synapticon Documentation 2021 Synapticon...

Page 638: ...new set points In order to execute the new set point new target value bit 4 new set point of the controlword needs to be changed from 0 to 1 the profile reacts on the rising edge of the bit The drive...

Page 639: ...t basic New set point On the rising edge the drive will acknowledge the value of target position as a new set point Change set immediately Our drive supports only a single set point method of handling...

Page 640: ...wledge Internal limit active Target reached N A basic Internal limit active Max motor speed 0x6080 limits Velocity demand value 0x606B and Profile velocity 0x6081 Software position limit 0x607D limits...

Page 641: ...ral cycles The motor will start rotating immediately Note Setting the bits 4 and 5 of the controlword has to be done in the same order shown above or simultaneously 3 1 8 2 2 1 6 Parameters Profile Ve...

Page 642: ...or timeout 0x6066 Following error actual value 0x60F4 Position window 0x6067 Position window time 0x6068 Velocity demand value 0x606B Position demand value 0x6062 Synapticon Documentation 2021 Synapti...

Page 643: ...need to be configured for the velocity profile Target velocity 0x60FF Profile acceleration 0x6083 Profile deceleration 0x6084 Quick stop deceleration 0x6085 Polarity 0x607E Max motor speed 0x6080 Thes...

Page 644: ...start turning immediately 3 1 8 2 2 2 2 Enable Profile velocity mode To enable the mode the value 3 0003h must be entered in object 0x6060 The Op mode display 0x6061 can be used to check if the op mo...

Page 645: ...081 Max torque 0x6072 limits Torque demand 0x6074 Target reached The bit is set if the actual velocity stays in the window of target velocity velocity window for a duration of Velocity window time Spe...

Page 646: ...eed 0x6080 Velocity window 0x606D Velocity window time 0x606E velocity threshold 0x606F velocity threshold time 0x6070 Max motor speed 0x6080 Velocity demand value 0x606B Profile velocity 0x6081 Max t...

Page 647: ...alue 0x6074 which is processed by the torque controller 3 1 8 2 2 3 1 Objects configuration The following objects need to be configured for the torque profile Target torque 0x6071 Torque slope 0x6087...

Page 648: ...t can be toggled by writing 010Fh and 000Fh to controlword object 0x6040 3 1 8 2 2 3 4 Operation Mode dependent Bits of Status and Controlword 3 1 8 2 2 3 4 1 Controlword The torque position mode uses...

Page 649: ...rget reached the bit is set if the actual torque stays in the window of target torque torque window value for a duration of torque window time Objects related to the bit 10 of the statusword Torque wi...

Page 650: ...t 9 Homing on an opposite home switch active and index pulse with positive initial direction Reverse if positive limit switch is hit 10 Homing on an opposite home switch inactive and index pulse with...

Page 651: ...x Pulse The initial direction of movement shall be leftward if the negative limit switch is inactive The home position is the first index to the right when the negative limit switch changes state 3 1...

Page 652: ...h changes state home switch active 3 1 8 2 3 2 1 4 Homing Method 5 6 Homing on a Negative Home Switch and Index Pulse The initial direction of movement is dependent on the state of the home switch lef...

Page 653: ...home switch is initially active then the direction of movement depends on the homing method The direction will be reversed when encountering the positive limit switch 3 1 8 2 3 2 1 6 Homing Method 11...

Page 654: ...on of movement depends on the homing method 3 1 8 2 3 2 2 Homing method 33 34 move to next or previous single turn position or index pulse Methods 33 and 34 can be used to center on the sensor s refer...

Page 655: ...urrent position as home Use case Relative position command The current position can be taken as the reference point Use case Homing on current position When the motor is moved to the desired positioni...

Page 656: ...but without index pulse Homing is done at switch transition 23 to 30 Similar to method 7 to 14 but without index pulse Homing is done at switch transition 33 Homing on negative index pulse 34 Homing...

Page 657: ...active low For example If Pin 3 is configured as Active High Limit Switch then configuring any other pin as Limit Switch Active High or Active Low will raise the error IvldGpio Invalid GPIO error in t...

Page 658: ...bit is reset to 0 the motion continues 3 1 8 2 3 4 2 Status of the homing process Bits 10 12 13 of the Statusword 0x6041 are used to indicate the current state of the homing process Bit 13 Homing erro...

Page 659: ...fic purposes which are indicated in yellow The figure shows the structure of the controlword For the general structure and usage please refer to our Application note on Status and Controlword 15 9 8 7...

Page 660: ...ring homing 0x6040 Controlword Set bit 8 to 0 and bit 4 to 1 to start homing 0x6041 Statusword Indicates the current state of the homing process 0x60FD Digital inputs Indicates the current state of th...

Page 661: ...d motor Note At the end of the quick stop procedure the brake gets engaged when the drive is in SWITCH_ON_DISABLED mode 2 When the drive stays in QUICK_STOP_ACTIVE mode 6 the brake is not engaged by d...

Page 662: ...quick stop is triggered 3 1 8 2 4 2 1 1 Option code 0 Disable the drive Attention In this case the drive does not perform the quick stop deceleration ramp and is instead immediately disabled 3 1 8 2 4...

Page 663: ...es not use a profile Instead the drive commands 0 torque from the start of the quick stop procedure The steps vary depending on the quick stop option code and when quick stop is triggered 3 1 8 2 4 2...

Page 664: ...the drive s transition into a different state Use this object to monitor the drive s behavior 0x60A9 SI unit velocity This object defines the velocity value 0x60FC Position demand internal value Prov...

Page 665: ...d state When no OS command is running the motor control is disabled Attention Always ensure that the brake is engaged or disengaged depending on the command that is executed Command 4 rotates the roto...

Page 666: ...Torque profile mode 6 Homing mode 8 Cyclic Syncronous Position Mode 9 Cyclic Syncronous Velocity Mode 10 Cyclic Syncronous Torque Mode 3 1 8 2 6 1 Dynamic Op Mode switching The modes can be switched w...

Page 667: ...se the velocity of the robot s reaction the target position signal can bypass the osition controller Torque Offset A desired offset torque can be added to the reference torque Velocity Offset An addit...

Page 668: ...nd in OBLAC Drives When cogging torque compensation is activated an additional torque component is generated actively by the motor in order to compensate for the cogging torque The compensation featur...

Page 669: ...ast 20 30 of the drive s rated current For executing the cogging torque recording the motor must not be mechanically blocked and ideally must have no load attached The motor is fully functional and th...

Page 670: ...table Once the recording is finished the values are stored on the Drive In the OBLAC Drives GUI the feature is disabled and can now be tested manually 1 Slide the switch to TESTING ENABLED 2 Turn the...

Page 671: ...g torque compensation screen and check the Skip auto tuning checkbox 7 After the recording is finished test the obtained compensation table Use switch TESTING DISABLED in the cogging torque compensati...

Page 672: ...ensation subindex 2 cogging torque compensation enabled must be set to 1 By enabling the cogging torque compensation algorithm the table communicated to the torque controller is added as a set of valu...

Page 673: ...f the device it is checked if the cogging table exists in the flash memory and if it exists the table is communicated to a torque controller The state is generated accordingly 0 no table exists 5 tabl...

Page 674: ...shown in Fig 2 the user should set 3 parameters for this feature 1 Field Weakening Starting Speed 2 Field Weakening Ending Speed 3 Percentage of Field Weakening f Once the motor speed hits Field Weake...

Page 675: ...eakening to achieve velocities that correspond to more than 80 Volts of peak back EMF voltage Otherwise the drive may start burning Avoid switching off the drive while in motion especially at high vel...

Page 676: ...limit the integrator output The Anti windup control algorithm is implemented with the following approach with control deviation Output of the integral part Sample time Integral gain Integrator limit...

Page 677: ...locity Controller Values Kp Ki Kd and Integrator Limit for Velocity Controller 0x2012 Position Controller Values Kp Ki Kd and Integrator Limit for Cascaded Position Controller Both loops Position and...

Page 678: ...eed This technique can be used within the cascaded position controller to compensate for nonlinear effects especially stiction friction in the mechanics For velocities in rpm below a user defined valu...

Page 679: ...heduling feature is only available in Cascaded PID mode which is selected in object 0x2002 0x2002 Position control strategy Selects the control structure used for position control 0x2013 Gain Scheduli...

Page 680: ...e motor If the motor is overheated more than the allowed limit this feature will limit the RMS value of phase currents to protect the motor from being overheated beyond the permitted limits Note This...

Page 681: ...ed that is above the nominal current the tracking variable will rise If the overcurrent is less then the maximal value the peak time is extended accordingly Once the tracking variable reaches 100 the...

Page 682: ...and diminish the influence of target position quantization 3 1 8 3 6 1 Usage Default value of gain is 0 This means Velocity feed forward is off The gain is given in per mil 1 A value of 1000 is a good...

Page 683: ...low cut off frequency 5 10 Hz Alternatively a master generated feed forward velocity can be sent to the slave via the velocity offset object 3 1 8 3 6 2 Using a velocity offset additionally Additiona...

Page 684: ...ed by the velocity PI controller This applies to the simple PID position controller to the cascaded position controller and to the velocity controller The offset torque can be updated at full EtherCAT...

Page 685: ...namically with continuously updated values it is not accessible in OBLAC Drives but through the EtherCAT parameter 0x60B1 0x2010 Torque Controller Values Kp Ki and Kd for Torque Controller 0x2012 Posi...

Page 686: ...rted Loop shaping filter Suppress excitation of resonance frequencies in the output of the motion control loop or in the input of the torque control loop A 2nd order notch filter is supported Any sign...

Page 687: ...The position feedback filter can also be used with a simple PID loop General View Synapticon Documentation 2021 Synapticon GmbH Daimlerstra e 26 D 71101 Sch naich Documentation v 4 19 0 Built 2022 02...

