SYNAPTICON SOMANET Circulo Series User manual

Installation Guide
Documentation v 4.2.3 | Build: 2020-10-30
© 2020 Synapticon GmbH

Table of Contents
1 Installation Guide
1.1 Wiring instructions
1.1.1 Overview of connectors
1.1.2 Power supply and motor brake
1.1.2.1 Power Terminal
1.1.2.2 Motor phases
1.1.2.2.1 Using a PELV or SELV power supply
1.1.2.2.2 Warning about using contactors behind the power supply
1.1.2.3 Connecting a brake
1.1.3 Encoders and IO
1.1.3.1 Connector overview
1.1.3.2 Analog Input
1.1.3.3 External Encoder
1.1.3.3.1 Possible Combinations
1.1.3.4 Digital IO
1.1.3.5 Safety STO-SBC
1.1.3.6 Encoder Battery (for multi-turn)
1.1.3.7 EtherCAT In/Out
1.1.4 Temperature sensor
1.1.5 Mating parts and encoder battery
1.1.5.1 Connector details and mating part numbers
1.1.5.2 Suitable encoder batteries
1.2 Dimensions and mechanical mounting
1.2.1 Dimensions
1.2.2 Drilling patterns for mounting
1.2.3 Heat dissipation
1.2.3.1 Downloads
1.3 Mounting the encoder disks
1.3.1 Aligning the encoder discs
1.3.2 Mounting tolerances
1.3.2.1 Radial displacement (r)
1.3.2.2 Tangential displacement (t)
1.3.2.3 Axial distance
1.3.2.4 Tilt angle
1.3.2.5 Mounting eccentricity (rotation axis offset)
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1.4 Encoder accuracy
1.4.1 Wide angle error (long wave error, integral nonlinearity)
1.4.2 Narrow angle error (short wave error, differential nonlinearity, Sub Divisional Error)
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1 Installation Guide
This manual will guide you through the basic steps to get your SOMANET Circulo running.
Attention
When dealing with electronic devices, always consider these handling instructions!
Important
For proper functionality of the current sensors the servo drive must not be exposed to external
magnetic fields.
Wiring instructions
Power supply and motor brake
Encoders and IO
Temperature sensor
Mating parts and encoder battery
Dimensions and mechanical mounting
Mounting the encoder disks
Encoder accuracy
After you have successfully set up your servo drive you can proceed to commission and tune your drive:
Commissioning and tuning with OBLAC Drives
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1.1 Wiring instructions
1.1.1 Overview of connectors
Pinouts and details for each connector:
Power supply and motor brake
Encoders and IO
Temperature sensor
Mating parts and encoder battery
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1.1.2 Power supply and motor brake
1.1.2.1 Power Terminal
1.1.2.2 Motor phases
Important
The motor and power cables must be twisted for EMC reasons.
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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 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.
1.1.2.2.1 Using a PELV or SELV power supply
It’s recommanded to use a protected extra-low voltage supply (PELV) instead of a safety extra-low
voltage supply (SELV).
If a SELV is used, it’s possible that the isolation from the earth can be violated through our drive (e.g.
through heatsink or mechanical mountings) and the supply becomes PELV.
1.1.2.2.2 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.
1.1.2.3 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).
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Important
Please make sure the servo drive is properly grounded.
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1.1.3 Encoders and IO
1.1.3.1 Connector overview
1.1.3.2 Analog Input
Pin # Signal
1 Differential +5 V
2 Differential -5 V
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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.
1.1.3.3 External Encoder
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1.1.3.3.1 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+
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1.1.3.4 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
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* 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)
*** 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
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.
1.1.3.5 Safety STO-SBC
Pin # Signal
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1 STO/SBC1 input 1
2 STO/SBC2 input 2
3 Safety Ground
4 PE
5 STO/SBC Feedback +
6 STO/SBC Feedback -
Wiring diagrams for the safety digital inputs
Attention
When not using the STO-SBC feature, the function must be bypassed by bridging the jumpers:
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1.1.3.6 Encoder Battery (for multi-turn)
Pin # Signal
1 +V_BAT
2 Ground
For selecting a suitable battery, please check these notes.
1.1.3.7 EtherCAT In/Out
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Pin # Signal
1 RX+
2 RX-
3 Shield / PE
4 TX+
5 TX-
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1.1.4 Temperature sensor
You can add a temperature sensor to your SOMANET Circulo.
Depending on the type of temperature sensor, different resistors in the servo drive need to be
activated. This is done internally with a multiplexer. The desired value can be selected via software
through object 0x2038 subindex 3.
Details are described in External scaled measurement.
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1.1.5 Mating parts and encoder battery
1.1.5.1 Connector details and mating part numbers
Circulo 7
Connector description Manufacturer Mating part Crimping Contact Cable
Digital IO JST Sales America
Inc.
GHR-10V-S SSHL-002T-P0.2
[1]
28 AWG
External Encoder JST Sales America
Inc.
GHR-10V-S SSHL-002T-P0.2
[1]
28 AWG
Analog In JST Sales America
Inc.
GHR-06V-S SSHL-002T-P0.2
[1]
28 AWG
STO-SBC JST Sales America
Inc.
GHR-06V-S SSHL-002T-P0.2
[1]
28 AWG
Temperature Sensor JST Sales America
Inc.
GHR-03V-S SSHL-002T-P0.2
[1]
28 AWG
Battery Connector JST Sales America
Inc.
GHR-02V-S SSHL-002T-P0.2
[1]
28 AWG
EtherCAT In/Out Molex 510210500
[2]
500588000 28-32 AWG
Brake Connector JST Sales America
Inc.
ZER-02V-S SSHL-002T-P0.2
[3]
26 AWG
STO-SBC Jumper Harwin Inc. M50-2020005 N/A N/A
24V-48V Supply TE Connectivity 2-520084-2 18-22 AWG
Motor Phases TE Connectivity 62112-2 18-22 AWG
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Circulo 9
Connector description Manufacturer Mating part Crimping Contact Cable
Digital IO JST Sales America
Inc.
GHR-10V-S SSHL-002T-P0.2
[1]
28 AWG
External Encoder JST Sales America
Inc.
GHR-10V-S SSHL-002T-P0.2
[1]
28 AWG
Analog In JST Sales America
Inc.
GHR-06V-S SSHL-002T-P0.2
[1]
28 AWG
STO-SBC JST Sales America
Inc.
GHR-06V-S SSHL-002T-P0.2
[1]
28 AWG
Temperature Sensor JST Sales America
Inc.
GHR-03V-S SSHL-002T-P0.2
[1]
28 AWG
Battery Connector JST Sales America
Inc.
GHR-02V-S SSHL-002T-P0.2
[1]
28 AWG
EtherCAT In/Out Molex 510210500
[2]
500588000 28-32 AWG
Brake Connector JST Sales America
Inc.
ZER-02V-S SSHL-002T-P0.2
[3]
26 AWG
STO-SBC Jumper Harwin Inc. M50-2020005 N/A N/A
24V-48V Supply TE Connectivity 3-520408-2 14-16 AWG
Motor Phases JST Sales America
Inc.
SPB-2.5T-
250N-S
14-18 AWG
[1]
[2]
[3]
Crimped cable from JST Sales America can be used, Parts number: AGHGH28K305
Housing only. Please ensure to only use shielded cables for EtherCAT communication!
Crimped cable from JST Sales America can be used, Parts number: ASZESZE26K305
Please also check out our dedicated EtherCAT node to PC cable which is specifically designed for this
purpose.
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