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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2.1.1.3.2.1 LAN connection via Switch and connection to a network with DHCP server
2.1.1.3.2.2 LAN connection Peer to Peer
2.1.1.3.3 No connection to OBLAC update server
2.1.1.3.4 Offline Updates
2.1.1.4 Open OBLAC Drives
2.1.1.5 Update OBLAC Drives
2.1.2 OBLAC Drives Virtual Machine
2.1.2.1 Prerequisite
2.1.2.2 Getting started
2.1.2.3 Connecting to OBLAC Drives
2.1.2.3.1 Update OBLAC Drives
2.1.2.4 Troubleshooting
2.2 Using OBLAC Drives
2.2.1 Installing the latest version
2.2.2 User Interface Overview
2.2.2.1 Save to device
2.2.2.2 Update Firmware
2.2.2.3 Launch Setup Wizard
2.2.2.4 Download Device Description XML
2.2.2.5 Load Configuration File
2.2.2.6 Save Configuration File
2.2.2.7 Download log
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
2.4.2.2 Goal of Position Auto-tuning
2.4.2.3 Goal of Velocity Auto-tuning
2.4.2.4 System Identification
2.4.2.4.1 Prerequisites
2.4.2.4.2 Limitations
2.4.2.4.3 How to use
2.4.2.4.4 F.A.Q.
2.4.2.5 Position Auto-tuning
2.4.2.5.1 Prerequisites
2.4.2.5.2 Limitations
2.4.2.5.3 How to use
2.4.2.5.4 Next steps
2.4.2.5.5 F.A.Q.
2.4.2.6 Velocity Auto-tuning
2.4.2.6.1 Prerequisites
2.4.2.6.2 Limitations
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2.4.2.6.3 How to use
2.4.2.6.4 Next steps
2.4.2.6.5 F.A.Q.
2.4.3 Manual Tuning
2.4.3.1 Manual Tuning of the current controller
2.4.3.1.1 Manual tuning guide
2.4.3.2 Manual Tuning of the velocity control loop
2.4.3.3 Manual Tuning of the position control loop: Cascaded controller
2.5 Test a drive at the playground
2.5.1 Prerequisites
2.5.2 Applying torque to a motor
2.5.3 Rotate a motor at defined velocities
2.5.4 Rotate a motor to defined positions
2.6 Update/downgrade OBLAC Drives
2.7 Troubleshooting
2.7.1 Virtualization not activated
2.7.2 Memory Warning
2.7.3 Runtime Issues
2.7.4 Other Issues
3 Software Reference
3.1 Software Reference Manual v5.0
3.1.1 Firmware Overview 5.0
3.1.1.1 Functionality description
3.1.2 CANopen 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
3.1.3.1.1.1 Pole pairs
3.1.3.1.1.2 Torque constant
3.1.3.1.1.3 Phase resistance
3.1.3.1.1.4 Phase inductance
3.1.3.1.1.5 Errors in phase resistance and inductance
3.1.3.1.1.6 Motor phases inverted
3.1.3.1.2 PWM frequency
3.1.3.1.3 Gear Ratio
3.1.3.1.4 Advanced configurations
3.1.3.1.5 Parameters
3.1.3.2 Generic brake output voltage
3.1.3.2.1 Overview
3.1.3.2.2 Usage
3.1.3.2.3 Limitations
3.1.3.2.3.1 Parameters
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3.1.3.3 Brake configuration
3.1.3.3.1 Pin-brake Mode
3.1.3.3.1.1 Timing diagram
3.1.3.3.1.2 Brake PWM frequency
3.1.3.3.1.3 Custom brake modes
3.1.3.3.1.4 Parameters
3.1.3.4 User defined velocity units
3.1.3.4.1 Overview
