SYNAPTICON SOMANET Circulo 7 Operator's manual

Synapticon
Documentation
Documentation v 4.19.0 | Built 2022-02-01
© 2021 Synapticon GmbH

Table of Contents
1 Hardware Manuals
1.1 Handling instructions
1.1.1 Electrostatic discharge
1.1.2 Magnetic sensitive devices
1.2 SOMANET Circulo
1.2.1 Overview
1.2.1.1 Technical specifications
1.2.1.1.1 Power Specification
1.2.1.1.2 General Specification
1.2.1.1.3 Optional Integrated Encoders
1.2.1.1.3.1 Accuracy and repeatability of the integrated encoders
1.2.1.1.4 Optional Integrated Brake
1.2.1.1.5 Ordering information
1.2.1.2 Load cycle
1.2.1.3 Thermal Mounting Considerations
1.2.1.3.1 Current as a function of mounting temperature
1.2.1.3.2 Ambient air
1.2.1.4 Downloads
1.2.1.4.1 Documents
1.2.1.4.2 CAD Files
1.2.2 Installation Guide
1.2.2.1 Wiring instructions
1.2.2.1.1 Power and brake
1.2.2.1.1.1 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 EtherCAT / STO-SBC IN & OUT
1.2.2.1.3 Analog input specification
1.2.2.1.3.1 Differential
1.2.2.1.3.2 Single-ended
1.2.2.1.4 Temperature sensor
1.2.2.1.4.1 Specification for the single-ended temperature sensor input
1.2.2.1.5 Battery for Multi-Turn
1.2.2.1.5.1 Suitable batteries
1.2.2.1.5.2 Power consumption of multi-turn
1.2.2.1.6 EtherCAT-STO Cable
1.2.2.1.6.1 Overview
1.2.2.1.6.2 Pinout of the connectors
1.2.2.1.6.3 Instructions for manufacturing the cables
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1.2.2.1.7 Maximum cable lengths
1.2.2.1.8 Mating parts
1.2.2.1.8.1 Connector details and mating part numbers
1.2.2.2 Mechanical integration
1.2.2.2.1 Circulo Mounting Example
1.2.2.2.1.1 Mounting the encoder disc
1.2.2.2.1.2 Mounting a hollow-shaft secondary bearing
1.2.2.2.1.3 Routing the motor phase cables
1.2.2.2.2 Dimensions and Drawings
1.2.2.2.2.1 Dimensions
1.2.2.2.2.2 Weight and inertia of the encoder rings
1.2.2.2.2.3 Drilling patterns
1.2.2.2.2.4 Mounting a bearing
1.2.2.2.2.5 Side view with phase connectors
1.2.2.2.3 Mounting encoder rings
1.2.2.2.3.1 Axial distance tolerances
1.2.2.2.3.2 Planar displacements
1.2.2.3 Encoder Calibration
1.2.2.3.1 Encoder accuracy
1.2.2.3.1.1 Narrow angle errors (encoder system-specific non-linearity)
1.2.2.3.1.2 Wide angle error (installation-dependent non-linearity)
1.2.2.3.1.3 Detecting the encoder 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
1.2.3.1 Overview
1.2.3.1.1 Legend
1.2.3.2 Status LED
1.2.3.2.1 Firmware
1.2.3.2.2 Bootloader
1.2.3.3 EtherCAT LED
1.2.4 Safety functions (STO-SBC)
1.2.4.1 Safety specifications
1.2.4.1.1 System requirements
1.2.4.1.2 Technical specifications
1.2.4.2 Safety connectors
1.2.4.3 Wiring the safety inputs
1.2.4.3.1 Cabling lenghts
1.2.4.3.2 Connection diagrams for the STO inputs
1.2.4.3.2.1 Manual switch + drives
1.2.4.3.2.2 Safety PLC PM (Plus-Minus output) + drives
1.2.4.3.2.3 Safety PLC PP (Plus-Plus output) + drives
1.2.4.3.3 Connection diagram for the brake
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1.2.4.4 Using the safety functions
1.2.4.4.1 Timing diagrams
1.2.4.4.1.1 Timing diagram for STO-function without connected brake
1.2.4.4.1.2 Timing diagram for STO-function with SBC-function
1.2.4.4.2 Truth table for digital inputs
