SYNAPTICON SOMANET Circulo 7 User manual

Synapticon
Documentation
Documentation v 4.11.0 | Built 2021-07-23
© 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 Technical specifications
1.2.1.1 Power Specification
1.2.1.2 General Specification
1.2.1.3 Optional Integrated Encoders
1.2.1.3.1 Accuracy and repeatability of the integrated encoders
1.2.1.3.1.1 Functions
1.2.1.3.1.2 Magnetic data
1.2.1.4 Optional Integrated Brake
1.2.1.5 Ordering information
1.2.2 Downloads
1.2.2.1 Documents
1.2.2.2 CAD Files
1.2.3 Installation Guide
1.2.3.1 Wiring instructions
1.2.3.1.1 Power supply, phases and brake
1.2.3.1.1.1 Power Terminal and Motor phases
1.2.3.1.1.2 Connecting a brake
1.2.3.1.2 Encoders and IO
1.2.3.1.2.1 Encoder overview
1.2.3.1.2.2 Analog Input
1.2.3.1.2.3 Encoder ports
1.2.3.1.2.4 Digital IO
1.2.3.1.2.5 EtherCAT / STO-SBC IN & OUT
1.2.3.1.3 Analog input specification
1.2.3.1.3.1 Differential
1.2.3.1.3.2 Single-ended
1.2.3.1.4 Temperature sensor
1.2.3.1.4.1 Specification for the single-ended temperature sensor input
1.2.3.1.5 Selecting and attaching a battery for Multi-Turn
1.2.3.1.5.1 Suitable encoder batteries
1.2.3.1.6 Circulo Hybrid EtherCAT - STO Cable
1.2.3.1.6.1 Overview
1.2.3.1.6.2 Pinout of the connectors
1.2.3.1.6.3 Instructions for manufacturing the cables
1.2.3.1.7 Maximum cable lengths
1.2.3.1.8 Mating parts
1.2.3.1.8.1 Connector details and mating part numbers
1.2.3.2 Mechanical integration
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1.2.3.2.1 Circulo Mounting Example
1.2.3.2.1.1 Mounting the encoder disc
1.2.3.2.1.2 Mounting a hollow-shaft secondary bearing
1.2.3.2.1.3 Routing the motor phase cables
1.2.3.2.2 Dimensions and CAD downloads
1.2.3.2.2.1 Dimensions
1.2.3.2.2.2 Drilling patterns for mounting
1.2.3.2.2.3 Mounting a bearing
1.2.3.2.2.4 Side view with phase connectors
1.2.3.2.3 Mounting the encoder rings
1.2.3.2.3.1 Axial distance tolerances
1.2.3.2.3.2 Planar displacements
1.2.3.3 Encoder Calibration
1.2.3.3.1 Encoder accuracy
1.2.3.3.1.1 Narrow angle errors (encoder system-specific non-linearity)
1.2.3.3.1.2 Wide angle error (installation-dependent non-linearity)
1.2.3.3.1.3 Detecting the encoder non-linearity
1.2.3.3.2 Calibration Procedure
1.2.3.3.2.1 Prerequisite
1.2.3.3.2.2 Performing the procedure
1.2.3.3.2.3 Troubleshooting
1.2.3.3.2.4 Encoder system diagnostic
1.2.4 LED signals
1.2.4.1 Overview
1.2.4.1.1 Legend
1.2.4.2 Status LED
1.2.4.2.1 Firmware
1.2.4.2.2 Bootloader
1.2.4.3 EtherCAT LED
1.2.5 Safety functions (STO-SBC)
1.2.5.1 Safety specifications
1.2.5.1.1 System requirements
1.2.5.1.2 Technical specifications
1.2.5.2 Safety connectors
1.2.5.3 Wiring the safety inputs
1.2.5.3.1 Cabling lenghts
1.2.5.3.2 Connection diagrams for the STO inputs
1.2.5.3.2.1 Manual switch + drives
1.2.5.3.2.2 Safety PLC PM (Plus-Minus output) + drives
1.2.5.3.2.3 Safety PLC PP (Plus-Plus output) + drives
1.2.5.3.3 Connection diagram for the brake
1.2.5.4 Using the safety functions
1.2.5.4.1 Timing diagrams
1.2.5.4.1.1 Timing diagram for STO-function without connected brake
1.2.5.4.1.2 Timing diagram for STO-function with SBC-function
1.2.5.4.2 Truth table for digital inputs