Page 688: ...cy of the Notch filter defined in Radians s 1 f Full width of the rejection band of the Notch filter f f 2 f f 2 defined in Radians s 1 damping ratio 1 Radians are used for internal calculation user i...

Page 689: ...n was used to design the torque loop input shaping filter 3 1 8 3 9 3 Application Guide Position and Velocity Feedback Low pass filters Torque loop input shaping filter Synapticon Documentation 2021 S...

Page 690: ...dback filter 0x2022 Position feedback filter Cut off frequency of position feedback filter 0x2023 Notch filter Center frequency and bandwidth of notch filter Synapticon Documentation 2021 Synapticon G...

Page 691: ...frequency of 1 dominant 2 and 4 motor speed revolutions per seconds 1 The specified frequencies are just initial values that will not interrupt the motion control Lower values should be found and set...

Page 692: ...e as little as possible Thus the filter cutoff frequency should be approximately one decade higher Bw 10 3 Examine the spectral density plot of the target signal and determine the frequency range that...

Page 693: ...s only for high frequency resonances The frequency depends on both the central frequency and the rejection width Generally it should be higher than 50 Hz A practical guide to notch filter design 1 Fin...

Page 694: ...The bigger the width of the rejection band the smoother is amplitude transition around the central frequency Additionally the attenuation is bigger This happens due to the second order of the filter w...

Page 695: ...he previous to the current target smoothing out the input and preventing spikes in the derivative around the target changes This feature can be used in all position and velocity control modes Cyclic s...

Page 696: ...ects 3 1 8 3 10 3 2 Jerk limiting When the input trajectory contains undesirable discontinuous or aggressive motion the performance of the mechanical system can be unsatisfactory Fixing the input traj...

Page 697: ...ange to the input command This creates a discontinuity that is twice the magnitude of the normal command steps Set the filter to an order similar to what should be chosen for input interpolation 3 1 8...

Page 698: ...e SOMANET slave The filter order is defined in multiples of 250 s e g 3 for a master with a 1 ms cycle 3 is the default value that suits applications with 1 kHz EtherCAT masters perfectly This number...

Page 699: ...der is allowed between 0 no action and 31 The filter is enabled by default with an order of 3 The order reflects the amount of steps the algorithm looks back 3 1 8 3 10 4 3 Parameters 0x2027 Control i...

Page 700: ...tatusword Target reached function Raises a flag in the Statusword 3 1 8 3 11 1 Timing diagram of the supervision objects Two communication cycles after the master sends a target value to the slave pos...

Page 701: ...Profile Position CSP Synapticon Documentation 2021 Synapticon GmbH Daimlerstra e 26 D 71101 Sch naich Documentation v 4 19 0 Built 2022 02 01 701 1031...

Page 702: ...d the slave computes the intermediate positions itself directly at the trajectory generator Therefore the objects sent back from the slave to the master are different than in CSP Synapticon Documentat...

Page 703: ...value Velocity actual value Alternatively the object Following error actual value 0x60F4 can be used to monitor the position control loop This object is also used for the Following Error Window featu...

Page 704: ...ndow a following error occurs If the value of the following error window is FFFF FFFF h the following control is switched off default Following error timeout 0x6066 ms Use this object to indicate the...

Page 705: ...position velocity or torque can be defined with a margin at each side If the actual value is inside of the accepted position range for a configured period of time the user is informed that the target...

Page 706: ...onsidered to be inside the window The unit is given in ms 3 1 8 3 11 4 3 Configuring the velocity window CSV Note The accepted velocity range is calculated as two times the velocity window Enter the v...

Page 707: ...0x60fc Provides the output of the trajectory generator in profile position mode The units are in increments of the position encoder Position value 0x6064 Provides the actual value of the position enc...

Page 708: ...rror is triggered 0x6067 Position window Half of the accepted position range 0x6068 Position window time Time required for the position sensor to remain within the position window 0x606D Velocity wind...

Page 709: ...que demand Provides the output value of the torque trajectory generator 0x6077 Torque value Provides the actual value of the torque 0x60FA Control effort Output of the controller for the selected mode...

Page 710: ...f possible Ensure that your master supports it 3 1 8 3 12 2 Distributed Clock configuration SOMANET supports 2 DC modes Slave mode Master device will be used as a reference clock All the slaves in the...

Page 711: ...ers 0x20F3 DC synchronization The status of the selected network synchronization mechanism Synapticon Documentation 2021 Synapticon GmbH Daimlerstra e 26 D 71101 Sch naich Documentation v 4 19 0 Built...

Page 712: ...and 4 Motor phase order detection Command 5 Commutation offset detection Command 6 Open phase detection Command 7 Pole pair detection Command 8 Phase resistance measurement Command 9 Phase inductance...

Page 713: ...atus as written in subindex 2 Note To calculate the progress please subtract 100 from the value of 0x1023 2 Subindex Description Data Type Value 1 Command OCTET_STRING Byte 0 OS command ID Byte 1 7 Se...

Page 714: ...mapping of Receive Process Data Objects Standard TxPDO mapped Objects The Standard mapping of Transmit Process Data Objects Manufacturer Specific Area A list of all Manufacturer Specific Objects Prof...

Page 715: ...s disabled 0x1011 4 Restore manufacturer default parameters 0x1016 Consumer heartbeat time 0x1016 1 Consumer heartbeat time 0x1017 Producer heartbeat time 0x1018 Identity object 0x1018 1 Vendor ID 0x1...

Page 716: ...COB ID used by PDO 0x1801 2 Transmission type 0x1801 3 Inhibit time 0x1801 4 reserved 0x1801 5 Event timer 0x1802 Transmit PDO3 parameter 0x1802 1 COB ID used by PDO 0x1802 2 Transmission type 0x1802...

Page 717: ...x1600 7 0x2701 Tuning command 0x1601 Receive PDO2 mapping 0x1601 1 0x60FE Physical outputs 0x1601 2 0x60FE Bit mask 0x1602 Receive PDO3 mapping 0x1602 1 0x2703 User MOSI 0x1602 2 0x60B1 Velocity offse...

Page 718: ...rs 0x2003 2 Torque constant 0x2003 3 Phase resistance 0x2003 4 Phase inductance 0x2003 5 Motor phases inverted 0x2004 Brake options 0x2004 1 Pull voltage 0x2004 2 Hold voltage 0x2004 3 Pull time 0x200...

Page 719: ...rcentage 0x2010 6 Field weakening starting speed 0x2010 7 Field weakening ending speed 0x2010 8 Commutation angle measurement delay 0x2010 9 Switching frequency 0x2010 10 Settling time 0x2010 11 Dampi...

Page 720: ...14 Position loop Kd 1 0x2013 15 Position loop integral limit 1 0x2013 16 Velocity loop Kp 1 0x2013 17 Velocity loop Ki 1 0x2013 18 Velocity loop Kd 1 0x2013 19 Velocity loop integral limit 1 0x2014 To...

Page 721: ...hreshold 0x2038 12 Lower error threshold 0x203F Error report 0x203F 1 Description 0x2040 Input counter 0x20E1 High resolution data 0x20E1 1 Data 1 0x20E1 2 Data 2 0x20E1 3 Data 3 0x20E1 4 Data 4 0x20F...

Page 722: ...al output voltage 0x2110 27 Filter 0x2111 Encoder 1 feedback 0x2111 1 Raw position 0x2111 2 Adjusted position 0x2111 3 Velocity 0x2112 Encoder 2 configuration 0x2112 1 Sensor port 0x2112 2 Type 0x2112...

Page 723: ...0x2210 2 Pin 2 0x2210 3 Pin 3 0x2210 4 Pin 4 0x2210 5 Pin 5 0x2210 6 Pin 6 0x2210 7 Pin 7 0x2211 GPIO output events 0x2211 1 Timestamp setpoint 0x2212 GPIO input actions 0x2212 1 Timestamp on rising...

Page 724: ...ty 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 M...

Page 725: ...during search for switch 0x6099 2 Speed during search for zero 0x609A Homing acceleration 0x60A9 SI unit velocity 0x60B1 Velocity offset 0x60B2 Torque offset 0x60F4 Following error actual value 0x60FA...

Page 726: ...Index Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping Device type 0x1000 0 UDINT 32 131474 readonly default Synapticon Documentation 2021 Synapticon GmbH Daimlerstra e 26 D 7...

Page 727: ...rofile specific 6 O reserved always 0 7 O manufacturer specific If a specific error occurs the corresponding bit shall be set to 1 The generic error bit shall be supported The other bits may be suppor...

Page 728: ...b Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping COB ID SYNC 0x1005 0 DINT 32 128 readwrite Synapticon Documentation 2021 Synapticon GmbH Daimlerstra e 26 D 71101 Sch naich Docum...

Page 729: ...b Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping Communication cycle period 0x1006 0 DINT 32 100 readwrite Synapticon Documentation 2021 Synapticon GmbH Daimlerstra e 26 D 71101...

Page 730: ...by the manufacturer Name Index Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping Manufacturer device name 0x1008 0 STRING 50 400 0 readonly default Synapticon Documentation 2021...

Page 731: ...sion description Name Index Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping Manufacturer software version 0x100A 0 STRING 50 400 0 readonly default Synapticon Documentation 20...

Page 732: ...ub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping Guard time 0x100C 0 UINT 16 0 readwrite Synapticon Documentation 2021 Synapticon GmbH Daimlerstra e 26 D 71101 Sch naich Documen...

Page 733: ...ub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping Life time factor 0x100D 0 USINT 8 0 readwrite Synapticon Documentation 2021 Synapticon GmbH Daimlerstra e 26 D 71101 Sch naich D...

Page 734: ...e save procedure save all parameters this will save the current configuration to permanent storage Name Index Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping Save all paramete...

Page 735: ...ore all default parameters 0x1011 1 UDINT 32 0 readwrite Name Index Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping Restore communication default parameters disabled 0x1011 2...