3.1.3.4.2 Usage
3.1.3.4.3 Objects affected
3.1.3.4.4 Example
3.1.3.4.5 Parameters
3.1.3.5 Commutation Offset Detection
3.1.3.5.1 Overview
3.1.3.5.2 Basic Principles
3.1.3.5.3 Requirements
3.1.3.5.3.1 Load requirements
3.1.3.5.4 Autophasing methods
3.1.3.5.4.1 Method 0
3.1.3.5.4.2 Method 1
3.1.3.5.4.3 Method 2
3.1.3.5.4.4 Common Use Cases
3.1.3.5.5 Usage
3.1.3.5.5.1 Tuning gains (method 1)
3.1.3.5.6 Parameters
3.1.3.6 Power Limit
3.1.3.6.1 Overview
3.1.3.6.2 Requirements
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
3.1.4.1.3 Parameters
3.1.4.2 Analog Input Scaling
3.1.4.2.1 Requirements
3.1.4.2.2 Usage
3.1.4.2.2.1 Wiring
3.1.4.2.2.2 Software configuration
3.1.4.2.2.3 Thresholds
3.1.4.2.2.4 Polynomial
3.1.4.3 Digital I/O
3.1.4.3.1 Configuration of Digital I/Os as Input or Output
3.1.4.3.2 Using Digital I/Os for input actions or output events
3.1.4.3.3 Parameters
3.1.4.4 Digital GPIO
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3.1.4.4.1 Overview
3.1.4.4.2 Usage
3.1.4.4.2.1 Manual configuration
3.1.4.4.2.2 General purpose In- and Output (GPIO)
3.1.4.4.2.3 Using Digital GPIO with Home switches and limit switches
3.1.4.4.2.4 Input actions
3.1.4.4.2.5 Output events
3.1.4.4.3 Parameters
3.1.4.5 Encoder Configuration
3.1.4.5.1 Parameter description
3.1.4.5.1.1 Function
3.1.4.5.1.2 Resolution
3.1.4.5.1.3 Zero velocity threshold
3.1.4.5.1.4 Polarity
3.1.4.5.1.5 Multiturn resolution
3.1.4.5.2 Parameters
3.1.4.6 Commutation with Hall and ABI combined
3.1.4.6.1 Overview
3.1.4.6.2 Requirements
3.1.4.6.3 Usage
3.1.4.6.4 Detailed description
3.1.4.6.4.1 Startup
3.1.4.6.4.2 Error Detection
3.1.4.6.4.3 Runtime
3.1.4.7 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 the firmware
3.1.6.2 Error Report Object
3.1.6.3 Remedies for protection errors
3.1.6.3.1 Remedy for over-current
3.1.6.3.2 Remedy for over-voltage
3.1.6.3.3 Remedy for under-voltage
3.1.6.3.4 Remedy for over-temperature
3.1.7 Logging
3.1.7.1 Overview
3.1.7.2 Types
3.1.7.3 Format
3.1.8 Motion Control
3.1.8.1 Control Loops
3.1.8.1.1 Current and Torque Control Loop
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3.1.8.1.1.1 Torque control loop
3.1.8.1.1.2 Parameters
3.1.8.1.2 Velocity Control Loop
3.1.8.1.2.1 Parameters
3.1.8.1.3 Position Control Loops
3.1.8.1.3.1 Cascaded PID Controller
3.1.8.1.3.2 Simple PID Controller
3.1.8.1.4 Dual Loop Cascaded Position Control
3.1.8.1.4.1 Overview
3.1.8.1.4.2 Usage
3.1.8.1.4.3 Parameters
3.1.8.2 Modes of Operation
3.1.8.2.1 Cyclic modes
3.1.8.2.1.1 Cyclic Synchronous Torque Mode
3.1.8.2.1.2 Cyclic Synchronous Velocity Mode
3.1.8.2.1.3 Cyclic Synchronous Position Mode
3.1.8.2.2 Profile modes
3.1.8.2.2.1 Profile position mode
3.1.8.2.2.2 Profile velocity mode
3.1.8.2.2.3 Profile torque mode
3.1.8.2.3 Homing modes
3.1.8.2.3.1 Overview
