SYNAPTICON SOMANET Circulo User manual
Wiring instructions
Documentation v 4.10.0 | Built 2021-06-25
© 2021 Synapticon GmbH
Table of Contents
1 Wiring instructions
1.1 Power supply, phases and brake
1.1.1 Power Terminal and Motor phases
1.1.1.1 Warning about using contactors behind the power supply
1.1.1.1.1 Protective Earth and Functional Earth
1.1.2 Connecting a brake
1.2 Encoders and IO
1.2.1 Encoder overview
1.2.2 Analog Input
1.2.3 Encoder ports
1.2.3.1 Encoder port 1
1.2.3.2 Encoder port 2
1.2.3.3 Using an external encoder on port 2 and the internal encoder 2 at the same time
1.2.4 Digital IO
1.2.5 EtherCAT / STO-SBC IN & OUT
1.3 Analog input specification
1.3.1 Differential
1.3.2 Single-ended
1.4 Temperature sensor
1.4.1 Specification for the single-ended temperature sensor input
1.5 Selecting and attaching a battery for Multi-Turn
1.5.1 Suitable encoder batteries
1.6 Circulo Hybrid EtherCAT - STO Cable
1.6.1 Overview
1.6.2 Pinout of the connectors
1.6.2.1 Hybrid connector (JST GHR-08V-S)
1.6.2.2 STO/SBC Connections
1.6.2.3 EtherCAT Connection
1.6.3 Instructions for manufacturing the cables
1.6.3.1 General Cable and Wire Specifications
1.6.3.2 Drive-to-Drive Cable
1.6.3.2.1 Cable details
1.6.3.2.2 Wire details and pinout
1.6.3.2.3 Connectorization
1.6.3.3 Y-Splitter Cable
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1.6.3.3.1 Overview
1.6.3.3.2 Wire details and pinout
1.6.3.3.3 Connectorization
1.6.3.3.4 Insulation Voltage
1.6.3.3.5 Cable Thickness and Flexibility
1.7 Maximum cable lengths
1.8 Mating parts
1.8.1 Connector details and mating part numbers
37
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Power supply, phases and brake
Encoders and IO
Analog In Specification
Temperature sensor
Selecting and attaching a battery for Multi-Turn
Hybrid EtherCAT-STO Cable
Maximum cable lengths
Mating parts
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Important
The motor and power cables must be twisted for EMC reasons.
Note
SOMANET servo drives are densely packed with high-performance components. Even at idle/torque
off, several components such as power supplies, cause the servo drive to get warm, especially when
it’s not connected to any 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 available. The heat generation is not linear, which makes it actually more
noticable at idle or low power. Please ensure by design of your mounting situation that the heat
interface is connected to sufficient structure to appropriately dissipate generated heat.
Note
Use a protected extra-low voltage (PELV) power supply.
1.1.1.1 Warning about using contactors behind the power supply
Attention
Our servo drives are designed for voltages between 24 V and 48 V (60 V Max), they should be run with
an appropriate extra-low voltage supply. Please do not use contactors behind the power supply
since 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 servo drive.
If contactors behind the power supply are used, it’s necessary to include an uni-directional TVS
diode type 1.5KE62A-E3/54* between Main Power Supply and Ground of the terminal.
* this model has been successfully tested by Synapticon. Other products with the same specifications
may also be appropriate but can’t be recommended.
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In case you are running several servo drives behind a contactor, please use an uni-directional TVS diode on
each drive because of the inductances of the wiring.
1.1.1.1.1 Protective Earth and Functional Earth
Protective Earth (PE) and the Ground (GND) of the electronic boards are electrically isolated.
The blank bottom side of the heatsink has a flat conductive surface and can be used as a connection for
Protective Earth (PE) or Functional Earth (FE).
To fulfill the PE requirements and also have a better EMI shielding around the electronic boards, it is
necessary to electrically connect the conductive surfaces (marked yellow and green in the following picture)
to the chassis of the motor or the robot.