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1.2.5.4.3 Diagnostic functions
1.2.5.4.3.1 Software diagnostics
1.2.5.4.4 STO-SBC status register
1.2.5.5 Examples for realising safety functions
1.2.5.5.1 Emergency stop
1.2.5.5.2 Stop category 1 emergency stop (Safe stop 1)
1.2.5.5.2.1 Prerequisites
1.2.5.5.2.2 Wiring
1.2.5.5.2.3 Configuration
1.2.5.5.2.4 Verification
1.2.5.5.3 Prevention of unexpected start-up
1.2.5.6 Commissioning and maintenance
1.2.5.6.1 Commissioning
1.2.5.6.2 Maintenance
1.2.5.7 Changelog of the safety-related documentation
1.2.6 SOMANET Circulo (Sample. B.1)
1.2.6.1 Technical specifications
1.2.6.1.1 Power Specification
1.2.6.1.2 General Specification
1.2.6.1.3 Optional Integrated Encoders
1.2.6.1.3.1 Accuracy and repeatability of the integrated encoders
1.2.6.1.4 Optional Integrated Brake
1.2.6.1.5 Ordering information
1.2.6.2 Installation Guide
1.2.6.2.1 Wiring instructions
1.2.6.2.1.1 Power supply, phases and brake
1.2.6.2.1.2 Encoders and IO
1.2.6.2.1.3 Temperature sensor
1.2.6.2.1.4 Circulo Hybrid EtherCAT - STO Cable
1.2.6.2.1.5 Mating parts
1.2.6.2.2 Dimensions and mechanical mounting
1.2.6.2.2.1 Dimensions
1.2.6.2.2.2 Drilling patterns for mounting
1.2.6.2.2.3 Heat dissipation
1.2.6.2.3 Mounting the encoder rings
1.2.6.2.3.1 Aligning the encoder discs
1.2.6.2.3.2 Mounting tolerances
1.2.6.2.3.3 Selecting and attaching a battery for Multi-Turn
1.2.6.2.4 Mounting a bearing
1.2.6.2.5 Encoder accuracy
1.2.6.2.5.1 Wide angle error (long wave error, integral nonlinearity)
1.2.6.2.5.2 Narrow angle error (short wave error, differential nonlinearity, Sub Divisional Error)
1.2.6.2.6 Encoder Calibration
1.2.6.2.6.1 Overview
1.2.6.2.6.2 Prerequisite
1.2.6.2.6.3 Encoder system diagnostic
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1.2.6.2.6.4 Calibration Procedure
1.2.6.3 LED signals
1.2.6.3.1 Overview
1.2.6.3.1.1 Legend
1.2.6.3.2 Status LED
1.2.6.3.2.1 Firmware
1.2.6.3.2.2 Bootloader
1.2.6.3.3 EtherCAT LED
1.2.6.4 Safety functions (STO-SBC)
1.2.6.4.1 Safety specifications
1.2.6.4.1.1 System requirements
1.2.6.4.1.2 Technical specifications
1.2.6.4.2 Safety connectors
1.2.6.4.3 Wiring the safety inputs
1.2.6.4.3.1 Cabling lenghts
1.2.6.4.3.2 Connection diagrams for the STO inputs
1.2.6.4.3.3 Connection diagram for the brake
1.2.6.4.4 Using the safety functions
1.2.6.4.4.1 Timing diagrams
1.2.6.4.4.2 Truth table for digital inputs
1.2.6.4.4.3 Diagnostic functions
1.2.6.4.4.4 STO-SBC status register
1.2.6.4.5 Examples for realising safety functions
1.2.6.4.5.1 Emergency stop
1.2.6.4.5.2 Stop category 1 emergency stop (Safe stop 1)
1.2.6.4.5.3 Prevention of unexpected start-up
1.2.6.4.6 Commissioning and maintenance
1.2.6.4.6.1 Commissioning
1.2.6.4.6.2 Maintenance
1.2.6.4.7 Changelog of the safety-related documentation
1.3 SOMANET Node
1.3.1 SOMANET Node revisions
1.3.2 SOMANET Node rev. E.1
1.3.2.1 Technical Specifications
1.3.2.1.1 Power Specifications
1.3.2.1.2 General specifications
1.3.2.1.3 Maximum values
1.3.2.1.4 Load cycle
1.3.2.2 Downloads
1.3.2.2.1 Documents
1.3.2.2.2 CAD Files
1.3.2.3 Hardware Diagrams
1.3.2.3.1 EtherCAT module
1.3.2.3.2 Processor module
1.3.2.3.3 Drive module
