SYNAPTICON SOMANET Node 400 Operator's manual

SOMANET Node rev.
D.3/D.4
Documentation v 4.2.0 | Build: 2020-10-02
© 2020 Synapticon GmbH

Table of Contents
1 SOMANET Node rev. D.3/D.4
1.1 Technical Specifications
1.1.1 Power Specifications
1.1.2 General specifications
1.2 Hardware Diagrams
1.2.1 EtherCAT module
1.2.2 Processor module
1.2.3 Drive module
1.3 Installation Guide
1.3.1 Downloads
1.3.2 Wiring instructions
1.3.2.1 Using a PELV or SELV power supply
1.3.2.2 Warning about using contactors behind the power supply
1.3.3 Connectors
1.3.3.1 Power Terminal
1.3.3.2 Encoder Port 1
1.3.3.3 Encoder Port 2
1.3.3.4 Encoder Port 3 / Digital IO
1.3.3.5 Analog IN
1.3.3.6 EtherCAT port
1.3.3.6.1 EtherCAT IN Port
1.3.3.6.2 EtherCAT OUT Port
1.3.3.7 Connector types and mating parts numbers
1.3.4 Grounding and connecting a brake
1.3.4.1 Connecting a Brake
1.3.5 Mounting instructions
1.3.5.1 Heat dissipation
1.3.5.2 Dimensions
1.3.5.3 Interference with magnetic fields
1.4 LED signals
1.4.1 Overview
1.4.1.1 Legend
1.4.2 Core LED
1.4.2.1 Firmware
1.4.2.2 Bootloader
3
4
4
4
6
6
7
8
9
9
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1 SOMANET Node rev. D.3/D.4
Attention
When dealing with electronic devices, always consider these handling instructions!
Technical specifications
Hardware diagrams
Installation guide
Wiring instructions
Connector pinouts
Grounding and connecting a brake
Mounting instructions
LED signals
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1.1 Technical Specifications
1.1.1 Power Specifications
Power Specifications
Node Size Node 400 Node 1000
Maximum Peak Output Power 415 W 1,040 W
Maximum Continuous Output Power 415 W 1,040 W
Rated Supply Voltage 12-48 V DC
Maximum Supply Voltage 60 V DC
Minimum Supply Voltage 8 V DC
Maximum Input Current DC 9.6 A DC 24A DC
Maximum Phase Current RMS 13.2 A RMS 33 A RMS
Efficiency (at Maximum Power) 98 %
Standby Power Consumption 0.4 W
Brake control power output 0-48 V PWM Phase D
1.1.2 General specifications
General specifications
Supported Communication
Standard
EtherCAT
Number of Phases 4
Supported Motors 1 x 3-phase BLDC-Motor and 1 active brake
Up to 2 Brushed DC Motors [1]
Brake control voltage 0-48 V PWM Phase D
Analog Inputs 4 (2 x single-ended 0-10V, 2 x differential ±5V)
[2]
Digital IOs 4 × GPIO / SPI [3] / I C [3] (3.3 V CMOS logic) [4]2
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Encoder Connectors 2 x 4ch. RS-422
Supported Standard Encoder
Interfaces
Incremental Encoder (ABI), HALL, BiSS-C, SSI, SPI [3], I C [3]
Incremental Encoder max
frequency
1.4 MHz [5] (supports up to 14,000 rpm with a 4,096 resolution
incremental encoder)
Hardware Protections Overcurrent, Overvoltage, Undervoltage, Temperature
Compliance with standards CISPR 11 Class B
IEC 61000-4-6
IEC 61000-4-3
IEC 61000-4-2
IEC 61000-4-8
Dimensions 70 x 40 x 21 mm
Weight 85 g (incl. Heatsink)
Operating temperature 0 to 50 °C
Storage Temperature -35 to 85 °C
Max. installation altitude 2000 m
Humidity 5-85% rH
Sensors on-board DC-BUS Voltage, DC-BUS current, Phase Voltage, Phase current
(two phases measured, one computed), Temperature
[1]
[2]
[3]
[4]
[5]
Currently not supported by our standard software. Can be developed upon request, please contact
[e-mail]
All Analog Inputs can be configured as single-ended 0-5 V, 0-10 V, 0-20 V or differential ±5 V, ±10 V
independently. Upon request only, please contact [e-mail]
Upon Request
Two Digital IO can be configured as 5.0 V CMOS logic. Upon request only, please contact
[e-mail]
Depends on the firmware used. Value given for v4.1
2
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1.2 Hardware Diagrams
Due to the modular nature of SOMANET Node, the hardware diagrams of each module are listed
separately.