Page 736: ...b Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping Consumer heartbeat time 0x1016 1 DINT 32 100 readwrite Synapticon Documentation 2021 Synapticon GmbH Daimlerstra e 26 D 71101 Sch...

Page 737: ...b Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping Producer heartbeat time 0x1017 0 UINT 16 1000 readwrite Synapticon Documentation 2021 Synapticon GmbH Daimlerstra e 26 D 71101 Sc...

Page 738: ...ss PDO Mapping Product Code 0x1018 2 UDINT 32 513 readonly default Name Index Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping Revision number 0x1018 3 UDINT 32 167772162 reado...

Page 739: ...b Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping Synchronous counter overflow value 0x1019 0 USINT 8 100 readwrite Synapticon Documentation 2021 Synapticon GmbH Daimlerstra e 26...

Page 740: ...eply there 2 last command completed error no reply 3 last command completed error reply there 100 200 indicates how much of the command has been executed in 100 0 200 100 255 command is executing if t...

Page 741: ...epresents the most recent command of an application program specific queue Name Index Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping OS command mode 0x1024 0 USINT 8 0 writeo...

Page 742: ...Index Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping Transmission type 0x1400 2 USINT 8 1 readwrite A number is stored in this subindex that defines the time at which the re...

Page 743: ...Index Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping Transmission type 0x1401 2 USINT 8 1 readwrite A number is stored in this subindex that defines the time at which the re...

Page 744: ...Index Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping Transmission type 0x1402 2 USINT 8 1 readwrite A number is stored in this subindex that defines the time at which the re...

Page 745: ...Index Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping Transmission type 0x1403 2 USINT 8 1 readwrite A number is stored in this subindex that defines the time at which the re...

Page 746: ...Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping Target position 0x1600 4 UDINT 32 1618608160 readwrite Name Index Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO...

Page 747: ...ng Physical outputs 0x1601 1 UDINT 32 1627259168 readwrite Name Index Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping Bit mask 0x1601 2 UDINT 32 1627259424 readwrite Synaptico...

Page 748: ...ing User MOSI 0x1602 1 UDINT 32 654508064 readwrite Name Index Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping Velocity offset 0x1602 2 UDINT 32 1622212640 readwrite Synaptico...

Page 749: ...3 1 9 1 24 0x1603 Receive PDO4 mapping Synapticon Documentation 2021 Synapticon GmbH Daimlerstra e 26 D 71101 Sch naich Documentation v 4 19 0 Built 2022 02 01 749 1031...

Page 750: ...d when this is to be sent Name Index Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping Inhibit time 0x1800 3 UINT 16 1000 readwrite This subindex contains a time lock in ms This...

Page 751: ...d when this is to be sent Name Index Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping Inhibit time 0x1801 3 UINT 16 1000 readwrite This subindex contains a time lock in ms This...

Page 752: ...e and when this is to be sent Name Index Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping Inhibit time 0x1802 3 UINT 16 1000 readwrite This subindex contains a time lock in ms...

Page 753: ...e and when this is to be sent Name Index Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping Inhibit time 0x1803 3 UINT 16 1000 readwrite This subindex contains a time lock in ms...

Page 754: ...Bit Size Min Data Max Data Default Data Unit Access PDO Mapping Position actual value 0x1A00 3 UDINT 32 1617166368 readwrite Name Index Sub Type Bit Size Min Data Max Data Default Data Unit Access PD...

Page 755: ...ub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping Analog input 3 0x1A01 3 UDINT 32 604176400 readwrite Name Index Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO...

Page 756: ...b Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping Digital inputs 0x1A02 1 UDINT 32 1627193376 readwrite Synapticon Documentation 2021 Synapticon GmbH Daimlerstra e 26 D 71101 Sch...

Page 757: ...in Data Max Data Default Data Unit Access PDO Mapping Position demand internal value 0x1A03 3 UDINT 32 1627127840 readwrite Name Index Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO...

Page 758: ...ping SyncMan 1 0x1C00 2 USINT 8 2 readonly default Name Index Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping SyncMan 2 0x1C00 3 USINT 8 3 readonly default Name Index Sub Type...

Page 759: ...3 1 9 1 34 0x1C10 SM 0 Assignment Synapticon Documentation 2021 Synapticon GmbH Daimlerstra e 26 D 71101 Sch naich Documentation v 4 19 0 Built 2022 02 01 759 1031...

Page 760: ...3 1 9 1 35 0x1C11 SM 1 Assignment Synapticon Documentation 2021 Synapticon GmbH Daimlerstra e 26 D 71101 Sch naich Documentation v 4 19 0 Built 2022 02 01 760 1031...

Page 761: ...Mapping SubIndex 002 0x1C12 2 UINT 16 5633 readwrite Name Index Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping SubIndex 003 0x1C12 3 UINT 16 5634 readwrite Name Index Sub Typ...

Page 762: ...Mapping SubIndex 002 0x1C13 2 UINT 16 6657 readwrite Name Index Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping SubIndex 003 0x1C13 3 UINT 16 6658 readwrite Name Index Sub Typ...

Page 763: ...ian format in the object 0x1010 subindex 1 Loading of the configuration loads the default configuration from the flash memory It is performed during initialization of the slave by entering the value l...

Page 764: ...ct electrical angle of rotor This object represents the required shift for positoin sensor output Its range is between 0 4095 and corresponds to 0 360 electrical degrees inside the software Name Index...

Page 765: ...ID controller that generates the reference value for an underlying velocity controller while that velocity controller generates the reference value for the torque controller _offset _ref Name Index Su...

Page 766: ...Access PDO Mapping Phase resistance 0x2003 3 DINT 32 1 readwrite The resistance between motor terminal and motor neutral point It is equal to half of phase to phase resistance or line to line resista...

Page 767: ...ake CAUTION Before setting this parameter contact your brake manufacturer to ensure reliable operation It is ignored in manual mode Name Index Sub Type Bit Size Min Data Max Data Default Data Unit Acc...

Page 768: ...output voltage is controlled by bit 0 ofDigital Output Object 0x60FE Name Index Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping Minimum displacement pin brake 0x2004 8 UDINT...

Page 769: ...ng Switching frequency 0x2004 11 USINT 8 16 kHz 0 32 kHz 1 64 kHz 2 readwrite Select the switching frequency for the 4th phase D Synapticon Documentation 2021 Synapticon GmbH Daimlerstra e 26 D 71101...

Page 770: ...eadwrite Custom value for undervoltage protection Name Index Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping Overvoltage setpoint 0x2006 2 DINT 32 1000 V readwrite Custom valu...

Page 771: ...Type Bit Size Options Unit Access PDO Mapping State 0x2008 1 INT 16 NO DATA 0 IN PROGRESS 1 SAVING 2 DATA EXISTS 3 readonly default State of the cogging compensation procedure and data Possible value...

Page 772: ...ensor Offset Detection is currently in progress OFFSET VALID 2 The offset has been found and is valid The torque controller can now be used Name Index Sub Type Bit Size Min Data Max Data Default Data...

Page 773: ...any movement on motor shaft The reliability of method 2 is a function of motor design structure As a result for high reliabilty applications it is always recommended to use method 0 or method 1 If Me...

Page 774: ...ata Max Data Default Data Unit Access PDO Mapping Phasing controller Kd 0x2009 6 REAL 32 0 0 readwrite Derivative constant Kd in PID phasing controller This controller is used to hold the position dur...

Page 775: ...0 readonly default This is an index of your motor over heat status It changes between 0 and 250 At 0 the motor is not over heated When this value reaches 100 the motor is at its maximum allowed over h...

Page 776: ...ach Drive is internally limited to 110 of its Maximum Peak Output Power value As a result this object will only be effective if its value is less than 110 of the drive s Maximum Peak Output Power Name...

Page 777: ...x Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping Controller Ki disabled 0x2010 2 REAL 32 0 1193033728 readwrite The unit of this gain is 0 16 uV Second Amp_rms The default va...

Page 778: ...10 then 10 of rated current will be injected in motor phases to weaken the rotor field WARNING Based on motor type values more than 25 can lead to instability of torque control service While tuning pr...

Page 779: ...ta Max Data Default Data Unit Access PDO Mapping Damping ratio 0x2010 11 UINT 16 100 10000 2000 readwrite Damping ratio of current loop controllers This value should be entered in per mill As an examp...

Page 780: ...sured speed is around 70 of the reference speed As a suggestion start with K_p equal to 0 1 and in each step increase K_p with a factor of 2 Step 4 From this step forth step response of the system sho...

Page 781: ...up Technique used is clamping and it prevents the integral term from accumulating above or below pre determined bounds Initially set to MAX 2 147 483 647 Integral limit DEACTIVATED please set the maxi...

Page 782: ...ef 3 1 9 1 50 1 3 Control Basics Cascaded controller is usually used in PI P form i e inner loop velocity control loop is only using the proportional part of its PID controller and the outer loop posi...

Page 783: ...until the following two conditions are met at the same time the steady state error is eliminated in a short enough period of time the overshoot is in its acceptable range In the following section the...

Page 784: ...i step by step until the following two conditions are met at the same time the steady state error is eliminated in a short enough period of time the overshoot is in its acceptable range Name Index Sub...

Page 785: ...x2012 6 REAL 32 0 65535 0 readwrite The I gain of the PID Velocity Controller mNm rpm s Name Index Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping Velocity loop Kd 0x2012 7 RE...

Page 786: ...rol Loop of area 0 low velocity below threshold velocity 0 rpm inc s Name Index Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping Position loop Kd 0 0x2013 5 REAL 32 0 65535 0 r...

Page 787: ...ermined bounds Name Index Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping Threshold velocity 1 0x2013 11 UDINT 32 0 0 rpm readwrite Velocity that determines the upper threshol...