1.3.2.4 Installation Guide
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1.3.2.4.1 Wiring instructions
1.3.2.4.1.1 Overview of connectors
1.3.2.4.1.2 Power supply, phases and brake
1.3.2.4.1.3 Encoders and IO
1.3.2.4.1.4 Connector details and mating parts numbers
1.3.2.4.2 Mounting instructions
1.3.2.4.2.1 Heat dissipation
1.3.2.4.2.2 Thermal mounting considerations
1.3.2.4.2.3 Dimensions
1.3.2.4.2.4 Interference with magnetic fields
1.3.2.4.3 On-site installation guide (UL)
1.3.2.4.3.1 Branch fuse required
1.3.2.4.3.2 Field wiring terminal marking
1.3.2.4.3.3 Downloads
1.3.2.5 LED signals
1.3.2.5.1 Overview
1.3.2.5.1.1 Legend
1.3.2.5.2 Core LED
1.3.2.5.2.1 Firmware
1.3.2.5.2.2 Bootloader
1.3.2.5.3 Drive LED
1.3.2.5.4 Com LED
1.3.2.6 SOMANET Node Safety (Original instructions)
1.3.2.6.1 Dimensions
1.3.2.6.2 Specifications of the safety functions
1.3.2.6.2.1 System requirements
1.3.2.6.2.2 Technical specifications
1.3.2.6.2.3 Block diagram
1.3.2.6.3 Setup of the safety functions
1.3.2.6.3.1 Connecting the STO/SBC inputs
1.3.2.6.3.2 Connection diagram for the brake
1.3.2.6.3.3 Connector mating parts and cable lengths
1.3.2.6.4 Using the safety functions
1.3.2.6.4.1 Timing diagrams
1.3.2.6.4.2 Truth table for digital inputs
1.3.2.6.4.3 Diagnostic functions
1.3.2.6.4.4 STO-SBC status register
1.3.2.6.5 Examples for realising safety functions
1.3.2.6.5.1 Prevention of unexpected start-up
1.3.2.6.5.2 Stop category 0 (STO)
1.3.2.6.5.3 Stop category 1 (SS1)
1.3.2.6.6 Commissioning and maintenance
1.3.2.6.6.1 Commissioning
1.3.2.6.6.2 Maintenance
1.3.2.6.7 Changelog of the safety-related documentation
1.4 SOMANET Accessories
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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
1.4.4 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
2 Commissioning and Tuning with SOMANET OBLAC Drives
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 Powering the box off and resetting
2.1.1.4 Open OBLAC Drives
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2.1.1.5 Using OBLAC Drives Box with WiFi
2.1.1.6 Sharing a connection with your Host-PC
2.1.1.7 Connecting to the internet
2.1.1.8 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
2.4.2.6.3 How to use
2.4.2.6.4 Next steps
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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 your drive at the playground
2.5.1 Prerequisites
2.5.2 Apply a defined torque to your motor
2.5.3 Rotate your motor at defined velocities
2.5.4 Rotate your 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 Selecting the PWM frequency
3.1.3.1.3 Gear Ratio
3.1.3.1.4 Advanced motor configurations
3.1.3.1.5 Parameters related to Motor and gear settings
3.1.3.2 Controlling a generic voltage at the brake output
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 related to Controlling the brake output voltage
3.1.3.3 Brake configuration
3.1.3.3.1 Pin-brake Mode
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3.1.3.3.1.1 Timing diagram
3.1.3.3.1.2 Selecting the PWM frequency of the brake
3.1.3.3.1.3 Custom brake modes
3.1.3.3.1.4 Parameters related to the Brake