1.2.1 EtherCAT module
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1.2.2 Processor module
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1.2.3 Drive module
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1.3 Installation Guide
This manual will guide you through the basic steps to get your SOMANET Node 400/1000 EtherCAT
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, see our mounting instructions for details.
Wiring instructions
Connector pinouts
Grounding and connecting a brake
Mounting instructions
LED signals
After you have succussfully set up your servo drive you can proceed to commission and tune your
drive:
Commissioning and tuning with OBLAC Drives
1.3.1 Downloads
DOWNLOAD 3D MODEL
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1.3.2 Wiring instructions
The motor and power cables must be twisted for EMC reasons.
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 servo 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.
1.3.2.1 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.

1.3.2.2 Warning about using contactors behind the power
supply
Attention
Our servo drives are designed for voltages between 12 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.
Now proceed to connecting your motor and encoders:
Connector Pinouts
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1.3.3 Connectors
Before attaching cables, please check these guidelines:
Wiring instructions
1.3.3.1 Power Terminal
Terminal
#
1 Phase A
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2 Phase B
3 Phase C
4 Phase D
5 Ground
6 Main Power Supply 12-48 V *
7 Optional Logic Ground
8 Optional Logic Supply 12-24 V (20 W
max)**
* To be run with an appropriate extra-low voltage supply without contactors behind the power supply.
Further information can be found here
** not connected by default. Upon request only, please contact [e-mail]
Grounding and attaching power and brake cables
1.3.3.2 Encoder Port 1
Pin # ABI/ABZ (RS422) ABI/ABZ (TTL)* HALL (TTL)** BiSS
(RS422)
SSI (RS422)
1 – – – MA- Clock-
2 5 V *** 5 V *** 5 V *** 5 V *** 5 V ***
3 Ground Ground Ground Ground Ground
4 – – – MA+ Clock+
5 A- A W (C) SLO- Data-
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6 A+ – – SLO+ Data+
7 B- B V (B) – –
8 B+ – – – –
9 I- I U (A) – –
10 I+ – – – –
* To use ABI/ABZ with TTL please ensure that your Encoder is capable to sink 5 mA to GND when the
output of the encoder is 0
Attention
** Our upcoming version Drive 400/1000/2000 E1 will support Half-Duplex communication on
this connector instead of HALL. To ensure your configuration will work with future versions of
this drive, please use connector 2 instead for current development.
*** 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 400 mA in a continuous
short.
1.3.3.3 Encoder Port 2
Pin # ABI/ABZ (RS422) ABI/ABZ (TTL)* HALL (TTL) BiSS
(RS422)
SSI (RS422)
1 – – – MA- Clock-
2 5 V ** 5 V ** 5 V ** 5 V ** 5 V **
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3 Ground Ground Ground Ground Ground
4 – – – MA+ Clock+
5 A- A W (C) SLO- Data-
6 A+ – – SLO+ Data+
7 B- B V (B) – –
8 B+ – – – –
9 I- I U (A) – –
10 I+ – – – –
* To use ABI/ABZ with TTL please ensure that your Encoder is capable to sink 5 mA to GND when the
output of the encoder is 0
** 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 400 mA in a continuous
short.