Page 788: ...in Data Max Data Default Data Unit Access PDO Mapping Velocity loop Ki 1 0x2013 17 REAL 32 0 65535 0 readwrite The I gain of the Velocity Control Loop of area 1 high velocity above threshold velocity...

Page 789: ...as having been reached The value shall be given per thousand of rated torque If the value of the torque window is 0xFFFF torque window monitoring will be switched off Name Index Sub Type Bit Size Min...

Page 790: ...a Unit Access PDO Mapping Gain 0x2015 1 INT 16 0 5000 0 readwrite Setting the gain to 0 disables the feedforward feature Any other value configures the end gain and enables the feature The value is gi...

Page 791: ...1 T 1 z 1 The filter is enabled by setting the filter type parameter to 1 and disabled by setting it to 0 Parameter cutoff frequency is set in Hz Name Index Sub Type Bit Size Options Unit Access PDO M...

Page 792: ...1 T 1 z 1 The filter is enabled by setting the filter type parameter to 1 and disabled by setting it to 0 Parameter cutoff frequency is set in Hz Name Index Sub Type Bit Size Options Unit Access PDO M...

Page 793: ...andwidth expressed relative to the sampling frequency where f BW 0 0 5 Name Index Sub Type Bit Size Options Unit Access PDO Mapping Enabled 0x2023 1 BOOL 1 Disabled 0 Enabled 1 readwrite Name Index Su...

Page 794: ...see documentation The default value is suited for masters operating at 1 kHz Name Index Sub Type Bit Size Options Unit Access PDO Mapping Enabled 0x2027 1 BOOL 1 Disabled 0 Enabled 1 readwrite Set to...

Page 795: ...ata Unit Access PDO Mapping Measured temperature 0x2030 1 DINT 32 0 m C readonly default Transmit PDO Inputs Describes the temperature measured on the Core board Synapticon Documentation 2021 Synaptic...

Page 796: ...Data Unit Access PDO Mapping Measured temperature 0x2031 1 DINT 32 0 m C readonly default Transmit PDO Inputs Describes the temperature measured near the inverter Synapticon Documentation 2021 Synapti...

Page 797: ...cted analog input In case there is no pull up resistor 0 should be selected In that case the polynomial would be applied to the ADC count directly range 0 4095 Otherwise it will be assume the user con...

Page 798: ...Size Min Data Max Data Default Data Unit Access PDO Mapping Upper error threshold 0x2038 11 REAL 32 1199570688 readwrite Upper error threshold for the external scaled measurements When the scaled meas...

Page 799: ...tion Explanation Error code from object 0x603F Remedy NoFault No fault Default value of the object which means no fault is to be reported This error code indicates that there s no error reported thus...

Page 800: ...n User defined Over voltage Indicates that the DC bus voltage is measured exceeding the user defined threshold 0x2006 2 Protection Overvoltage setpoint 0x3210 As the threshold is user defined please f...

Page 801: ...not received on time by the hardware protection thus the drive is not working properly 0x5300 Please note down the information regarding the occurence of the error and reach Synapticon technical supp...

Page 802: ...ne signal of the dual channel input is read at a different interval than the other signal The signals must have the same state within 100 ms 0x5300 The cause of the fault usually directs to misuse of...

Page 803: ...tive value This fault indicate that the drive receives the warning bit being active 0x7303 0x7304 BisAcBit BiSS Acknowledge Bit not received The BiSS slave is not acknowledging the request to communic...

Page 804: ...ensor configuration causes an issue related to the BiSS frame This error is currently raised only if the BiSS frame size is higher than 64 bits 0x7303 0x7304 Please check the sensor configuration acco...

Page 805: ...his case the fault can sometimes be reset but would occur under certain circumstances Please check the signals received by the drive with an oscilloscope under operation for better investigation The c...

Page 806: ...the SSI frame Currently our drives can be configured to read a parity bit from compatible SSI encoders This error means the parity bit computed by the firmware is different than the one sent by the S...

Page 807: ...ow 0x7303 0x7304 R16FtCfg REM16 Filter Configuration error Filter configuration error 0x7303 0x7304 R16FtSOF REM16 Filter Speed Overflow error Filter speed overflow error 0x7303 0x7304 R16UnCmd REM16...

Page 808: ...nsult the encoder manufacturer for advices 2b Inconsistency in signal transfer Please check the signals received by the drive with an oscilloscope under operation for better investigation The cause ca...

Page 809: ...r manufacturer for advices 2 Inconsistency in signal transfer Please check the signals received by the drive with an oscilloscope under operation for better investigation The cause can be that the sig...

Page 810: ...imeout The A Format encoder didn t start communication after sending a request 0x7303 0x7304 Please check the wiring and make sure that the signals are transfered with good consistency Use a oscillosc...

Page 811: ...ion for better understanding the meaning of the Over Speed Alarm The usual case is that the rotation speed exceeds the speed limit of the encoder AftMemEr A Format MEMERR status The encoder is raising...

Page 812: ...eric Sensor Faults SnsrAngl Sensor Angle error 1 The electrical angle was not completeting a whole revolution during offset detection 2 The calculated commutation angle is out of bounds A singleturn r...

Page 813: ...digital IO settings making sure that the setting is supported by your hardware according to the documentation IvldGpio Invalid Gpio configuration The GPIO related configuration chosen is not available...

Page 814: ...Generic Setup Faults SwLimOut Software Limit Out Target position is outside of the 0x607D Software position limit defined by the user 0x5300 0x6320 Please check object 0x607D Software position limit a...

Page 815: ...se to 0x6079 DC link circuit voltage Pay attention that the actual voltage supplied to the drive would be slightly lower than the voltage output by the power supply because of attenuation Check the co...

Page 816: ...ion OpnFetBH Open high FET at phase B One of the power electronic switches of Drive is damaged not conducting The damaged FET is located in leg B of the inverter and it is the high side FET of this le...

Page 817: ...ested opmode is not supported Set a valid value in 0x6060 Modes of operation 0x6320 Please check our documentation for the available operation modes Please check 0x6060 Modes of operation and make sur...

Page 818: ...e error is expected Do Fault reset to clear the fault after the communication is reestablished Otherwise the occurrence of the error indicates that there exists unknown issues in the communication cha...

Page 819: ...is moves back into the valid range of motion 0x5300 Ensure that the homing switches remain active after the mechanics hit them Increasing the homing acceleration 0x609A may help prevent overshoot afte...

Page 820: ...too low 0x2015 2 Velocity feed forward Cutoff frequency is lower than the minimum limit 0x6320 Please check 0x2015 2 Velocity feed forward Cutoff frequency and make sure that the cutoff frequency is c...

Page 821: ...lead to equipment damage It can also result in irregular clock timing 0x4210 Disable the drive until the temperature is reduced or use external cooling to bring down the over all temperature TmpDrive...

Page 822: ...asurement Upper level threshold 0x2038 12 External scaled measurement Lower level threshold 0x7300 Please make sure that the upper and lower level threshold values are suitable for the sensor you have...

Page 823: ...s Name Index Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping Input counter 0x2040 0 UDINT 32 0 Inc readonly default Transmit PDO Inputs Synapticon Documentation 2021 Synaptico...

Page 824: ...on 1 32 bit signed int 8 11 Position 2 32 bit signed int 12 15 Position 3 32 bit signed int 16 19 Position 4 32 bit signed int 20 23 Velocity 1 32 bit signed int 24 27 Velocity 2 32 bit signed int 28...

Page 825: ...ta Default Data Unit Access PDO Mapping Data 3 0x20E1 3 OCTET_STRING 25 200 0 readonly default Transmit PDO Inputs Name Index Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping D...

Page 826: ...72 2 32 1 100 s Name Index Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping Timestamp 0x20F0 0 UDINT 32 0 4294967295 0 s readonly default Transmit PDO Inputs Synapticon Documen...

Page 827: ...eference it is not used by the firmware Name Index Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping Assigned name 0x20F2 0 STRING 50 400 readwrite Synapticon Documentation 2021...

Page 828: ...Index Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping DC pulse time 0x20F3 1 UDINT 32 0 readwrite The time when the last DC pulse happened in clock ticks 10 ns Synapticon Docu...

Page 829: ...port 4 4 Sensor port 5 5 readwrite 3 1 9 1 67 1 All encoders The sensor port on which this encoder is connected Name Index Sub Type Bit Size Options Unit Access PDO Mapping Type 0x2110 2 USINT 8 None...

Page 830: ...bindex 12 Singleturn bits 3 1 9 1 67 4 Incremental encoder Total number of quadrature edges per revolution Resolution Cycles per Revolution 4 3 1 9 1 67 5 Hall sensor Nikon A Format REM16MT SinCos mod...

Page 831: ...Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping Singleturn offset 0x2110 6 UDINT 32 0 Inc readwrite 3 1 9 1 67 8 Absolute encoders BiSS SSI Nikon A format REM 16MT This value...

Page 832: ...equency that will be used you can round up the result of 25000 Clock frequency Then divide 25000 by the rounded value obtained before For example when setting 4000 KHz the real frequency will be 3571...

Page 833: ...r and warning bits in this order Variable length CRC Timeout This parameter specifies the number of bits transmited as Payload 3 1 9 1 67 13 SSI This parameter specifies the number of bits transmited...

Page 834: ...17 Nikon A format Number of singleturn bits to read from the encoder The only possible values are 17 20 22 and 24 Name Index Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping Si...

Page 835: ...t Size Min Data Max Data Default Data Unit Access PDO Mapping Maximum tbusy 0x2110 16 USINT 8 20 s readwrite 3 1 9 1 67 21 BiSS This value defines the maximum time to wait for the Start bit once the A...

Page 836: ...16 0 s readwrite 3 1 9 1 67 24 SSI Delay after first clock edge This is compatible only with some encoders will be specified in the encoder datasheet If your encoder supports this function it s normal...