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 by changes of the velocity unit
3.1.3.4.4 Example
3.1.3.4.5 Parameters related to User defined velocity units
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 the gains for method 1
3.1.3.5.6 Parameters related to Commutation Sensor Offset Measurement
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 related to Power limit
3.1.4 Encoders and I/O
3.1.4.1 Analog In
3.1.4.1.1 Using differential inputs for single-ended sensors
3.1.4.1.2 Nonlinear conversion of an analog voltage
3.1.4.1.3 Parameters related to Analog Inputs
3.1.4.1.4 External scaled measurement
3.1.4.1.4.1 Requirements
3.1.4.1.4.2 Usage
3.1.4.2 Digital I/O
3.1.4.2.1 Configuration of Digital I/Os as Input or Output
3.1.4.2.2 Using Digital I/Os for input actions or output events
3.1.4.2.3 Parameters related to Digital I/O
3.1.4.2.4 Digital GPIO
3.1.4.2.4.1 Overview
3.1.4.2.4.2 Usage
3.1.4.2.4.3 Parameters related to Digital GPIO
3.1.4.3 Encoder Configuration
3.1.4.3.1 Description of common encoder parameters
3.1.4.3.1.1 Function
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3.1.4.3.1.2 Resolution
3.1.4.3.1.3 Zero velocity threshold
3.1.4.3.1.4 Polarity
3.1.4.3.1.5 Multiturn resolution
3.1.4.3.2 Encoder related parameters
3.1.4.4 Commutation with Hall and ABI combined
3.1.4.4.1 Overview
3.1.4.4.2 Requirements
3.1.4.4.3 Usage
3.1.4.4.4 Detailed description
3.1.4.4.4.1 Startup
3.1.4.4.4.2 Error Detection
3.1.4.4.4.3 Runtime
3.1.4.5 Input counter
3.1.4.5.1 Overview
3.1.4.5.2 Limitations
3.1.4.5.3 Parameters related to Input counter
3.1.5 Protection
3.1.5.1 Overview
3.1.5.2 Usage
3.1.5.3 Parameters related to protection
3.1.6 Errors and Warnings
3.1.6.1 Error codes thrown by the firmware
3.1.6.2 Error Report Object
3.1.7 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
3.1.8.1.1.1 Torque control loop
3.1.8.1.1.2 Parameters related to Current and Torque Control Loop
3.1.8.1.2 Velocity Control Loop
3.1.8.1.2.1 Parameters related to the Velocity Control Loop
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 related to Dual Loop Cascaded Position Control
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
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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 related to homing mode
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 related to Quick Stop
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 related to Cogging Torque Compensation
3.1.8.3.2 Field Weakening
3.1.8.3.3 Anti-Windup Control
3.1.8.3.3.1 Parameters related to Anti-Windup Control
3.1.8.3.4 Gain Scheduling
3.1.8.3.5 Motor Overload Protection (i2t)
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 related to filters
3.1.8.3.9.5 Position and velocity feedback low-pass filters
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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 related to Control supervision
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 related to Distributed Clocks
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
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
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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 0x2005 Recuperation