1.3.3.4 Encoder Port 3 / Digital IO
Pin
#
GPIO REM 14/16MT BiSS (LVTTL) SSI (LVTTL)
1 3.3 V * 3.3 V * 3.3 V * 3.3 V *
2 Digital IO 1** SS SLO Data
3 Digital IO 2** SCK MA Clock
4 Ground Ground Ground Ground
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5 Digital IO 3** MISO – –
6 Digital IO 4** MOSI – –
7 5 V *** 5 V *** 5 V *** 5 V ***
8––––
All Digital IOs are 3.3 V LVTTL CMOS logic and can be used for data rates up to 20 Mbps.
* 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.
** Can be configured as 5.0 V CMOS logic. Upon request only, please contact [e-mail]
*** 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
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.
1.3.3.5 Analog IN
Pin
#
Default Setting *
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1 –
2 Analog Input 1 - Connect to Ground **
3 Analog Input 1 + Single-ended 0-10 V
4 Ground
5 Analog Input 2 - Connect to Ground **
6 Analog Input 2 + Single-ended 0-10 V
7 5 V ***
8 10 V ****
9 Analog Input 3 - Differential ±5 V
10 Analog Input 3 + Differential ±5 V
11 Analog Input 4 - Differential ±5 V
12 Analog Input 4 + Differential ±5 V
* All Analog Inputs can be configured as single-ended 0-5 V, 0-10 V, 0-20 V or differential ±5 V, ±10 V
independently.
Upon request only, please contact [e-mail]
** Must be connected to Ground when the Analog Input is set to Single-Ended Mode.
It is recommended to use a separate ground cable for each single-ended analog signal/cable and twist
or tie them together.
*** 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%
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1.3.3.6 EtherCAT port
1.3.3.6.1 EtherCAT IN Port
Pin Name Function
1 * TX+ Differential transmit pair, positive
line
2 TX- Differential transmit pair, negative
line
3 Shield
4 RX+ Differential receive pair, positive
line
5 RX- Differential receive pair, negative
line
* Pin 1 is on left
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1.3.3.6.2 EtherCAT OUT Port
Pin Name Function
1 * TX+ Differential transmit pair, positive
line
2 TX- Differential transmit pair, negative
line
3 Shield
4 RX+ Differential receive pair, positive
line
5 RX- Differential receive pair, negative
line
* Pin 1 is on left
* Pin 1 is on left
1.3.3.7 Connector types and mating parts numbers
Connector
description
Manufacturer Item
Number
Mating part Crimping
Contact
Cable
Analog IN JST Sales America
Inc.
SM12B-
GHS-TB
GHR-12V-S SSHL-002T-
P0.2
26-30
AWG*
Encoder Ports 1 &
2
TE Connectivity 1-338068-0 1-215083-0
(remove
latch!)
N/A Flat Cable
28 AWG
P1.27
Port 3 (Digital IO) JST Sales America
Inc.
SM08B-
GHS-TB
GHR-08V-S SSHL-002T-
P0.2
26-30
AWG*
Power Terminal
Block
Phoenix Contact 1935831 N/A 5859
WH005
(Alpha
Wire)
EtherCAT IN/OUT Molex 53261-0571 510210500
**
500588000 28-32
AWG
* Crimped cable from JST Sales America can be used, Parts number: AGHGH28K305
** Housing only. Complete cable assemblies in various lenght also available, for example 151340501
(50 mm)
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1.3.4 Grounding and connecting a brake
Please make sure you ground the board properly.
Your configuration will look like this:
In case you have additional Logic Supply, please wire your module like this:
1.3.4.1 Connecting a Brake
If your system has an attached brake, please connect the brake cables to Phase D and Ground. These
two threads should be twisted together or at least be paired to have a minimum area between them.
By default, Logic Supply is deactivated, it is therefore recommended to use Logic Ground (pin 7 of the
Main Supply Connector) for the brake.
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