Page 837: ...Cos module Define if the connected encoder has an index or not For SinCos encoders the index is often called reference Incremental encoders without index are often called AB encoders while incremental...

Page 838: ...Mapping Sinewave cycles per revolution 0x2110 24 UINT 16 1 1 readwrite 3 1 9 1 67 29 SinCos module Number of sinewaves cycles in one motor revolution This value is going to be used to calculate the si...

Page 839: ...to 0 1 Vpp 12 up to 0 12 Vpp 11 up to 0 14 Vpp 10 up to 0 15 Vpp 9 up to 0 2 Vpp 8 up to 0 28 Vpp 7 up to 0 4 Vpp 6 up to 0 5 Vpp 5 up to 0 6 Vpp 4 up to 0 75 Vpp 3 up to 1 Vpp 2 up to 1 2 Vpp 1 up to...

Page 840: ...rength 7 7 Filter strength 8 8 Filter strength 9 strongest 9 readwrite 3 1 9 1 67 32 REM 16MT The filter with strength F of the sensor The estimated step response time of the filter is Ts 2 F Ts is th...

Page 841: ...ax Data Default Data Unit Access PDO Mapping Adjusted position 0x2111 2 DINT 32 0 readonly default Transmit PDO Inputs The position value after applying the Singleturn offset and the Sensor polarity a...

Page 842: ...port 4 4 Sensor port 5 5 readwrite 3 1 9 1 69 1 All encoders The sensor port on which this encoder is connected Name Index Sub Type Bit Size Options Unit Access PDO Mapping Type 0x2112 2 USINT 8 None...

Page 843: ...bindex 12 Singleturn bits 3 1 9 1 69 4 Incremental encoder Total number of quadrature edges per revolution Resolution Cycles per Revolution 4 3 1 9 1 69 5 Hall sensor Nikon A Format REM16MT SinCos mod...

Page 844: ...Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping Singleturn offset 0x2112 6 UDINT 32 0 Inc readwrite 3 1 9 1 69 8 Absolute encoders BiSS SSI Nikon A format REM 16MT This value...

Page 845: ...equency that will be used you can round up the result of 25000 Clock frequency Then divide 25000 by the rounded value obtained before For example when setting 4000 KHz the real frequency will be 3571...

Page 846: ...r and warning bits in this order Variable length CRC Timeout This parameter specifies the number of bits transmited as Payload 3 1 9 1 69 13 SSI This parameter specifies the number of bits transmited...

Page 847: ...17 Nikon A format Number of singleturn bits to read from the encoder The only possible values are 17 20 22 and 24 Name Index Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping Si...

Page 848: ...t Size Min Data Max Data Default Data Unit Access PDO Mapping Maximum tbusy 0x2112 16 USINT 8 20 s readwrite 3 1 9 1 69 21 BiSS This value defines the maximum time to wait for the Start bit once the A...

Page 849: ...16 0 s readwrite 3 1 9 1 69 24 SSI Delay after first clock edge This is compatible only with some encoders will be specified in the encoder datasheet If your encoder supports this function it s normal...

Page 850: ...Cos module Define if the connected encoder has an index or not For SinCos encoders the index is often called reference Incremental encoders without index are often called AB encoders while incremental...

Page 851: ...Mapping Sinewave cycles per revolution 0x2112 24 UINT 16 1 1 readwrite 3 1 9 1 69 29 SinCos module Number of sinewaves cycles in one motor revolution This value is going to be used to calculate the si...

Page 852: ...to 0 1 Vpp 12 up to 0 12 Vpp 11 up to 0 14 Vpp 10 up to 0 15 Vpp 9 up to 0 2 Vpp 8 up to 0 28 Vpp 7 up to 0 4 Vpp 6 up to 0 5 Vpp 5 up to 0 6 Vpp 4 up to 0 75 Vpp 3 up to 1 Vpp 2 up to 1 2 Vpp 1 up to...

Page 853: ...rength 7 7 Filter strength 8 8 Filter strength 9 strongest 9 readwrite 3 1 9 1 69 32 REM 16MT The filter with strength F of the sensor The estimated step response time of the filter is Ts 2 F Ts is th...

Page 854: ...Data Default Data Unit Access PDO Mapping Adjusted position 0x2113 2 DINT 32 0 Inc readonly default Transmit PDO Inputs The position value after applying the Singleturn offset and the Sensor polarity...

Page 855: ...mAct 9 IN Negative Limit Switch Active Low Level Triggered for Homing Edge Triggered Latch for Error NegLmAct 10 IN Interlock Disable Operation Active Low Level Triggered 11 IN Fault Reset Edge Trigge...

Page 856: ...tch Active Low 5 IN Limit Switch Positive Active High 6 IN Limit Switch Positive Active Low 7 IN Limit Switch Negative Active High 8 IN Limit Switch Negative Active Low 9 IN Interlock Disable Operatio...

Page 857: ...dex Sub Type Bit Size Options Unit Access PDO Mapping Pin 2 0x2210 2 USINT 8 Disabled 0 IN General Purpose 2 OUT General Purpose 3 IN Home Switch Active High 4 IN Home Switch Active Low 5 IN Limit Swi...

Page 858: ...e 17 OUT Fault 18 OUT Switched On 19 OUT Ready to Switch On 20 OUT Operation Enabled 21 OUT Voltage Enabled 22 OUT Switch On Disabled 23 OUT Quick Stop 24 OUT Warning 25 Pin 2 DIO With Pull Down Resis...

Page 859: ...0 IN Fault Reset Active High 11 IN Interlock Fault Reaction Active Low 12 IN Timestamped Rising Edge Active High 13 OUT Target Reached 14 OUT Internal limit Active 15 OUT Timestamped Triggered Output...

Page 860: ...4 IN Home Switch Active Low 5 IN Limit Switch Positive Active High 6 IN Limit Switch Positive Active Low 7 IN Limit Switch Negative Active High 8 IN Limit Switch Negative Active Low 9 IN Interlock Dis...

Page 861: ...T Warning 25 Pin 4 DIO With Pull Down Resistor For Circulo Only DO Name Index Sub Type Bit Size Options Unit Access PDO Mapping Pin 5 0x2210 5 USINT 8 Disabled 0 IN General Purpose 2 OUT General Purpo...

Page 862: ...mestamped Triggered Output 16 OUT Position Triggered Output Pulse 17 OUT Fault 18 OUT Switched On 19 OUT Ready to Switch On 20 OUT Operation Enabled 21 OUT Voltage Enabled 22 OUT Switch On Disabled 23...

Page 863: ...ve Active Low 9 IN Interlock Disable Operation Active Low 10 IN Fault Reset Active High 11 IN Interlock Fault Reaction Active Low 12 IN Timestamped Rising Edge Active High 13 OUT Target Reached 14 OUT...

Page 864: ...UT General Purpose 3 IN Home Switch Active High 4 IN Home Switch Active Low 5 IN Limit Switch Positive Active High 6 IN Limit Switch Positive Active Low 7 IN Limit Switch Negative Active High 8 IN Lim...

Page 865: ...ered Output Pulse 17 OUT Fault 18 OUT Switched On 19 OUT Ready to Switch On 20 OUT Operation Enabled 21 OUT Voltage Enabled 22 OUT Switch On Disabled 23 OUT Quick Stop 24 OUT Warning 25 Pin 7 DI With...

Page 866: ...mics bit 10 tr of the Statusword Internal limit active Output when internal limit is active This mimics bit 11 ila of the Statusword Name Index Sub Type Bit Size Min Data Max Data Default Data Unit Ac...

Page 867: ...p Clear bit 2 qs of controlword when the selected GPIO is high Fault reset Set bit 7 fr of controlword when the selected GPIO is high Name Index Sub Type Bit Size Min Data Max Data Default Data Unit A...

Page 868: ...PIO should be triggered Name Index Sub Type Bit Size Options Unit Access PDO Mapping Target encoder 0x2213 2 USINT 8 No encoder selected 0 Encoder 1 1 Encoder 2 2 readwrite Encoder whose position is u...

Page 869: ...ze Options Unit Access PDO Mapping Voltage level 0x2214 1 USINT 8 3 3 volts 1 5 0 volts 2 readwrite Select the global voltage level of GPIO ports Synapticon Documentation 2021 Synapticon GmbH Daimlers...

Page 870: ...ame Index Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping Analog input 1 0x2401 0 UINT 16 0 readonly default Transmit PDO Inputs Synapticon Documentation 2021 Synapticon GmbH...

Page 871: ...ame Index Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping Analog input 2 0x2402 0 UINT 16 0 readonly default Transmit PDO Inputs Synapticon Documentation 2021 Synapticon GmbH...

Page 872: ...ame Index Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping Analog input 3 0x2403 0 UINT 16 0 readonly default Transmit PDO Inputs Synapticon Documentation 2021 Synapticon GmbH...

Page 873: ...ame Index Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping Analog input 4 0x2404 0 UINT 16 0 readonly default Transmit PDO Inputs Synapticon Documentation 2021 Synapticon GmbH...

Page 874: ...lt Data Unit Access PDO Mapping Input 1 0x2611 1 BOOL 1 1 0 readonly default Name Index Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping Input 2 0x2611 2 BOOL 1 1 0 readonly de...

Page 875: ...fault values is recommended for expert users only Name Index Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping Tuning command 0x2701 0 UDINT 32 0 readwrite Receive PDO Outputs S...

Page 876: ...x Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping Tuning status 0x2702 0 UDINT 32 0 readwrite Transmit PDO Inputs Synapticon Documentation 2021 Synapticon GmbH Daimlerstra e 2...

Page 877: ...Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping User MOSI 0x2703 0 UDINT 32 0 readwrite Receive PDO Outputs Synapticon Documentation 2021 Synapticon GmbH Daimlerstra e 26 D 71...

Page 878: ...Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping User MISO 0x2704 0 UDINT 32 0 readwrite Transmit PDO Inputs Synapticon Documentation 2021 Synapticon GmbH Daimlerstra e 26 D 71...