3.1.9.1.44 0x2006 Protection
3.1.9.1.45 0x2008 Cogging torque compensation
3.1.9.1.46 0x2009 Commutation offset
3.1.9.1.47 0x200A I2t
3.1.9.1.48 0x200B Max power
3.1.9.1.49 0x2010 Torque controller
3.1.9.1.50 0x2011 Velocity controller
3.1.9.1.50.1 Velocity PID Tuning (objects 2011:1...2011:4)
3.1.9.1.51 0x2012 Position controller
3.1.9.1.51.1 Parameter Tuning Guide for Position Controller with Cascaded Structure
3.1.9.1.51.2 Parameter Tuning Guide for Position Controller with simple PID Structure (objects 2012:1...2012:4 only)
3.1.9.1.52 0x2012 Position controller
3.1.9.1.52.1 Parameter Tuning Guide for Position Controller with Cascaded Structure
3.1.9.1.52.2 Parameter Tuning Guide for Position Controller with simple PID Structure (objects 2012:1...2012:4 only)
3.1.9.1.53 0x2013 Gain scheduling
3.1.9.1.54 0x2014 Torque window
3.1.9.1.55 0x2015 Velocity feed forward
3.1.9.1.56 0x2021 Velocity feedback filter
3.1.9.1.57 0x2022 Position feedback filter
3.1.9.1.58 0x2023 Notch filter
3.1.9.1.59 0x2027 Control input FIR filter
3.1.9.1.60 0x2030 Core temperature
3.1.9.1.61 0x2031 Drive temperature
3.1.9.1.62 0x2038 External scaled measurement
3.1.9.1.63 0x203F Error report
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3.1.9.1.64 0x2040 Input counter
3.1.9.1.65 0x20E1 High resolution data
3.1.9.1.66 0x20F0 Timestamp
3.1.9.1.67 0x20F2 Assigned name
3.1.9.1.68 0x20F3 DC synchronization
3.1.9.1.69 0x2100 Feedback sensor ports
3.1.9.1.70 0x21FF Singleturn offset
3.1.9.1.71 0x2201 BiSS encoder 1
3.1.9.1.72 0x2202 BiSS encoder 2
3.1.9.1.73 0x2203 REM 16MT encoder
3.1.9.1.74 0x2205 Incremental encoder 1
3.1.9.1.75 0x2206 Incremental encoder 2
3.1.9.1.76 0x2207 Hall sensor 1
3.1.9.1.77 0x2208 Hall sensor 2
3.1.9.1.78 0x2209 SSI encoder 1
3.1.9.1.79 0x220A SSI encoder 2
3.1.9.1.80 0x220B A Format encoder
3.1.9.1.81 0x220C Fast ABI module
3.1.9.1.82 0x220E SinCos module
3.1.9.1.83 0x2210 GPIO pin configuration
3.1.9.1.84 0x2211 GPIO output events
3.1.9.1.85 0x2212 GPIO input actions
3.1.9.1.86 0x2213 GPIO position trigger
3.1.9.1.87 0x2214 GPIO global options
3.1.9.1.88 0x230A Secondary position value
3.1.9.1.89 0x230B Secondary velocity value
3.1.9.1.90 0x2401 Analog input 1
3.1.9.1.91 0x2402 Analog input 2
3.1.9.1.92 0x2403 Analog input 3
3.1.9.1.93 0x2404 Analog input 4
3.1.9.1.94 0x2501 Digital input 1
3.1.9.1.95 0x2502 Digital input 2
3.1.9.1.96 0x2503 Digital input 3
3.1.9.1.97 0x2504 Digital input 4
3.1.9.1.98 0x2601 Digital output 1
3.1.9.1.99 0x2602 Digital output 2
3.1.9.1.100 0x2603 Digital output 3
3.1.9.1.101 0x2604 Digital output 4
3.1.9.1.102 0x2611 Safety digital input diagnostics
3.1.9.1.103 0x2701 Tuning command
3.1.9.1.104 0x2702 Tuning status
3.1.9.1.105 0x2703 User MOSI
3.1.9.1.106 0x2704 User MISO
3.1.9.1.107 0x2705 Setup wizard completed
3.1.9.1.108 0x603F Error code
3.1.9.1.109 0x6040 Controlword
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3.1.9.1.110 0x6041 Statusword
3.1.9.1.111 0x605A Quick stop option code
3.1.9.1.112 0x6060 Modes of operation
3.1.9.1.113 0x6061 Modes of operation display
3.1.9.1.114 0x6062 Position demand value