Important
Please ensure that the chassis is properly grounded.
Hardware Manuals / SOMANET Circulo / Installation Guide / Wiring
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1.1.2 Connecting a brake
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.
Note
This brake integrates Safe Brake Control functionality (SBC).
Circulo 7
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1.2.2 Analog Input
Circulo 7
Circulo 9
Pin # Signal Function Object Mapping
1 +5 V * Supply for external use **
2 Analog In 2 - Differential - ** Analog input 2 (0x2402)
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3 Analog In 2 + Differential + ** Analog input 2 (0x2402)
4 GND Ground
5 Analog In 1 Single-ended 0-5 V Analog input 1 (0x2401)
6 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 total consumption is limited
to 250 mA.
The Analog Inputs have a 12 bit resolution
Attention
The single-ended analog input has an extended range of 104.7% (e.g. 0xFFF correspond to +5.235V).
The differential analog input has an extended range of 121.8%” (e.g. 0xFFF correspond to Vdiff =
+6.09V).
1.2.3 Encoder ports
Hardware Manuals / SOMANET Circulo / Installation Guide / Wiring
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Note
When the integrated encoder 1 is used, no external encoder can be used on port 1.
If integrated encoder 2 is used, only Hall can be configured as external encoder 2 on port 2.
Please refer to the following image for details:
1.2.3.1 Encoder port 1
Circulo 7
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Circulo 9
Note
This connector also carries the pins for the battery that is required if the optional integrated encoder 1
is used with Multi-Turn. 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 Encoder
on port 1
Pin # Config. # 1 Config. # 2 Config. # 3
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1 5 V *
2 MA- Clock-
3 MA+ Clock+
4 Ground
5 SLO- Data-
6 SLO+ Data+
7 V_BAT
* The current capacity of 5 V output is shared between all connectors and the total consumption is limited to
250 mA.
1.2.3.2 Encoder port 2
Circulo 7
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Circulo 9
Pin
#
ABI / Fast ABI *
(Diff.)
ABI (Single-
Ended)
BiSS-C
(Diff.)
SSI
(Diff.)
Half-Duplex/A-
Format (Diff.)
HALL (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
** The current capacity of 5 V output is shared between all connectors and the total consumption is limited
to 250 mA.
Hardware Manuals / SOMANET Circulo / Installation Guide / Wiring
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1.2.3.3 Using an external encoder on port 2 and the internal encoder 2 at the
same time
Since firmware 4.4 it is possible to use an external encoder on port 2 and the internal encoder 2 at the same
time.
Attention
Simultaneously, the integrated encoder 2 and the external encoder on port 2 can only be used with
HALL or ABI (Single-Ended or Differential but not Fast ABI).
1.2.4 Digital IO
Circulo 7
Hardware Manuals / SOMANET Circulo / Installation Guide / Wiring
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Circulo 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
3 Digital I/O 2 (Fast Push-Pull) MISO MA Clock MISO
4 Ground
5 Digital I/O 3 (Fast Push-Pull) MOSI MOSI
6 Digital Output 4 (Slow Push-Pull) ** SS SS
7 +5 V OUT ***
8 Digital I/O 5 (Slow Bi-Directional)
9 Digital I/O 6 (Slow Bi-Directional)
10 Ground
11 Digital IN 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 short to ground and keeps the current below 400 mA in a continuous short.
** Current output capacity of all configured digital outputs is ±20 mA (Sink and source)
Hardware Manuals / SOMANET Circulo / Installation Guide / Wiring
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*** 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 current below 400 mA in a continuous short.
Note
The Digital I/Os are globally configurable as 3.3 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 activate a pull-down resistor.
Changes may require to powercycle the servo drive.
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.
Details for the required hybrid cable can be found here.
Hardware Manuals / SOMANET Circulo / Installation Guide / Wiring
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