Page 879: ...tup guide Intended for internal use only Name Index Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping Setup wizard completed 0x2705 0 USINT 8 0 3 0 readwrite Synapticon Document...

Page 880: ...lure L2 0x3133 Phase failure L3 0x3210 DC link over voltage 0x3220 DC link under voltage 0x3331 Field circuit interrupted 0x4210 Excess temperature device 0x4310 Excess temperature drive 0x5300 Operat...

Page 881: ...le operation 0 1 1 1 1 4 16 Fault reset 1 X X X X 15 NOTE Automatic transition to Enable operation state after executing SWITCHED ON state functionality Bits 9 6 5 and 4 of the controlword are operati...

Page 882: ...he Error report object 203Fh If bit 9 remote of the statusword is 1 this indicates that the controlword is processed If it is 0 local this indicates that the controlword is not processed Nevertheless...

Page 883: ...velocity mode Homing mode bit 13 0x2000 Following error bit not used Following error bit not used Homing error bit bit 12 0x1000 Target position ignored Target velocity ignored Target torque ignored S...

Page 884: ...on quick stop ramp and transit into switch on disabled 6 Slow down on quick stop ramp and stay in quick stop active Name Index Sub Type Bit Size Options Unit Access PDO Mapping Quick stop option code...

Page 885: ...rque profile mode 6 Homing mode 8 Cyclic sync position mode 9 Cyclic sync velocity mode 10 Cyclic sync torque mode The modes can be switched dynamically while in state Operation enabled Ensure that al...

Page 886: ...mode 4 Torque profile mode 6 Homing mode 8 Cyclic sync position mode 9 Cyclic sync velocity mode 10 Cyclic sync torque mode Name Index Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO...

Page 887: ...osition limit The units are in increments of the position encoder Name Index Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping Position demand value 0x6062 0 DINT 32 0 Inc reado...

Page 888: ...of the position encoder Name Index Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping Position actual value 0x6064 0 DINT 32 0 Inc readonly default Transmit PDO Inputs Synapticon...

Page 889: ...or when the controller is weakly tuned The units are in increments of the position encoder If the value of the following error window is 0xFFFFFFFF the following error monitoring will be switched off...

Page 890: ...e statusword will be set to 1 The units are in milliseconds Name Index Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping Following error time out 0x6066 0 UINT 16 0 ms readwrite...

Page 891: ...een reached The units are in increments of the position encoder If the value of the position window is 0xFFFFFFFF position window monitoring will be switched off Name Index Sub Type Bit Size Min Data...

Page 892: ...red to be within the window The units are in milliseconds Name Index Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping Position window time 0x6068 0 UINT 16 0 ms readwrite Recei...

Page 893: ...roller The units are user defined RPM by default see 0x60a9 SI unit velocity to change it Name Index Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping Velocity demand value 0x60...

Page 894: ...efined default is RPM see 0x60a9 SI unit velocity to change it Name Index Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping Velocity actual value 0x606C 0 DINT 32 0 rpm readonly...

Page 895: ...city to change it If the value of the velocity window is 0xFFFF velocity window monitoring will be switched off Name Index Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping Velo...

Page 896: ...ving reached the target The units are in milliseconds Name Index Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping Velocity window time 0x606E 0 UINT 16 0 ms readwrite Receive P...

Page 897: ...fault see 0x60a9 SI unit velocity to change it Name Index Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping Velocity threshold 0x606F 0 UINT 16 0 rpm readwrite Receive PDO Outpu...

Page 898: ...r is considered to be moving The units are in milliseconds Name Index Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping Velocity threshold time 0x6070 0 UINT 16 0 ms readwrite R...

Page 899: ...its are per thousand of rated torque Name Index Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping Target Torque 0x6071 0 INT 16 0 readwrite Receive PDO Outputs Synapticon Docume...

Page 900: ...if the rated torque from the datasheet is 200 Nm and maximum torque is 600 Nm Max Torque 600 Nm 200 Nm 1000 3000 Name Index Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping Max...

Page 901: ...nt is 2 Amps setting the Max current to 3000 would imply the motor can survive 6 Amps of current for short periods Name Index Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping M...

Page 902: ...er thousand of rated torque Name Index Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping Torque demand 0x6074 0 INT 16 0 readonly default Transmit PDO Inputs Synapticon Document...

Page 903: ...urrent All relative current data refers to this value such as 0x6073 Max current The units are in milliamps mA Name Index Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping Motor...

Page 904: ...object name is not changed but the motor rated force value must be entered as multiples of mN milli Newton The value shall be given in mNm milli Newton metre Name Index Sub Type Bit Size Min Data Max...

Page 905: ...tor The units are per thousand of rated torque Name Index Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping Torque actual value 0x6077 0 INT 16 0 readonly default Transmit PDO I...

Page 906: ...millivolts mV Name Index Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping DC link circuit voltage 0x6079 0 UDINT 32 0 mV readonly default Receive PDO Outputs Synapticon Documen...

Page 907: ...ts of the position encoder Name Index Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping Target position 0x607A 0 DINT 32 0 Inc readwrite Receive PDO Outputs Synapticon Documenta...

Page 908: ...er Name Index Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping Min position range limit 0x607B 1 DINT 32 2147483648 Inc readonly default Receive PDO Outputs Name Index Sub Type...

Page 909: ...e home position by adding the home offset to the home position All subsequent absolute moves are taken relative to this new zero position The units are in increments of the position encoder Name Index...

Page 910: ...position encoder Name Index Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping Min position limit 0x607D 1 DINT 32 2147483648 Inc readwrite Receive PDO Outputs Name Index Sub Ty...

Page 911: ...csv The valid values of this object are Position polarity flipped 128 multiplies the position by 1 Velocity polarity flipped 64 multiplies the velocity by 1 Both are flipped 192 both velocity and pos...

Page 912: ...all be given in user defined units RPM by default see 0x60a9 SI unit velocity to change it Name Index Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping Max motor speed 0x6080 0...

Page 913: ...defined units RPM by default see 0x60a9 SI unit velocity to change it Name Index Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping Profile velocity 0x6081 0 UDINT 32 0 rpm readw...

Page 914: ...in RPM per second Name Index Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping Profile acceleration 0x6083 0 UDINT 32 0 rpm s readwrite Receive PDO Outputs Synapticon Documenta...

Page 915: ...in RPM per second Name Index Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping Profile deceleration 0x6084 0 UDINT 32 0 rpm s readwrite Receive PDO Outputs Synapticon Documenta...

Page 916: ...d The units are in RPM per second Name Index Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping Quick stop deceleration 0x6085 0 UDINT 32 1 10000 rpm s readwrite Receive PDO Outp...

Page 917: ...Linear ramp trapeziodal profile Name Index Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping Motion profile type 0x6086 0 INT 16 128 0 0 readonly default Receive PDO Outputs Sy...

Page 918: ...of rated torque per second Name Index Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping Torque slope 0x6087 0 UDINT 32 0 readwrite Receive PDO Outputs Synapticon Documentation 2...

Page 919: ...Linear ramp trapezoidal profile Name Index Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping Torque profile type 0x6088 0 INT 16 0 readonly default Receive PDO Outputs Synaptic...

Page 920: ...Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping Motor revolutions 0x6091 1 UDINT 32 1 readwrite Receive PDO Outputs Name Index Sub Type Bit Size Min Data Max Data Default Data...

Page 921: ...to methods 1 2 but without index pulse Home at switch transition 19 22 Similar to methods 3 to 6 but without index pulse Home at switch transition 23 30 Similar to methods 7 to 14 but without index p...

Page 922: ...s Name Index Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping Speed during search for switch 0x6099 1 UDINT 32 0 rpm readwrite Receive PDO Outputs Name Index Sub Type Bit Size...

Page 923: ...oming operation Name Index Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping Homing acceleration 0x609A 0 UDINT 32 0 rpm s readwrite Receive PDO Outputs Synapticon Documentation...

Page 924: ...plications 0 1 RPM value 0xFFB44700 or 4290004736 0 01 RPM value 0xFEB44700 or 4273227520 0 001 RPM value 0xFDB44700 or 4256450304 Configurations with a gearbox may find 0 001 RPM is more appropriate...

Page 925: ...y default see 0x60a9 SI unit velocity to change it Name Index Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping Velocity offset 0x60B1 0 DINT 32 0 rpm readwrite Receive PDO Outp...

Page 926: ...in per thousand of rated torque Name Index Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping Torque offset 0x60B2 0 INT 16 0 readwrite Receive PDO Outputs Synapticon Documentat...

Page 927: ...nts of the position encoder Name Index Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping Following error actual value 0x60F4 0 DINT 32 0 Inc readonly default Transmit PDO Inputs...

Page 928: ...its are per thousand of rated torque Name Index Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping Control effort 0x60FA 0 DINT 32 0 readonly default Transmit PDO Inputs Synaptic...

Page 929: ...increments of the position encoder Name Index Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping Position demand internal value 0x60FC 0 DINT 32 0 Inc readonly default Transmit...

Page 930: ...ific bits 16 to 31 show the state of the Drive s digital inputs Bit 16 Digital input 1 Bit 17 Digital input 2 Bit 31 Digital input 16 For example if only Digital input 1 is high and bits 0 to 3 are lo...

Page 931: ...mask bit by writting 65536 0x10000 in Bit mask Then Writing 65536 0x10000 in Physical outputs will drive the digital output 1 High Writing 0 0x0 in Physical outputs will drive the digital output 1 Lo...

Page 932: ...d RPM by default see 0x60a9 SI unit velocity to change it Name Index Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping Target velocity 0x60FF 0 DINT 32 0 rpm readwrite Receive P...

Page 933: ...icates a mode which is supported Name Index Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping Supported drive modes 0x6502 0 UDINT 32 197549 readonly default Transmit PDO Inputs...