3.1.9.1.115 0x6064 Position actual value
3.1.9.1.116 0x6065 Following error window
3.1.9.1.117 0x6066 Following error time out
3.1.9.1.118 0x6067 Position window
3.1.9.1.119 0x6068 Position window time
3.1.9.1.120 0x606B Velocity demand value
3.1.9.1.121 0x606C Velocity actual value
3.1.9.1.122 0x606D Velocity window
3.1.9.1.123 0x606E Velocity window time
3.1.9.1.124 0x606F Velocity threshold
3.1.9.1.125 0x6070 Velocity threshold time
3.1.9.1.126 0x6071 Target Torque
3.1.9.1.127 0x6072 Max torque
3.1.9.1.128 0x6073 Max current
3.1.9.1.129 0x6074 Torque demand
3.1.9.1.130 0x6075 Motor rated current
3.1.9.1.131 0x6076 Motor rated torque
3.1.9.1.132 0x6077 Torque actual value
3.1.9.1.133 0x6079 DC link circuit voltage
3.1.9.1.134 0x607A Target position
3.1.9.1.135 0x607B Position range limit
3.1.9.1.136 0x607C Home offset
3.1.9.1.137 0x607D Software position limit
3.1.9.1.138 0x607E Polarity
3.1.9.1.139 0x6080 Max motor speed
3.1.9.1.140 0x6081 Profile velocity
3.1.9.1.141 0x6083 Profile acceleration
3.1.9.1.142 0x6084 Profile deceleration
3.1.9.1.143 0x6085 Quick stop deceleration
3.1.9.1.144 0x6086 Motion profile type
3.1.9.1.145 0x6087 Torque slope
3.1.9.1.146 0x6088 Torque profile type
3.1.9.1.147 0x6091 Gear ratio
3.1.9.1.148 0x6098 Homing method
3.1.9.1.149 0x6099 Homing speeds
3.1.9.1.150 0x609A Homing acceleration
3.1.9.1.151 0x60A9 SI unit velocity
3.1.9.1.152 0x60B1 Velocity offset
3.1.9.1.153 0x60B2 Torque offset
3.1.9.1.154 0x60E3 Supported homing methods
3.1.9.1.155 0x60F4 Following error actual value
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3.1.9.1.156 0x60FA Control effort
3.1.9.1.157 0x60FC Position demand internal value
3.1.9.1.158 0x60FD Digital inputs
3.1.9.1.159 0x60FE Digital outputs
3.1.9.1.160 0x60FF Target velocity
3.1.9.1.161 0x6502 Supported drive modes
3.1.9.1.162 0x6621 Safety statusword
3.1.9.2 Communication Area
3.1.9.3 Process Data Objects
3.1.9.3.1 Standard RxPDO mapped Objects
3.1.9.3.2 Standard TxPDO mapped Objects
3.1.9.3.3 Advanced PDO mapping
3.1.9.3.3.1 Changing the content of an object
3.1.9.4 Manufacturer 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
3.1.10.1.2.2 Save configuration
3.1.10.1.3 Parameters related to Saving and restoring configurations
4 Resources
4.1 System integration guidelines
4.1.1 Drive Sizing
4.1.1.1 Considering the requirements of the application
4.1.1.1.1 What the Application Requires
4.1.1.1.2 What the Servo Drive has to Provide
4.1.1.1.3 What the Servo Drive Consumes
4.1.1.2 Calculating the phase current
4.1.1.2.1 Estimating the required nonlinearity buffer
4.1.2 Choosing a power supply
4.1.2.1 Regenerated voltage
4.1.2.2 Bus capacitance
4.1.2.2.1 Calculating the Capacitance
4.1.2.3 Power supply sizing
4.1.2.4 Calculating the amperage
4.1.2.5 Contactors behind the power supply
4.1.3 Regenerative energy
4.1.3.1 Estimation of regenerated energy
4.1.3.2 Braking chopper
4.1.4 Measuring the brake output voltage
4.1.4.1 Non-safety brake output
4.1.4.2 Safety brake output
4.1.5 Connecting and configuring analog inputs
4.1.5.1 Overview
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4.1.5.2 How to measure an analog input voltage
