SYNAPTICON SOMANET Circulo Series User manual

Encoders and IO
Documentation v 3.3.4 | Build: 2020-07-17
© 2020 Synapticon GmbH

Table of Contents
1 Encoders and IO
1.1 Connector overview
1.2 Analog Input
1.3 External Encoder
1.3.1 Possible Combinations
1.4 Digital IO
1.5 Safety STO-SBC
1.6 Encoder Battery (for multi-turn)
1.7 EtherCAT In/Out
3
3
3
4
5
6
7
8
9
Hardware Manuals / SOMANET Circulo / SOMANET Circulo (rev.
A.2) / Installation Guide / Wiring instructions / Encoders and IO
© 2020 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 3.3.4 | Build: 2020-07-17 2/9

1 Encoders and IO
1.1 Connector overview
1.2 Analog Input
Pin # Signal
1 Differential +5 V
2 Differential -5 V
Hardware Manuals / SOMANET Circulo / SOMANET Circulo (rev.
A.2) / Installation Guide / Wiring instructions / Encoders and IO
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3 Ground
4 Single-ended 0-10 V
5 +5 V*
6 +10 V**
* This is a 5 V supply that can provide up to 100 mA for external use.
The supply is protected against short 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 current below 100mA in a continuous
short.
Error Before Calibration: 1.5%
1.3 External Encoder
Hardware Manuals / SOMANET Circulo / SOMANET Circulo (rev.
A.2) / Installation Guide / Wiring instructions / Encoders and IO
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1.3.1 Possible Combinations
Supported
Encoders Config. 1 * Config. 2 Config. 3 Config. 4
Config.
5
Internal
Encoder 1
BiSS BiSS
Internal
Encoder 2
BiSS Disabled
External
Encoder
ABI (Differential or
Single-Ended) or
HALL
BiSS (Differential) SSI (Differential) Half Duplex
(Differential)
HALL
* 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
(Differential) HALL
1 MA- Clock- SD- / A
2 5 V 5 V 5 V 5 V 5 V 5 V
3 Ground Ground Ground Ground Ground Ground
4 MA+ Clock+ SD+ / B
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+
Hardware Manuals / SOMANET Circulo / SOMANET Circulo (rev.
A.2) / Installation Guide / Wiring instructions / Encoders and IO
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1.4 Digital IO
Pin GPIO Logic level
REM
14/16MT
BiSS
(LVTTL) SSI (LVTTL) SPI
1 3.3 V * 3.3 V * 3.3 V * 3.3 V * 3.3 V * 3.3 V *
2 Digital IO 1 Configurable as
3.3 V or 5 V
SCK SLO Data SCK
3 Digital IO 2 Configurable as
3.3 V or 5 V
MISO MA Clock MISO
4 Ground Ground Ground Ground Ground Ground
5 Digital IO 3 Configurable as
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 Digital input
7
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 400mA in a continuous
short.
** Current output capacity of all configured digital outputs is ±20 mA (Sink and source)
Hardware Manuals / SOMANET Circulo / SOMANET Circulo (rev.
A.2) / Installation Guide / Wiring instructions / Encoders and IO
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*** 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 keeps the current below 400mA in a continuous
short.
Note
Note
The Digital I/Os are
The Digital I/Os are globally globally configurable as 3.3 V or 5 V. configurable as 3.3 V or 5 V.
This configuration is done in object 0x2214 “GPIO global options”
This configuration is done in object 0x2214 “GPIO global options”
Note
Note
Each Digital
Each Digital IO IO needs to be configured as a Digital Input or Output via object 0x2210 (“GPIO”). 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.
The object can also be used to activate a pull-down resistor.
Changes may require to powercycle the servo drive.
Changes may require to powercycle the servo drive.
1.5 Safety STO-SBC
Pin # Signal
1 STO/SBC1 input 1
2 STO/SBC2 input 2
3 Safety Ground
4 PE
5 STO/SBC Feedback +
6 STO/SBC Feedback -
Hardware Manuals / SOMANET Circulo / SOMANET Circulo (rev.
A.2) / Installation Guide / Wiring instructions / Encoders and IO
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Wiring diagrams for the safety digital inputs
Attention
Attention
When not using the STO-SBC feature, the function must be bypassed by bridging the jumpers:
When not using the STO-SBC feature, the function must be bypassed by bridging the jumpers:
1.6 Encoder Battery (for multi-turn)
Pin # Signal
1 +V_BAT
2 Ground
For selecting a suitable battery, please check these notes.
Hardware Manuals / SOMANET Circulo / SOMANET Circulo (rev.
A.2) / Installation Guide / Wiring instructions / Encoders and IO
© 2020 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 3.3.4 | Build: 2020-07-17 8/9

1.7 EtherCAT In/Out
Pin # Signal
1 RX+
2 RX-
3 Shield / PE
4 TX+
5 TX-
Hardware Manuals / SOMANET Circulo / SOMANET Circulo (rev.
A.2) / Installation Guide / Wiring instructions / Encoders and IO
© 2020 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 3.3.4 | Build: 2020-07-17 9/9