Page 934: ...ze Min Data Max Data Default Data Unit Access PDO Mapping Byte 1 0x6621 1 USINT 8 1 0 readonly default Name Index Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping Byte 2 0x6621...

Page 935: ...tore manufacturer default parameters 0x1016 Consumer heartbeat time 0x1016 1 Consumer heartbeat time 0x1017 Producer heartbeat time 0x1018 Identity object 0x1018 1 Vendor ID 0x1018 2 Product Code 0x10...

Page 936: ...1 Physical outputs 0x1601 2 Bit mask 0x1602 Receive PDO3 mapping 0x1602 1 User MOSI 0x1602 2 Velocity offset 0x1603 Receive PDO4 mapping 0x1800 Transmit PDO1 parameter 0x1800 1 COB ID used by PDO 0x18...

Page 937: ...g input 3 0x1A01 4 Analog input 4 0x1A01 5 Tuning status 0x1A02 Transmit PDO3 mapping 0x1A02 1 Digital inputs 0x1A03 Transmit PDO4 mapping 0x1A03 1 User MISO 0x1A03 2 Timestamp 0x1A03 3 Position deman...

Page 938: ...nt 0x1C13 1 SubIndex 001 0x1C13 2 SubIndex 002 0x1C13 3 SubIndex 003 0x1C13 4 SubIndex 004 Synapticon Documentation 2021 Synapticon GmbH Daimlerstra e 26 D 71101 Sch naich Documentation v 4 19 0 Built...

Page 939: ...ists of input objects TxPDO and output objects RxPDO Standard RxPDO mapped Objects Standard TxPDO mapped Objects You can also create your own set of PDO to include the objects which are more suitable...

Page 940: ...orque NaN 0x607A Target position NaN 0x60FF Target velocity NaN 0x60B2 Torque offset NaN 0x2701 Tuning command NaN 0x60FE Physical outputs NaN 0x60FE Bit mask NaN 0x2703 User MOSI NaN 0x60B1 Velocity...

Page 941: ...0x2401 Analog input 1 NaN 0x2402 Analog input 2 NaN 0x2403 Analog input 3 NaN 0x2404 Analog input 4 NaN 0x2702 Tuning status NaN 0x60FD Digital inputs NaN 0x2704 User MISO NaN 0x20F0 Timestamp NaN 0x...

Page 942: ...d in each PDO mapping 3 1 9 3 3 1 Changing the content of an object To change the content of an object 1 Disable the object by setting its subindex 0 to 0 2 Enter the objects that should be mapped to...

Page 943: ...0 Assignment This object defines the master to slave communication SDO and FoE 0x1C11 SM 1 Assignment This object defines the slave to master communication SDO and FoE 0x1C12 SM 2 Assignment This obje...

Page 944: ...ated 0x2004 7 Brake status 0x2004 8 Minimum displacement pin brake 0x2004 9 Maximum torque pin brake 0x2004 10 Output voltage 0x2004 11 Switching frequency 0x2006 Protection 0x2006 1 Undervoltage setp...

Page 945: ...011 Velocity controller 0x2011 1 Controller Kp 0x2011 2 Controller Ki 0x2011 3 Controller Kd 0x2011 4 Controller integral limit 0x2011 5 Encoder source 0x2012 Position controller 0x2012 1 Position loo...

Page 946: ...ime 0x2015 Velocity feed forward 0x2015 1 Gain 0x2015 2 Cutoff frequency 0x2021 Velocity feedback filter 0x2021 1 Type 0x2021 2 Cutoff frequency 0x2022 Position feedback filter 0x2022 1 Type 0x2022 2...

Page 947: ...synchronization 0x20F3 1 DC pulse time 0x2110 Encoder 1 configuration 0x2110 1 Sensor port 0x2110 2 Type 0x2110 3 Resolution 0x2110 4 Zero velocity threshold 0x2110 5 Polarity 0x2110 6 Singleturn off...

Page 948: ...5 Polarity 0x2112 6 Singleturn offset 0x2112 7 Access signal type 0x2112 8 Clock frequency 0x2112 9 Frame size 0x2112 10 Multiturn bits 0x2112 11 Multiturn first bit position 0x2112 12 Singleturn bits...

Page 949: ...mestamp on rising edge 0x2213 GPIO position trigger 0x2213 1 Position setpoint 0x2213 2 Target encoder 0x2213 3 Pulse width 0x2214 GPIO global options 0x2214 1 Voltage level 0x2401 Analog input 1 0x24...

Page 950: ...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 torqu...

Page 951: ...Speed during search for zero 0x609A Homing acceleration 0x60A9 SI unit velocity 0x60B1 Velocity offset 0x60B2 Torque offset 0x60F4 Following error actual value 0x60FA Control effort 0x60FC Position de...

Page 952: ...0x100A Manufacturer Software Version This object shows the Software Version 0x1000 Device Type This object describes the type of the logical device and its functionality 0x1008 Manufacturer Device Na...

Page 953: ...t once Use case Restoring configurations can be used for example for testing parameters without saving and safely going back to the last stable value Saving the config csv file can be used as a backup...

Page 954: ...can be carried out safely 3 1 10 1 2 1 Restore configuration To restore parameter values from either file into the object dictionary object 0x1011 Restore default parameters has to be triggered Two s...

Page 955: ...e operations For details please refer to Drive operations through File Access over EtherCAT FoE It s also possible to save the configuration file in OBLAC Drives when clicking on the button Save param...

Page 956: ...ing 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 operat...

Page 957: ...supply Earthing Regenerative energy Measuring the brake output voltage Connecting and configuring analog inputs Temperature sensors Using Statusword and Controlword Circulo Mounting Example Replacing...

Page 958: ...t of motor and drive you can reach your speed and performance targets 4 1 1 1 Requirements of the application The selection highly depends on your application but it s necessary to understand the diff...

Page 959: ...Continuous stall current Similar thermal limit as in continuous rated operation Since there are no iron losses here the motor can stand a bit more in max intermittent operation Max intermittent curre...

Page 960: ...on must be considered which is not necessarily the peak torque that the motor can provide or its datasheet claims As real motor characteristics are not linear a buffer shall be added to the linearly c...

Page 961: ...ed effects are well under control In particular it must be made sure that neither recuperative braking nor high frequency typically 32 or 64 kHz voltage ripple lead to exceeding the allowable maximum...

Page 962: ...t ripples on the DC link that can provide unwanted harmonics which result in more faults Capacitors can absorb the regenerated power By using sufficient capacity the power consumption will be reduced...

Page 963: ...re than the estimated capacitance no additional capacitors are required 1 2 1 2 cap 4 1 2 4 Power supply sizing For sizing a power supply the following questions need to be answered How much Watt does...

Page 964: ...humb can be exceeded by no more than 50 in extreme cases however in many practical use cases even less power is sufficient This is particularly the case if high rpm and high torque are not demanded at...

Page 965: ...er supply with a significant capacity is required for a servo drive application Up to 55 V is tolerable for a long time and up to 60 V is acceptable for a time shorter than 1 second This would allow f...

Page 966: ...ial of a system to the same level Earthing or grounding is the process of transferring the immediate discharge of electricity directly to the earthing plate with low resistance electrical cables or wi...

Page 967: ...ough the earthing cable path that is more conductive than the human body The images below show the safe and dangerous conditions with and without PE 4 1 3 2 2 Functional Earth Functional earth or func...

Page 968: ...applications in the ELV range Three categories of switching power supplies can be distinguished that are applicable for servo drives PELV SELV or FELV They differ in their isolation FELV Functional E...

Page 969: ...s the Motor enclosure is connected to a conductive part of a machine The parasitic capacitor of the motor is always an alternative pathway which causes common mode noise issues The image below shows a...

Page 970: ...ssues and ground loops because of the unbalanced ground impedance Using a star connection for earthing will result in a better grounding balance and fewer issues with the ground loop and EMI Synaptico...

Page 971: ...e DC bus capacitor and braking resistor 1 Calculate the amount of regenerated energy 2 Calculate the maximum capacitor using the overvoltage protection level 3 Calculate the dissipated energy 4 Calcul...

Page 972: ...oltage is limited e g by the TVR diode of the system if the drive is having a overvoltage fault you have to add additional choppers 2 check the thermal behavior of the drive by operating the system in...

Page 973: ...ge to the brake output The brake output voltage does not have a negative component It is connected to an inductor which results in a constant current Example V Input DC voltage 48 V Brake switching fr...

Page 974: ...on DC voltmeter 4 1 5 1 Non safety brake output The image below shows a non safety brake circuit Measuring the non safety brake voltage can be done by connecting the voltmeter probe to the brake outpu...

Page 975: ...easuring the safety brake output voltage B and B must be connected to the voltmeter Measuring the voltage between B and GND or B and V will result in a wrong value Note The brake or a similar electric...

Page 976: ...measure analog values They are connected to an integrated ADC Analog to Digital converter with 12 bit resolution 0 4095 ticks Please refer to the hardware manuals for the Analog In specifications for...

Page 977: ...tages of a differential input is its wider input range the possibility to measure negative voltage and the robustness against common mode noise Therefore they show better results in environments which...

Page 978: ...y of the input V must be within a range of V and V otherwise the measured values will have non linearity faults in P in N lim min lim max cm cm cm min cm max 4 1 6 2 2 1 Example for normal values On S...

Page 979: ...Vin_P Vin_N Vdiff Vcm ADC ticks 1 0 10 10 5 0 2 10 0 10 5 4095 3 0 0 0 0 2047 Synapticon Documentation 2021 Synapticon GmbH Daimlerstra e 26 D 71101 Sch naich Documentation v 4 19 0 Built 2022 02 01 9...