1.2.4.4.3 Diagnostic functions
1.2.4.4.3.1 Software diagnostics
1.2.4.4.4 STO-SBC status register
1.2.4.5 Examples for realising safety functions
1.2.4.5.1 Emergency stop
1.2.4.5.2 Stop category 1 emergency stop (Safe stop 1)
1.2.4.5.2.1 Prerequisites
1.2.4.5.2.2 Wiring
1.2.4.5.2.3 Configuration
1.2.4.5.2.4 Verification
1.2.4.5.3 Prevention of unexpected start-up
1.2.4.6 Commissioning and maintenance
1.2.4.6.1 Commissioning
1.2.4.6.2 Maintenance
1.2.4.7 Changelog of the safety-related documentation
1.3 SOMANET Node
1.3.1 Overview
1.3.1.1 Technical 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
1.3.2 Installation Guide
1.3.2.1 Wiring instructions
1.3.2.1.1 Overview of connectors
1.3.2.1.2 Power and brake
1.3.2.1.2.1 Pinout Power Terminal
1.3.2.1.2.2 Connecting a Brake
1.3.2.1.3 Encoders and IO
1.3.2.1.3.1 Encoder Port 1
1.3.2.1.3.2 Encoder Port 2
1.3.2.1.3.3 Encoder Port 3 / Digital IO
1.3.2.1.3.4 Analog IN
1.3.2.1.3.5 EtherCAT port
1.3.2.1.4 Connector details and mating parts numbers
1.3.2.2 Mounting instructions
1.3.2.2.1 Heat dissipation
1.3.2.2.2 Dimensions
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1.3.2.2.3 Interference with magnetic fields
1.3.2.3 On-site installation guide (UL)
1.3.2.3.1 Branch fuse required
1.3.2.3.2 Field wiring terminal marking
1.3.2.3.3 Downloads
1.3.3 LED signals
1.3.3.1 Overview
1.3.3.1.1 Legend
1.3.3.2 Core LED
1.3.3.2.1 Firmware
1.3.3.2.2 Bootloader
1.3.3.3 Drive LED
1.3.3.4 Com LED
1.3.4 SOMANET Node Safety (Original instructions)
1.3.4.1 Dimensions
1.3.4.2 Specifications of the safety functions
1.3.4.2.1 System requirements
1.3.4.2.2 Technical specifications
1.3.4.2.3 Block diagram
1.3.4.3 Setup of the safety functions
1.3.4.3.1 Connecting the STO/SBC inputs
1.3.4.3.1.1 STO/SBC input port
1.3.4.3.1.2 Wiring examples for the STO/SBC inputs
1.3.4.3.2 Connection diagram for the brake
1.3.4.3.2.1 Brake power output (STO/SBC)
1.3.4.3.3 Connector mating parts and cable lengths
1.3.4.4 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 Truth table for digital inputs
1.3.4.4.3 Diagnostic functions
1.3.4.4.3.1 Fault diagnostics
1.3.4.4.3.2 Fault reaction
1.3.4.4.3.3 Resetting diagnostic faults
1.3.4.4.4 STO-SBC status register
1.3.4.5 Examples for realising safety functions
1.3.4.5.1 Prevention of unexpected start-up
1.3.4.5.2 Stop category 0 (STO)
1.3.4.5.3 Stop category 1 (SS1)
1.3.4.5.3.1 Prerequisites
1.3.4.5.3.2 Wiring
1.3.4.5.3.3 Configuration
1.3.4.5.3.4 Verification
1.3.4.6 Commissioning and maintenance
1.3.4.6.1 Commissioning
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1.3.4.6.2 Maintenance
1.3.4.7 Changelog of the safety-related documentation
1.4 SOMANET Accessories
1.4.1 SOMANET Braking Chopper 48V 500W
1.4.1.1 Overview
1.4.1.2 Technical Specs
1.4.1.3 Installing the module and setting the threshold voltage
1.4.1.4 Connecting the Board to DC-BUS
1.4.1.4.1 Suitable cables
1.4.1.4.2 Wiring
1.4.1.5 Failsafe Behavior
1.4.1.6 Multi-board option
1.4.1.7 LED
1.4.1.8 Dimensions
1.4.2 Sin/Cos Encoder Cable Adapter
1.4.2.1 Overview
1.4.2.2 Block Diagram
1.4.2.3 Connectors
1.4.2.3.1 Encoder Connector Top
1.4.2.3.2 Encoder Connector Bottom
1.4.2.3.3 Interface Connector