4.1.5.2.1 Single-ended input
4.1.5.2.2 Differential input
4.1.5.2.2.1 Example for normal values (On SOMANET Node)
4.1.5.2.2.2 Examples of faulty values
4.1.5.2.3 Temperature Sensor input:
4.1.5.2.4 Internal Resistance - Voltage Saturation and Limits
4.1.6 Using Statusword and Controlword
4.1.6.1 Overview
4.1.6.1.1 What are Control- and Statusword?
4.1.6.1.2 How are they used?
4.1.6.1.3 Manufacturer and Operation mode specific bits
4.1.6.2 Bits in Status- and Controlword
4.1.6.2.1 General structure of the Statusword
4.1.6.2.2 Operation mode specific bits for the Statusword
4.1.6.2.3 Internal limit Active bit
4.1.6.2.4 General structure of the Controlword
4.1.6.2.5 Operation mode specific bits for the Controlword
4.1.6.2.6 Timing Diagram Control-, Statusword and Target Values
4.1.7 Temperature sensors
4.1.7.1 Resistance temperature detectors (RTDs)
4.1.7.2 Thermocouple
4.1.7.3 Thermistors
4.1.7.3.1 RTD sensor and pull-up resistor selection
4.1.7.4 Polynomial or Quintic function
4.1.7.4.1 How to extract polynomial coefficients in Excel
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 Steps
4.2.1.2 Parameter Tuning Guide for Position Controller with Gain Scheduling
4.2.1.2.1 Introduction
4.2.1.2.2 Control Basics
4.2.1.2.3 Tuning Concept in Brief
4.2.1.2.4 Tuning Steps
4.2.1.3 Parameter Tuning Guide for Position Controller with Cascaded Structure
4.2.1.3.1 Introduction
4.2.1.3.2 Control Basics
4.2.1.3.3 Tuning Concept in Brief
4.2.1.3.4 Tuning Steps
4.2.2 Drive operations through File Access over EtherCAT (FoE)
4.2.2.1 Overview
4.2.2.2 Updating the firmware
4.2.2.2.1 Prerequisite
4.2.2.2.2 Setup Information
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4.2.2.2.3 Preparation
4.2.2.2.4 Steps of Operation
4.2.2.3 Uploading a drive configuration
4.2.2.3.1 Setup Information
4.2.2.3.2 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
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1 Hardware Manuals
Attention
When dealing with electronic devices, always consider these handling instructions!
SOMANET Circulo
The SOMANET Circulo series is a combination of servo drive, position feedback sensor (encoder), mechanical
integration solution, providing a pin brake and safe motion option, specifically designed for collaborative robot
(cobot) joints and smart actuators.
Overview Circulo
Technical specifications
Downloads
Installation guide
Wiring instructions
Power supply, phases and brake
Encoders and IO
Analog input specification
Temperature sensor
Selecting and attaching a battery for Multi-Turn
Hybrid EtherCAT-STO Cable
Maximum cable lengths
Mating parts
Mechanical integration
Mounting Example
Dimensions and mechanical mounting
Mounting the encoder rings
Encoder calibration
Encoder accuracy
Calibration Procedure
LED signals
Safety functions (STO-SBC)
Specifications of the safety functions
Safety connectors
Wiring the safety inputs
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