Page 980: ...mples of faulty values Example Vin_P Vin_N Vdiff Vcm ADC ticks 4 3 15 12 9 Saturation Synapticon Documentation 2021 Synapticon GmbH Daimlerstra e 26 D 71101 Sch naich Documentation v 4 19 0 Built 2022...

Page 981: ...gnals are available in different objects for details please refer to the hardware manuals ofSOMANET Circulo and SOMANET Node For details about using temperature sensors please check our System integra...

Page 982: ...irst 7 bits of the statusword reflect the controller state 4 1 7 1 2 How are they used The controlword and statusword should be used as defined in the CiA402 standard 4 1 7 1 3 Manufacturer and Operat...

Page 983: ...llow marked bits have a specific functions which depends on the mode the drive is currently in See the documentation of the specific mode for details 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 ms oms oms i...

Page 984: ...f the statusword is 0 that means that the drive is in quick stop active state If bit 7 of the statusword is 1 this indicates the presence of a warning condition If bit 11 is 1 this indicates that one...

Page 985: ...ignored Homing N A 4 1 7 3 3 Internal limit Active bit The values that are limited by this bit differ in each mode Limiting object Limited value Operating modes Max torque 0x6072 Torque demand value 0...

Page 986: ...r oms oms oms eo qs ev so N A basic operation mode specific bits basic Note bits 9 10 11 12 13 14 and 15 are not used Legend Abbr Meaning so switched on ev enable voltage qs quick stop eo enable opera...

Page 987: ...uting SWITCHED ON state functionality 4 1 7 4 2 Mode specific bits of the Controlword Mode of operation 8 7 6 5 4 Profile Position Halt N A N A Change set immediately New set point Profile Velocity Ha...

Page 988: ...Synapticon Documentation 2021 Synapticon GmbH Daimlerstra e 26 D 71101 Sch naich Documentation v 4 19 0 Built 2022 02 01 988 1031...

Page 989: ...rical device consisting of two dissimilar electrical conductors forming an electrical junction A thermocouple produces a temperature dependent voltage as a result of the thermoelectric effect Note The...

Page 990: ...tage or input resistance Subitem 0x2038 3 defines the value of the pull up resistor Two modes for measuring the analog input value can be distinguished Pull up resistor 0x2038 3 0 The measured value w...

Page 991: ...PT1000 3 9 per C KYT 84 130 5 per C Synapticon Documentation 2021 Synapticon GmbH Daimlerstra e 26 D 71101 Sch naich Documentation v 4 19 0 Built 2022 02 01 991 1031...

Page 992: ...oltage The image below depicts a schematic of input circuits The ADC will measure the input voltage which is proportional to the resistance The sensor resistance and the input resistance are in parall...

Page 993: ...suring the temperature Now the accuracy of a PT100 with an R of 4 7 k can be calculated for comparison Example ADC output on Circulo for a PT100 temperature sensor ADC input voltage for 0 55 V 0 1042...

Page 994: ...tage measurement The polynomial function can be used to compensate the non linearity of the input voltage Case 2 Input resistance measurement When an RTD is used the temperature is a function of the m...

Page 995: ...edrawn with parallel input resistance in order to calculate the polynomial function coefficients The equation below is related to the PT1000 temperature curve vs PT1000 resistance Input resistance Tem...

Page 996: ...higher sensitivity in a particular range of temperatures is required the polynomial can be calculated only for that range of temperatures Note For defining the protection level one point is enough and...

Page 997: ...ficients It would be best if you use a temperature pressure torque Vs Resistance tables for extracting the polynomial coefficients In this example we are going to extract the polynomial coefficient Fo...

Page 998: ...an define the type of the line polynomial and polynomial degree 6 Use the equation as the label then the polynomial function will appear on top of it Synapticon Documentation 2021 Synapticon GmbH Daim...

Page 999: ...guration it should be archived so it can be stored on a replacement The drive specific commutation offset is also stored in the configuration file Therefore a specific config file is required for each...

Page 1000: ...nt actions can be performed When clicking on Save configuration file a csv file will be saved on the user s PC that contains different EtherCAT SDO objects with their actual values This file can be us...

Page 1001: ...the first commissioning of a new SOMANET drive Please make sure to have the same or compatible firmware version installed as before The firmware update can be done online if the Virtual machine or the...

Page 1002: ...ns all the objects that can be written from the csv file to the drive s memory Please proceed by clicking on LOAD CONFIGURATION and wait until the procedure is finished Synapticon Documentation 2021 S...

Page 1003: ...ints are true the motor phase s order is the same as the previous drive the motor encoder was not replaced the encoder mounting was not rotated Synapticon Documentation 2021 Synapticon GmbH Daimlerstr...

Page 1004: ...s 4 1 9 4 SOMANET Circulo with at least one internal encoder 4 1 9 4 1 Save the configuration file Underneath the drive s picture on the main page of OBLAC Drives different actions can be performed Wh...

Page 1005: ...here is a small chance that the zero position moved more than the mechanical mounting tolerance To detect this a reference position is required Synapticon Documentation 2021 Synapticon GmbH Daimlerstr...

Page 1006: ...into account 4 1 9 4 4 Load Calibration Firmware The internal encoders have to be calibrated again to store the calibration data on the new drive The calibration data is not stored in the config file...

Page 1007: ...smooth velocity while calibration or if the calibration fails the velocity controller has to be temporarily re tuned To re tune the drive Run system identification Perform autotuning Set the velocity...

Page 1008: ...that the zero position of the encoder has changed after an encoder calibration Therefore an offset detection for the commutation and a re referencing of the absolute encoder position are required afte...

Page 1009: ...d of the replacement 4 1 9 4 12 Check Zero Position Verify that your zero did not move by checking the reference position If the position moved or no reference position is available you have to re ref...

Page 1010: ...Position tuning with Gain Scheduling Cascaded position Tuning Drive operations through File Access over EtherCAT FoE Synapticon Documentation 2021 Synapticon GmbH Daimlerstra e 26 D 71101 Sch naich D...

Page 1011: ...of a SOMANET drive stack Click on one of the following links to get an overview of each tuning method Velocity PID Tuning Position tuning with Gain Scheduling Cascaded position Tuning Synapticon Docu...

Page 1012: ...To find the proper values of PID constants of velocity controller the following steps are recommended P I D P I D 4 2 1 1 2 Recommended Tuning Steps Step 1 Check if all constants k k and k are set to...

Page 1013: ...until the measured speed is around 70 of the reference speed As a suggestion start with k equal to 0 1 and in each step increase k with a factor of 2 P P P Synapticon Documentation 2021 Synapticon Gm...

Page 1014: ...ld be checked Increase k step by step to increase the speed of velocity controller as a suggestion start with k equal to 0 01 and in each step increase it by a factor of 2 P I I Synapticon Documentati...

Page 1015: ...his point the parameters k and k of the velocity controller are tuned The parameter k of the velocity controller can be kept at its default value 0 I P I D Synapticon Documentation 2021 Synapticon Gmb...

Page 1016: ...r high velocities User sets two parameters for low and high velocity area i e low velocities are bounded with upper limit low velocity limit and high velocities are bounded with lower limit high veloc...

Page 1017: ...state error then the gains for higher velocities system is far away from the reference position Usually the schedling of gains depending on axis velocity looks like on the picture shown in Fig 2 Fig 2...

Page 1018: ...bration effect and some acoustic noise which is because of controller sharpness Now you can reduce k to 90 of its value to increase the stability margin and remove vibration noise Step 3 Now that the...

Page 1019: ...controlling loop is responsible for controlling the velocity while the outer controlling loop is responsible for controlling the position Fig 1 Cascaded position control structure Measuring units of...

Page 1020: ...ch as possible As a rule of thumb increase k until you get close to the instability margin at this margin you will feel a vibration effect and some acoustic noise which is caused by controller sharpne...

Page 1021: ...acoustic noise which is because of controller sharpness Now you can reduce k to 90 of its value to increase the stability margin and remove vibration noise Step 3 Now that the velocity controller is t...

Page 1022: ...n other master applications 4 2 2 2 Updating the firmware Attention Installing firmware to a drive is a critical operation Using a third party tool like a Master can t provide protection mechanisms su...

Page 1023: ...propriate firmware package needs to be provided by the support team Regarding the tool master to be used it should support File Access over EtherCAT FoE access and if necessary SII EEPROM access 4 2 2...

Page 1024: ...n BOOT state upload the firmware binary file to the drive memory through FOE with the FOE name edited as app_xyz bin In TwinCAT 3 the operations are shown in Figure 3 4 This prompts the bootloader to...

Page 1025: ...3 Uploading a drive configuration 4 2 2 3 1 Setup Information The master environment used for the example is TwinCAT v3 1 4024 4 The firmware used for the example is version v4 2 Note Please make sure...

Page 1026: ...essing slave operation in TwinCAT 3 2 Switch the EtherCAT state of the drive to BOOT by clicking Bootstrap this allows the following operations 3 Click Download under File Access over EtherCAT switch...

Page 1027: ...sv and click OK as shown in Figure 7 Figure 7 Edit FOE name 5 A progress bar can be seen at the bottom of the page in TwinCAT 3 after the FOE operation see Figure 8 Synapticon Documentation 2021 Synap...

Page 1028: ...ent storage through CANopen over EtherCAT CoE Through SDO operation read the current value of 0x1011 01 Restore all default parameters Reading a value of 1 means the procedure is ready Write value 0x6...

Page 1029: ...Synapticon Documentation 2021 Synapticon GmbH Daimlerstra e 26 D 71101 Sch naich Documentation v 4 19 0 Built 2022 02 01 1029 1031...

Page 1030: ...dicates a situation that could possibly lead to serious accidents and or destruction of the servo drive Danger If these warnings are ignored hazardous and potentially fatal situations may arise from i...

Page 1031: ...r of each page 4 3 4 Versioning This online documentation will be constantly updated and improved The version in the footer reflects the changes as follows Major Minor Patch Patch Corrections that onl...

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