3.1.8.2.3.2 Homing methods
3.1.8.2.3.3 Settings for homing mode
3.1.8.2.3.4 How to perform homing
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 Diagnostics opmode
3.1.8.2.6 Selecting and switching the Modes
3.1.8.2.6.1 Dynamic Op-Mode switching
3.1.8.3 Extended Control Functionalities
3.1.8.3.1 Cogging Torque Compensation
3.1.8.3.1.1 Overview
3.1.8.3.1.2 Procedure
3.1.8.3.1.3 Controlling the feature via EtherCAT
3.1.8.3.1.4 Subitems:
3.1.8.3.1.5 Parameters
3.1.8.3.2 Field Weakening
3.1.8.3.3 Anti-Windup Control
3.1.8.3.3.1 Parameters
3.1.8.3.4 Gain Scheduling
3.1.8.3.5 Motor Overload Protection (i2t)
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3.1.8.3.5.1 Overview
3.1.8.3.5.2 Requirements
3.1.8.3.5.3 Description of Subitems for 0x200A:
3.1.8.3.5.4 Operating principle
3.1.8.3.6 Velocity feed forward
3.1.8.3.6.1 Usage
3.1.8.3.6.2 Using a velocity offset additionally
3.1.8.3.6.3 Object used for Velocity feed forward
3.1.8.3.7 Torque Offset
3.1.8.3.8 Velocity Offset
3.1.8.3.9 Filtering
3.1.8.3.9.1 Overview
3.1.8.3.9.2 Methods
3.1.8.3.9.3 Application Guide
3.1.8.3.9.4 Parameters
3.1.8.3.9.5 Position and velocity feedback low-pass filters
3.1.8.3.9.6 Torque loop input shaping filter
3.1.8.3.10 Command smoothing and Interpolation
3.1.8.3.10.1 Overview
3.1.8.3.10.2 Side Effects
3.1.8.3.10.3 Applications
3.1.8.3.10.4 Detailed Description
3.1.8.3.11 Control supervision
3.1.8.3.11.1 Timing diagram of the supervision objects
3.1.8.3.11.2 Following 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 Distributed clocks (DC clocks)
3.1.8.3.12.1 Overview
3.1.8.3.12.2 Distributed Clock configuration
3.1.8.3.12.3 Parameters
3.1.8.3.13 OS command
3.1.8.3.13.1 Overview
3.1.8.3.13.2 Usage
3.1.9 CiA 402 Object Dictionary
3.1.9.1 List of all Objects
3.1.9.1.1 0x1000 Device type
3.1.9.1.2 0x1001 Error register
3.1.9.1.3 0x1005 COB-ID SYNC
3.1.9.1.4 0x1006 Communication cycle period
3.1.9.1.5 0x1008 Manufacturer device name
3.1.9.1.6 0x100A Manufacturer software version
3.1.9.1.7 0x100C Guard time
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3.1.9.1.8 0x100D Life time factor
3.1.9.1.9 0x1010 Store parameters
3.1.9.1.10 0x1011 Restore default parameters
3.1.9.1.11 0x1016 Consumer heartbeat time
3.1.9.1.12 0x1017 Producer heartbeat time
3.1.9.1.13 0x1018 Identity object
3.1.9.1.14 0x1019 Synchronous counter overflow value
3.1.9.1.15 0x1023 OS command
3.1.9.1.16 0x1024 OS command mode
3.1.9.1.17 0x1400 Receive PDO1 parameter
3.1.9.1.18 0x1401 Receive PDO2 parameter
3.1.9.1.19 0x1402 Receive PDO3 parameter
3.1.9.1.20 0x1403 Receive PDO4 parameter
3.1.9.1.21 0x1600 Receive PDO1 mapping
3.1.9.1.22 0x1601 Receive PDO2 mapping
3.1.9.1.23 0x1602 Receive PDO3 mapping
3.1.9.1.24 0x1603 Receive PDO4 mapping
3.1.9.1.25 0x1800 Transmit PDO1 parameter