1.4.2.4 Mounting remarks
1.4.2.5 Strain relief
1.4.2.6 Soldered cables
1.4.3 Industrial 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
1.4.4 ABI/BiSS Encoder Cable Adapter
1.4.4.1 Overview
1.4.4.2 Block Diagram
1.4.4.3 Connectors
1.4.4.3.1 Encoder Connector Top
1.4.4.3.2 Encoder Connector Bottom
1.4.4.3.3 Interface Connector
1.4.4.4 Mounting remarks
1.4.4.5 Strain relief
1.4.4.6 Soldered cables
1.4.4.7 Downloads
1.5 Samples & Legacy Products
1.5.1 Circulo Sample A.2
1.5.1.1 Technical specifications
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1.5.1.1.1 Power Specification
1.5.1.1.2 General Specification
1.5.1.1.3 Optional Integrated Encoders
1.5.1.1.3.1 Accuracy and repeatability of the encoder rings
1.5.1.1.4 Optional Integrated Brake
1.5.1.2 Installation Guide
1.5.1.2.1 Wiring instructions
1.5.1.2.1.1 Overview of connectors
1.5.1.2.1.2 Power supply and motor brake
1.5.1.2.1.3 Encoders and IO
1.5.1.2.1.4 Temperature sensor
1.5.1.2.1.5 Mating parts and encoder battery
1.5.1.2.2 Dimensions and mechanical mounting
1.5.1.2.2.1 Dimensions
1.5.1.2.2.2 Drilling patterns for mounting
1.5.1.2.2.3 Heat dissipation
1.5.1.2.3 Mounting encoder rings
1.5.1.2.3.1 Aligning the encoder discs
1.5.1.2.3.2 Mounting tolerances
1.5.1.2.4 Encoder accuracy
1.5.1.2.4.1 Wide angle error (long wave error, integral nonlinearity)
1.5.1.2.4.2 Narrow angle error (short wave error, differential nonlinearity, Sub Divisional Error)
1.5.1.3 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)
1.5.1.4.1 Safety specifications
1.5.1.4.1.1 System requirements
1.5.1.4.1.2 Technical specifications
1.5.1.4.1.3 Block diagram
1.5.1.4.2 Wiring the safety inputs
1.5.1.4.2.1 Connection diagrams for the STO inputs
1.5.1.4.2.2 Connection diagrams for the STO/SBC feedback output
1.5.1.4.2.3 Connection diagram for the brake
1.5.1.4.3 Using the safety functions
1.5.1.4.3.1 Timing diagrams
1.5.1.4.3.2 Truth table for digital inputs
1.5.1.4.3.3 Diagnostic functions
1.5.1.4.3.4 STO-SBC status register
1.5.1.4.3.5 Use cases
1.5.1.4.4 Commissioning and maintenance
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1.5.1.4.4.1 Commissioning
1.5.1.4.4.2 Maintenance
1.5.2 Circulo Sample B.1
1.5.2.1 Technical specifications
1.5.2.1.1 Power Specification
1.5.2.1.2 General Specification
1.5.2.1.3 Optional Integrated Encoders
1.5.2.1.3.1 Accuracy and repeatability of the integrated encoders
1.5.2.1.4 Optional Integrated Brake
1.5.2.1.5 Ordering information
1.5.2.2 Installation Guide
1.5.2.2.1 Wiring instructions
1.5.2.2.1.1 Power and brake
1.5.2.2.1.2 Encoders and IO
1.5.2.2.1.3 Temperature sensor
1.5.2.2.1.4 EtherCAT-STO Cable
1.5.2.2.1.5 Mating parts
1.5.2.2.2 Dimensions and mechanical mounting
1.5.2.2.2.1 Dimensions
1.5.2.2.2.2 Drilling patterns for mounting
1.5.2.2.2.3 Heat dissipation
1.5.2.2.3 Mounting encoder rings
1.5.2.2.3.1 Aligning the encoder discs
1.5.2.2.3.2 Mounting tolerances
1.5.2.2.3.3 Battery 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, differential nonlinearity, Sub Divisional Error)
1.5.2.2.6 Encoder Calibration
1.5.2.2.6.1 Overview
1.5.2.2.6.2 Prerequisite
1.5.2.2.6.3 Encoder system diagnostic
1.5.2.2.6.4 Calibration Procedure