3.1.9.1.26 0x1801 Transmit PDO2 parameter
3.1.9.1.27 0x1802 Transmit PDO3 parameter
3.1.9.1.28 0x1803 Transmit PDO4 parameter
3.1.9.1.29 0x1A00 Transmit PDO1 mapping
3.1.9.1.30 0x1A01 Transmit PDO2 mapping
3.1.9.1.31 0x1A02 Transmit PDO3 mapping
3.1.9.1.32 0x1A03 Transmit 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 Command object (disabled)
3.1.9.1.39 0x2001 Commutation angle offset
3.1.9.1.40 0x2002 Position control strategy
3.1.9.1.40.1 Selects the control structure used for position control:
3.1.9.1.41 0x2003 Motor specific settings
3.1.9.1.42 0x2004 Brake options
3.1.9.1.43 0x2006 Protection
3.1.9.1.44 0x2008 Cogging torque compensation
3.1.9.1.45 0x2009 Commutation offset
3.1.9.1.46 0x200A I2t
3.1.9.1.47 0x200B Max power
3.1.9.1.48 0x2010 Torque controller
3.1.9.1.49 0x2011 Velocity controller
3.1.9.1.49.1 Velocity PID Tuning (objects 2011:1...2011:4)
3.1.9.1.50 0x2012 Position controller
3.1.9.1.50.1 Parameter Tuning Guide for Position Controller with Cascaded Structure
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3.1.9.1.50.2 Parameter Tuning Guide for Position Controller with simple PID Structure (objects 2012:1...2012:4 only)
3.1.9.1.51 0x2013 Gain scheduling
3.1.9.1.52 0x2014 Torque window
3.1.9.1.53 0x2015 Velocity feed forward
3.1.9.1.54 0x2021 Velocity feedback filter
3.1.9.1.55 0x2022 Position feedback filter
3.1.9.1.56 0x2023 Notch filter
3.1.9.1.57 0x2027 Control input FIR filter
3.1.9.1.58 0x2030 Core temperature
3.1.9.1.59 0x2031 Drive temperature
3.1.9.1.60 0x2038 External scaled measurement
3.1.9.1.61 0x203F Error report
3.1.9.1.62 0x2040 Input counter
3.1.9.1.63 0x20E1 High resolution data
3.1.9.1.64 0x20F0 Timestamp
3.1.9.1.65 0x20F2 Assigned name
3.1.9.1.66 0x20F3 DC synchronization
3.1.9.1.67 0x2110 Encoder 1 configuration
3.1.9.1.67.1 All encoders
3.1.9.1.67.2 All encoders
3.1.9.1.67.3 BiSS/SSI
3.1.9.1.67.4 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/REM 16MT)
3.1.9.1.67.9 Incremental encoder
3.1.9.1.67.10 BiSS/SSI
3.1.9.1.67.11 Nikon A-format
3.1.9.1.67.12 BiSS
3.1.9.1.67.13 SSI
3.1.9.1.67.14 BiSS/SSI/Nikon A-format
3.1.9.1.67.15 BiSS/SSI
3.1.9.1.67.16 BiSS/SSI
3.1.9.1.67.17 Nikon A-format
3.1.9.1.67.18 BiSS/SSI
3.1.9.1.67.19 BiSS/SSI
3.1.9.1.67.20 BiSS
3.1.9.1.67.21 BiSS
3.1.9.1.67.22 BiSS
3.1.9.1.67.23 SSI
3.1.9.1.67.24 SSI
3.1.9.1.67.25 SSI
3.1.9.1.67.26 SSI
3.1.9.1.67.27 Incremental encoder/SinCos module
3.1.9.1.67.28 Incremental encoder
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3.1.9.1.67.29 SinCos module
3.1.9.1.67.30 SinCos module
3.1.9.1.67.31 SinCos module
3.1.9.1.67.32 REM 16MT
3.1.9.1.68 0x2111 Encoder 1 feedback
3.1.9.1.69 0x2112 Encoder 2 configuration
3.1.9.1.69.1 All encoders
3.1.9.1.69.2 All encoders
3.1.9.1.69.3 BiSS/SSI
3.1.9.1.69.4 Incremental encoder