1.5.2.3 LED signals
1.5.2.3.1 Overview
1.5.2.3.1.1 Legend
1.5.2.3.2 Status LED
1.5.2.3.2.1 Firmware
1.5.2.3.2.2 Bootloader
1.5.2.3.3 EtherCAT LED
1.5.2.4 Safety functions (STO-SBC)
1.5.2.4.1 Safety specifications
1.5.2.4.1.1 System requirements
1.5.2.4.1.2 Technical specifications
1.5.2.4.2 Safety connectors
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1.5.2.4.3 Wiring the safety inputs
1.5.2.4.3.1 Cabling lenghts
1.5.2.4.3.2 Connection diagrams for the STO inputs
1.5.2.4.3.3 Connection diagram for the brake
1.5.2.4.4 Using the safety functions
1.5.2.4.4.1 Timing diagrams
1.5.2.4.4.2 Truth table for digital inputs
1.5.2.4.4.3 Diagnostic functions
1.5.2.4.4.4 STO-SBC status register
1.5.2.4.5 Examples for realising safety functions
1.5.2.4.5.1 Emergency stop
1.5.2.4.5.2 Stop category 1 emergency stop (Safe stop 1)
1.5.2.4.5.3 Prevention of unexpected start-up
1.5.2.4.6 Commissioning and maintenance
1.5.2.4.6.1 Commissioning
1.5.2.4.6.2 Maintenance
1.5.2.4.7 Changelog of the safety-related documentation
1.5.3 SOMANET Node rev. D.3/D.4
1.5.3.1 Technical Specifications
1.5.3.1.1 Power Specifications
1.5.3.1.2 General specifications
1.5.3.2 Hardware Diagrams
1.5.3.2.1 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 power supply
1.5.3.3.3 Connectors
1.5.3.3.3.1 Power Terminal
1.5.3.3.3.2 Encoder Port 1
1.5.3.3.3.3 Encoder Port 2
1.5.3.3.3.4 Encoder Port 3 / Digital IO
1.5.3.3.3.5 Analog IN
1.5.3.3.3.6 EtherCAT port
1.5.3.3.3.7 Connector types and mating parts numbers
1.5.3.3.4 Grounding and connecting a brake
1.5.3.3.4.1 Connecting a Brake
1.5.3.3.5 Mounting instructions
1.5.3.3.5.1 Heat dissipation
1.5.3.3.5.2 Dimensions
1.5.3.3.5.3 Interference with magnetic fields
1.5.3.4 LED signals
1.5.3.4.1 Overview
1.5.3.4.1.1 Legend
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1.5.3.4.2 Core LED
1.5.3.4.2.1 Firmware
1.5.3.4.2.2 Bootloader
1.5.4 SOMANET Node rev. C.4
1.5.4.1 Technical Specifications
1.5.4.1.1 Power Specifications
1.5.4.1.2 General specifications
1.5.4.2 Hardware Diagrams
1.5.4.2.1 EtherCAT module
1.5.4.2.2 Processor module
1.5.4.2.3 Drive module
1.5.4.3 Installation Guide
1.5.4.3.1 Wiring instructions
1.5.4.3.1.1 Warning about using contactors behind the power supply
1.5.4.3.2 Connectors
1.5.4.3.2.1 EtherCAT IN/OUT
1.5.4.3.2.2 Power Terminal
1.5.4.3.2.3 Encoder Port 1
1.5.4.3.2.4 Encoder Port 2
1.5.4.3.2.5 Encoder Port 3 / Digital IO
1.5.4.3.2.6 Analog IN
1.5.4.3.2.7 EtherCAT port
1.5.4.3.2.8 Connector types and mating parts numbers
1.5.4.3.3 Grounding and connecting a brake
1.5.4.3.3.1 Connecting a Brake
1.5.4.3.4 Mounting 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
1.5.4.4.2.1 Firmware
1.5.4.4.2.2 Bootloader
2 Commissioning and Tuning Guide
2.1 OBLAC Drives Setup
2.1.1 OBLAC Drives Box
2.1.1.1 Connectors
2.1.1.2 Installation
2.1.1.3 Network Connection to the OBLAC box
2.1.1.3.1 Connection Host-PC ↔ Box by Wi-Fi
2.1.1.3.1.1 Host-PC connected to Internet by LAN connection
2.1.1.3.1.2 Box connected to internet by LAN connection
2.1.1.3.1.3 Host-PC and Box not connected to Internet
2.1.1.3.2 Connection Host-PC ⇿ PC by LAN cable
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