3.1.9.1.69.5 Hall sensor/Nikon A-Format/REM16MT/SinCos module
3.1.9.1.69.6 All encoders
3.1.9.1.69.7 All encoders
3.1.9.1.69.8 Absolute encoders (BiSS/SSI/Nikon A-format/REM 16MT)
3.1.9.1.69.9 Incremental encoder
3.1.9.1.69.10 BiSS/SSI
3.1.9.1.69.11 Nikon A-format
3.1.9.1.69.12 BiSS
3.1.9.1.69.13 SSI
3.1.9.1.69.14 BiSS/SSI/Nikon A-format
3.1.9.1.69.15 BiSS/SSI
3.1.9.1.69.16 BiSS/SSI
3.1.9.1.69.17 Nikon A-format
3.1.9.1.69.18 BiSS/SSI
3.1.9.1.69.19 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
3.1.9.1.69.28 Incremental encoder
3.1.9.1.69.29 SinCos module
3.1.9.1.69.30 SinCos module
3.1.9.1.69.31 SinCos module
3.1.9.1.69.32 REM 16MT
3.1.9.1.70 0x2113 Encoder 2 feedback
3.1.9.1.71 0x2210 GPIO pin configuration
3.1.9.1.72 0x2211 GPIO output events
3.1.9.1.73 0x2212 GPIO input actions
3.1.9.1.74 0x2213 GPIO position trigger
3.1.9.1.75 0x2214 GPIO global options
3.1.9.1.76 0x2401 Analog input 1
3.1.9.1.77 0x2402 Analog input 2
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Synapticon Documentation
© 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 19/1031

3.1.9.1.78 0x2403 Analog input 3
3.1.9.1.79 0x2404 Analog input 4
3.1.9.1.80 0x2611 Safety digital input diagnostics
3.1.9.1.81 0x2701 Tuning command
3.1.9.1.82 0x2702 Tuning status
3.1.9.1.83 0x2703 User MOSI
3.1.9.1.84 0x2704 User MISO
3.1.9.1.85 0x2705 Setup wizard completed
3.1.9.1.86 0x603F Error code
3.1.9.1.87 0x6040 Controlword
3.1.9.1.88 0x6041 Statusword
3.1.9.1.89 0x605A Quick stop option code
3.1.9.1.90 0x6060 Modes of operation
3.1.9.1.91 0x6061 Modes of operation display
3.1.9.1.92 0x6062 Position demand value
3.1.9.1.93 0x6064 Position actual value
3.1.9.1.94 0x6065 Following error window
3.1.9.1.95 0x6066 Following error time out
3.1.9.1.96 0x6067 Position window
3.1.9.1.97 0x6068 Position window time
3.1.9.1.98 0x606B Velocity demand value
3.1.9.1.99 0x606C Velocity actual value
3.1.9.1.100 0x606D Velocity window
3.1.9.1.101 0x606E Velocity window time
3.1.9.1.102 0x606F Velocity 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 0x6075 Motor rated current
3.1.9.1.109 0x6076 Motor rated torque
3.1.9.1.110 0x6077 Torque actual value
3.1.9.1.111 0x6079 DC link circuit voltage
3.1.9.1.112 0x607A Target position
3.1.9.1.113 0x607B Position range limit
3.1.9.1.114 0x607C Home offset
3.1.9.1.115 0x607D Software position limit
3.1.9.1.116 0x607E Polarity
3.1.9.1.117 0x6080 Max motor speed
3.1.9.1.118 0x6081 Profile velocity
3.1.9.1.119 0x6083 Profile acceleration
3.1.9.1.120 0x6084 Profile deceleration
3.1.9.1.121 0x6085 Quick stop deceleration
3.1.9.1.122 0x6086 Motion profile type
3.1.9.1.123 0x6087 Torque slope
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Synapticon Documentation
© 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01 20/1031